CN215789894U - Portable clamping device and multi-axis intelligent sorting robot - Google Patents

Abstract

The utility model belongs to the technical field of clamping equipment, and particularly relates to a portable clamping device and a multi-shaft intelligent sorting robot, wherein the clamping device comprises a connecting mechanism, a clamping driving mechanism and a deflection opening and closing mechanism, the connecting mechanism is fixedly connected with the output end of the driving device and is provided with an installation cavity, the clamping driving mechanism is arranged in the installation cavity, the connecting mechanism comprises at least two groups of telescopic buffer assemblies, the two groups of telescopic buffer assemblies are respectively arranged at the two ends of the pivoting seat, the output end of the deflection opening and closing mechanism is rotatably connected at the end part of the pivoting seat, the telescopic buffer assemblies are positioned on the moving path of the output end of the deflection opening and closing mechanism, the output direction of the telescopic buffer assemblies is aligned with the output end of the deflection opening and closing assembly, the telescopic buffer units are used as limiting structures of the opening and closing output end, the opening and closing range of the clamping device is effectively realized through the telescopic buffer degree of the telescopic ends, the adjustment operation is simple, and the enterprise development is facilitated.

Description

Portable clamping device and multi-axis intelligent sorting robot

Technical Field

The utility model belongs to the technical field of clamping equipment, and particularly relates to a portable clamping device and a multi-axis intelligent sorting robot.

Background

Sorting operations are an important link in most flow lines. With the continuous development of industrial automation, the sorting robot needs to meet the performance requirements of high precision, high speed, high automation, intellectualization, informatization and the like, so that the upgrading and updating of the manufacturing industry are promoted, and the industrial requirement of intelligent manufacturing is met. According to the market demand condition and the relevant technical foundation of China, it is necessary to research and establish the relevant national standards of the general technical conditions of the sorting robot.

Most of traditional sorting robots can set the material taking end on a connecting shaft type multi-shaft manipulator for improving positioning effect and positioning flexibility, the connecting shaft type multi-shaft manipulator is high in manufacturing cost, complex in structure and limited in positioning range, and therefore the sorting robot is low in practicability, poor in sorting effect and not beneficial to enterprise development.

Moreover, the clamping end of traditional letter sorting robot opens and shuts the degree, and most all are through numerical control structure or the extensible member stroke that corresponds, for example the cylinder etc. control, numerical control system is with high costs and transfers the machine complicacy, is unfavorable for the operation, and the stroke of cylinder structure is fixed the setting, needs the dismouting during the change, and the operation is more complicated, is unfavorable for enterprise's development.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a portable clamping device and a multi-shaft intelligent sorting robot, and aims to solve the technical problems that in the clamping device in the prior art, due to the adoption of a numerical control system, the cost is high, the machine adjustment is complex, and the operation is not facilitated, and due to the adoption of a cylinder structure, the stroke of the cylinder structure is fixedly arranged, the cylinder structure needs to be disassembled and assembled during replacement, the operation is more complex, and the enterprise development is not facilitated.

In order to achieve the above purpose, the portable clamping device provided in the embodiment of the present invention includes a connecting mechanism, a clamping driving mechanism and a deflection opening and closing mechanism, wherein the connecting mechanism is fixedly connected to an output end of the driving device, the connecting mechanism is provided with an installation cavity, the clamping driving mechanism is arranged in the installation cavity, the deflection opening and closing mechanism is rotatably connected to the connecting mechanism, the number of the output ends of the deflection opening and closing mechanism is two, the output ends of the deflection opening and closing mechanism extend to the outside of the installation cavity, and the two output ends of the deflection opening and closing mechanism always move relatively to realize a closing or expansion action; wherein, coupling mechanism includes pin joint seat and flexible buffering subassembly, the quantity of flexible buffering subassembly is two sets of at least, and is two sets of flexible buffering subassembly sets up respectively the both ends of pin joint seat, the beat is opened the output that closes the mechanism and is rotated and connect the tip of pin joint seat, flexible buffering subassembly is located the beat is opened the output removal route that closes the mechanism, the output direction of flexible buffering subassembly is aimed at the beat is opened the output that closes the subassembly.

Optionally, the deflection opening and closing mechanism comprises two groups of symmetrical deflection clamping jaw assemblies which are rotatably connected to the pivot seat, one end of each deflection clamping jaw assembly is connected with the output end of the clamping driving mechanism, the other end of each deflection clamping jaw assembly faces back to the direction of the pivot seat and extends, and the deflection directions of the two groups of deflection clamping jaw assemblies are opposite all the time.

Optionally, the deflection clamping jaw assembly comprises a connecting swing arm and a clamping body; the pin joint seat is including installation piece and extension board, the quantity of extension board is two sets of, and is two sets of it is in to extend the fixed setting of board the both ends of installation piece, the whole cross-section of pin joint seat is I word shape structure setting, the both ends of installation piece are shaped respectively has the beat mounting groove, and is two sets of the beat mounting groove all is located two sets of extend between the board, it rotates to connect the swing arm to be connected in the beat mounting groove, the one end of connecting the swing arm with centre gripping actuating mechanism's output fixed connection, the other end of connecting the swing arm with holding body fixed connection, flexible buffering subassembly is fixed to be set up on the lateral wall of installation piece.

Optionally, the bottom of installation piece is provided with extends the seat, it connects to connect the swing arm through pivot rotation in the beat mounting groove, the installation piece with extend the seat and be located respectively the both sides of pivot, the quantity of buffering subassembly is two sets of, all buffering subassembly evenly distributed extend the seat with on the lateral wall of installation piece.

Optionally, the connecting swing arm comprises a driving connecting block and a driven connecting block, one end of the driven connecting block is rotatably connected in the deflection mounting groove through a pivot, the other end of the driven connecting block is fixedly connected with the clamping body, one end of the driving connecting block is connected with a deflection fixed end of the driven connecting block, the other end of the driving connecting block extends away from the driven connecting block in a straight line and is rotatably connected with the output end of the clamping driving mechanism, the driving connecting block and the driven connecting block are arranged in a bent structure, and the driving connecting block is bent and extends in a direction opposite to the mounting block; the end of the driving connecting block extends into the installation cavity, and the end of the driven connecting block extends to the outside of the installation cavity.

Optionally, the clamping driving mechanism comprises two groups of symmetrically arranged telescopic assemblies, one end of each telescopic assembly is rotatably connected with the inner wall of the installation cavity, and the other end of each telescopic assembly is rotatably connected with the deflection end of the deflection opening and closing mechanism.

Optionally, the telescopic component is a cylinder or an electric push rod, wherein the end of the telescopic component far away from the deflection opening and closing mechanism is rotatably connected to the top wall of the installation cavity through a pivot seat, the telescopic component is arranged in a staggered and inclined mode, the installation block is arranged at the position of the bottom wall of the installation cavity, and a gap for accommodating the telescopic component is formed between the installation block and the top wall of the installation cavity.

One or more technical solutions in the portable clamping device provided by the embodiment of the present invention at least have one of the following technical effects: the working principle of the clamping device is that the telescopic limit stroke of the output end of the telescopic buffer assembly is adjusted, when the output end of the deflection opening and closing mechanism performs closing action to clamp a sorted object, the output end of the telescopic buffer assembly is positioned on the output end moving path of the deflection opening and closing mechanism, and the output end of the telescopic buffer assembly interferes the movement of the output end of the deflection opening and closing mechanism when the output end of the telescopic buffer assembly is contracted to the limit position; compared with the technical problems that the numerical control system adopted in the prior art is high in cost, complex in machine adjustment and not beneficial to operation, and the air cylinder structure is adopted, and the stroke of the air cylinder structure is fixedly arranged, so that the air cylinder structure needs to be disassembled and assembled during replacement, the operation is more complex, and the air cylinder structure is not beneficial to enterprise development.

In order to achieve the purpose, the utility model provides a multi-axis intelligent sorting robot which comprises the portable clamping device.

One or more technical solutions in the multi-axis intelligent sorting robot provided by the embodiment of the present invention at least have one of the following technical effects: the multi-axis intelligent sorting robot adopts the portable clamping device, and the working principle of the clamping device is used for adjusting the telescopic limit stroke of the output end of the telescopic buffer component, when the output end of the deflection opening and closing mechanism performs closing action to clamp a sorted object, the output end of the telescopic buffer component is positioned on the output end moving path of the deflection opening and closing mechanism, and the output end of the telescopic buffer component interferes the movement of the output end of the deflection opening and closing mechanism when being contracted to the limit position; compared with the technical problems that the numerical control system adopted in the prior art is high in cost, complex in machine adjustment and not beneficial to operation, and the air cylinder structure is adopted, and the stroke of the air cylinder structure is fixedly arranged, so that the air cylinder structure needs to be disassembled and assembled during replacement, the operation is more complex, and the air cylinder structure is not beneficial to enterprise development.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a multi-axis intelligent sorting robot according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a first linear driving device according to an embodiment of the present invention.

Fig. 3 is an exploded view of a second linear driving device according to an embodiment of the present invention.

Fig. 4 is an exploded view of a second linear driving device according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a third linear driving device according to an embodiment of the present invention.

Fig. 6 is an exploded view of a third linear driving device according to an embodiment of the present invention.

Fig. 7 is an exploded view of a tension adjusting assembly according to an embodiment of the present invention.

Fig. 8 is an exploded view of a portable clamping device according to an embodiment of the present invention.

Fig. 9 is a structural sectional view of a connection mechanism according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-first linear drive 20-second linear drive 40-portable clamping device

30-third linear drive 11-first drive mechanism 12-first mounting mechanism

13-first moving mechanism 111-first driving source 112-first transmission assembly

113-first coupling 114-second coupling 115-first transmission shaft

121-first mounting beam 122-first guide rail pair 132-first movable base

131 first synchronous conveying component 21 second driving mechanism 22 second mounting mechanism

23-second moving mechanism 221-second mounting beam 222-second guide rail pair

231-second moving assembly 233-connecting part 234-second moving seat

232-second synchronizing wheel conveying component 211-second mounting seat 212-second driving source

31-third mounting mechanism 32-third driving mechanism 33-third moving mechanism

321, third driving motor 322, third rack 323, and third pinion gear

311-mounting side plate 312-third guide rail pair 313-connecting cover plate

331-third traveling beam 332-third mount 50-tension adjustment assembly

34-horizontal angle adjusting mechanism 51-fixed seat 52-guide piece

511-first fixing plate 512-second fixing plate 513-clamping part

514-extension part 415-deflection mounting groove 42-clamping driving mechanism

413-mounting block 412-telescoping damper assembly 414-extension plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-9 are exemplary and intended to be used to illustrate embodiments of the utility model, and should not be construed as limiting the utility model.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

In one embodiment of the present invention, as shown in fig. 1 to 9, a portable clamping device is provided, and the application and description of the portable clamping device are described in detail in a multi-axis intelligent sorting robot.

The multi-axis intelligent sorting robot comprises a first linear driving device 10, a second linear driving device 20, a third linear driving device 30 and a portable clamping device 40, wherein the driving direction of the first linear driving device 10 is arranged along the moving direction of an object to be sorted; the second linear driving device 20 is arranged at the output end of the first linear driving device 10, the driving direction of the second linear driving device 20 is perpendicular to the driving direction of the first linear driving device 10, and the driving direction of the second linear driving device 20 is horizontally arranged; the third linear driving device 30 is arranged at the output end of the second linear driving device 20, the driving direction of the third linear driving device 30 is vertically arranged, and the output end of the third linear driving device 30 can extend to a garbage conveying path of the garbage sorting machine; the portable clamping device 40 is disposed at an output end of the third linear driving device 30 and is used for clamping the object to be sorted so as to transfer the object to be sorted to a preset position.

The working principle of the multi-axis intelligent sorting robot is as follows: the first linear driving device 10 drives the second linear driving device 20 to linearly move to a preset position along the X-axis direction, the second linear driving device 20 drives the third linear driving device 30 to move to a preset position along the Y-axis direction, the third linear driving device 30 drives the portable clamping device 40 to move along the Z-axis direction, and the output end of the portable clamping device 40 is close to an object to be sorted, so that the object to be sorted is clamped; compared with the technical problems that the sorting machine in the prior art adopts a connecting shaft structure to realize flexible movement of the material taking end, is complex to manufacture, high in cost and not beneficial to enterprise development, the multi-shaft linkage type driving device is adopted to realize positioning of a clamping end in a college, the structure is simple on the premise of meeting high-precision positioning, the multi-shaft linkage type positioning device can be realized by adopting a plurality of groups of linear driving devices, the cost is low, the manufacturing is simple and convenient, the practicability is high, and the enterprise development is facilitated.

In another embodiment of the present invention, as shown in fig. 1-2, the first linear driving device 10 includes a first driving mechanism 11, a first mounting mechanism 12 and a first moving mechanism 13, the first mounting mechanism 12 extends along a moving direction of the object to be sorted, the first moving mechanism 13 is slidably connected to the first mounting mechanism 12, an output end of the first driving mechanism 11 is connected to the first moving mechanism 13 in a driving manner for driving the first moving mechanism 13 to move along the moving direction of the object to be sorted, the second linear driving device 20 is disposed on the first moving mechanism 13, and specifically, the first driving mechanism 11 drives the first moving mechanism 13 to move along the first mounting mechanism 12 to realize the X-axis positioning.

Wherein, the first driving mechanism 11 includes a first driving source 111 and a first transmission assembly 112, the number of the first moving mechanisms 13 and the first installation mechanisms 12 is two sets, two sets of the first installation mechanisms 12 are respectively located at two sides of the moving path of the objects to be sorted, two sets of the first moving mechanisms 13 are respectively movably connected to the two sets of the first installation mechanisms 12 in a one-to-one correspondence manner, the number of the first transmission assemblies 112 is two sets, two sets of the first transmission assemblies 112 are respectively connected to the two sets of the first moving mechanisms 13 in a one-to-one correspondence manner, the first driving source 111 is provided with two sets of output ends respectively connected to the two sets of the first transmission assemblies 112 in a one-to-one correspondence manner, the two sets of the first moving mechanisms 13 always move in the same direction, the second linear driving device 20 is connected between the two sets of the first moving mechanisms 13, specifically, the second linear driving device 20 is laid between the two sets of the first installation mechanisms 12 along the Y-axis direction, the first linear driving device 10 and the second linear driving device 20 are integrally provided in an i-shaped configuration.

Specifically, the operation principle of the first linear driving device 10 is as follows: the first driving source 111 drives the first moving mechanism 13 to move along the corresponding first mounting mechanism 12 through the two sets of first transmission assemblies 112, so that synchronous movement of the single-driving-source driving and double-line moving ends is achieved, compared with the technical problems that when the linear device in the prior art adopts double-line driving, multi-driving-source driving is adopted to ensure the driving effect, so that cost waste, complex structure, low synchronization rate and inconvenience for enterprise development are caused.

As shown in fig. 1-2, in another embodiment of the present invention, the first driving source 111 includes a first driving motor and a first gear box, the first gear box has two output connection ends, an output end of the first driving motor is connected to an input end of the first gear box in a driving manner, input ends of two sets of the first transmission assemblies 112 are respectively connected to output ends of the two sets of the first gear boxes in a one-to-one correspondence manner, an input end direction of the first gear box is perpendicular to an output direction of the first gear box, specifically, an input end connection port of the first gear box is located at an upper end of the gear box, two mutually opposite side walls of the first gear box facing a horizontal direction are respectively formed with an input end connection port, an input end and two output ends of the first gear box are arranged in an inverted T shape, and the first gear box reverses a driving direction of the first driving motor from a vertical direction to a horizontal direction through the input end and the output end arranged in an inverted T shape structure And (3) direction.

As shown in fig. 1 to 2, in another embodiment of the present invention, the first transmission assembly 112 includes a first coupling 113, a second coupling 114 and a first transmission shaft 115, the first transmission shaft 115 is connected to an output end of the first gearbox through the first coupling 113, the first transmission shaft 115 is connected to the first moving mechanism 13 through the second coupling 114, and two sets of the first transmission shafts 115 rotate synchronously at all times.

As shown in fig. 1 to 2, in another embodiment of the present invention, the first mounting mechanism 12 includes a first mounting beam 121 and a first guide rail pair 122, the first mounting beam 121 is disposed along a moving direction of the object to be sorted, a guide rail of the first guide rail pair 122 is disposed on the first mounting beam 121 and is disposed along a length direction of the first mounting beam 121, the first moving mechanism 13 is fixedly connected to a slider of the first guide rail pair 122, and the first moving mechanism 13 is driven by the first transmission shaft 115 to be linearly movable along the guide rail of the first guide rail pair 122.

In another embodiment of the present invention, as shown in fig. 1-2, the first moving mechanism 13 includes a first synchronous wheel feed assembly 131 and a first moving seat 132, the first synchronous wheel conveying assembly 131 is arranged on the first mounting beam 121 and the conveying direction of the first synchronous wheel conveying assembly 131 is arranged along the extending direction of the guide rails of the first guide rail pair 122, the belt of the first synchronous wheel conveyor assembly 131 is drivingly connected to the first movable base 132 via a belt tensioning adjustment assembly 50, the first transmission shaft 115 is in driving connection with the first synchronous wheel conveying assembly 131, the first moving seat 132 is fixedly connected to the sliding block of the first guide rail pair 122, in this embodiment, the first synchronous wheel conveying assembly 131 is a synchronous wheel-synchronous belt linear conveyor, in other embodiments, the first synchronous wheel conveyor assembly 131 may be a belt conveyor.

In another embodiment of the present invention, as shown in fig. 1-2, the output end of the first synchronous roller conveyor assembly 131 is located at the top end of the first mounting beam 121, the first movable base 132 moves along the top plane of the first mounting beam 121, a plurality of support plates are disposed at the bottom of the first mounting beam 121, all of the support plates are disposed at intervals along the length direction of the first mounting beam 121, the guide rails of the first guide rail pair 122 are disposed on the side walls of the first mounting beam 121, the bottom of the first movable seat 132 is provided with an extending block extending downward, and the extending block is fixedly connected with the sliding block of the first guide rail pair 122, specifically, the extension block, the support plate and the first movable seat 132 are integrally formed in an Contraband-shaped structure to wrap the first guide rail, the upper end of the first movable base 132 extends toward the second linear transporter to facilitate the connection and installation of the second linear transporter 20.

As shown in fig. 1 to 2, in another embodiment of the present invention, the side walls of both ends of the first mounting beam 121 are provided with limit abutting blocks, and the limit abutting blocks are used for adjusting and limiting the moving stroke of the first moving seat 132, controlling the moving path of the first moving seat 132, and preventing the first moving seat 132 from impacting the first driving mechanism 11.

As shown in fig. 1 to 2, in another embodiment of the present invention, a first mounting beam 121 for mounting the second linear driving device 20 is formed by extending a top end of the first movable seat 132 toward the second linear driving device 20, the first mounting beam 121 is provided with a first limit mounting groove, and an end of the second linear driving device 20 is fixedly disposed in the first limit mounting groove.

In another embodiment of the present invention, as shown in fig. 3 to 4, the second linear driving device 20 includes a second driving mechanism 21, a second mounting mechanism 22 and a second moving mechanism 23, the second mounting mechanism 22 is disposed at the output end of the first linear driving device 10, the second moving mechanism 23 is movably connected to the first mounting mechanism 12, the second driving mechanism 21 is drivingly connected to the second moving mechanism 23, and the third linear driving device 30 is disposed on the second moving mechanism 23; the second mounting mechanism 22 includes a second mounting beam 221 and a second guide rail pair 222, the second mounting beam 221 is disposed at the output end of the first linear driving device 10, the second mounting beam 221 is provided with a first end surface and a second end surface which are symmetrical up and down, the number of the second guide rail pair 222 is two, the two sets of guide rails of the second guide rail pair 222 are respectively disposed on the first end surface and the second end surface in a one-to-one correspondence manner, the guide rails of the second guide rail pair 222 are disposed along the length direction of the second mounting beam 221, and two ends of the second moving mechanism 23 are respectively fixedly connected with two sets of sliders of the second guide rail pair 222.

Specifically, the operation principle of the second linear driving device 20 is as follows: the upper and lower ends of the second mounting beam 221 are provided with the second guide rail pairs 222, and the two ends of the second moving mechanism 23 are connected with the two sets of second guide rail pairs 222 through the extending structure, so that the cross section of the second moving mechanism 23 is formed into an Contraband-shaped structure to wrap the second mounting beam 221, and the second driving mechanism 21 drives the second moving mechanism 23 to linearly move in a state of wrapping the second mounting beam 221, compared with the prior art in which the linear device adopts an integral structure with a plurality of beams arranged side by side, the stability of the moving seat is improved, which results in an increase in the space occupation ratio of the linear device, the practicability is low, meanwhile, the contact area between the moving end and the carrier beam is large, and the parts of the integral linear device are numerous, the weight is large, the moving flexibility of the integral linear device as the moving end to realize the driving is influenced, and the technical problem of being not beneficial to the development of enterprises is solved, the second linear driving device 20 provided by the embodiment of the present invention adopts a single carrier beam structure to match the moving end linear driving effect of wrapping type mounting, cladding formula mounting structure is favorable to improving the installation stability who removes the end, and the monomer carrier bar has greatly reduced linear device's space proportion of occuping, improves linear device's practicality, simultaneously, when the whole removal end as all the other linear drive device of second linear device was in order to realize the multiaxis drive, the light characteristic that the monomer bore is favorable to improving whole second linear drive device 20's removal flexibility.

As shown in fig. 3 to 4, in another embodiment of the present invention, the second moving mechanism 23 includes a second moving assembly 231 and a second synchronous wheel conveying assembly 232, two ends of the second moving assembly 231 are respectively and fixedly connected to the sliding blocks of the two sets of second guide rail pairs 222, the second synchronous wheel conveying assembly 232 is disposed on the second mounting beam 221, the second synchronous wheel conveying assembly 232 is in driving connection with the second moving assembly 231 through a tension adjusting assembly 50, and an output end of the second driving mechanism 21 is connected to an input end of the second synchronous wheel conveying assembly 232, in this embodiment, the second synchronous wheel conveying assembly 232 may be a synchronous wheel-synchronous belt linear conveyor or a belt linear conveyor.

As shown in fig. 3 to 4, in another embodiment of the present invention, the second moving assembly 231 includes a connecting member 233 and a second moving seat 234, the second moving seat 234 is vertically disposed, the connecting member 233 is disposed on an end surface of the second moving seat 234 close to the second mounting beam 221, two ends of the connecting member 233 are respectively and correspondingly fixedly connected to the sliders of the two sets of second rail pairs 222, and the connecting member 233 and the second moving seat 234 are disposed in an Contraband-shaped structure in an overall cross section.

As shown in fig. 3 to 4, in another embodiment of the present invention, the connecting member 233 includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are respectively disposed on an upper end side wall and a lower end side wall of the second moving seat 234, a bottom of the first connecting plate is fixedly connected to the slider corresponding to the second rail pair 222, a top end of the second connecting plate is fixedly connected to the slider corresponding to the second rail pair 222, specifically, the second moving seat 234 is disposed in a plate-mounted structure and in an installation state, and an upper end and a lower end of the second moving seat 234 respectively extend to above and below the second mounting beam 221.

As shown in fig. 3 to 4, in another embodiment of the present invention, a reinforcing plate is connected between the second connecting plate and the second moving seat 234, the upper end and the side wall of the reinforcing plate are respectively and fixedly connected to the bottom of the second connecting plate and the side wall of the second moving seat 234, the cross section of the reinforcing plate is arranged in a tapered structure, and the lower end of the reinforcing plate is gradually narrowed.

As shown in fig. 3 to 4, in another embodiment of the present invention, the upper end and the lower end of the second mounting beam 221 are respectively provided with a second limit mounting groove for mounting the guide rail of the second guide rail pair 222, the side wall of the second mounting beam 221 is provided with an extending mounting seat extending outward, the extending mounting seat is located between the second moving mechanism 23 and the second mounting beam 221, an end portion of the extending mounting seat close to the second moving mechanism 23 is provided with a receiving groove for receiving the conveyor belt of the second synchronizing wheel conveyor assembly 232, and the conveyor belt is movably fitted in the receiving groove.

As shown in fig. 3 to 4, the second driving mechanism 21 includes two sets of second mounting seats 211 and second driving sources 212, the two sets of second mounting seats 211 are symmetrically disposed at two ends of the second mounting beam 221, a cavity for accommodating a synchronizing wheel of the second synchronizing wheel conveying assembly 232 is disposed on the second mounting seat 211, and the second driving sources 212 are in driving connection with the synchronizing wheel of the second synchronizing wheel conveying assembly 232 through a second transmission assembly; the second transmission assembly is disposed on the second mounting base 211, an output end of the second transmission assembly extends into the cavity and is connected to the driving of the synchronizing wheel of the second synchronizing wheel conveying assembly 232, an output end of the second driving source 212 is connected to an input end of the second transmission assembly, and the second driving source 212 is a driving motor.

As shown in fig. 5 to 6, in another embodiment of the present invention, the third linear driving device 30 includes a third mounting mechanism 31, a third driving mechanism 32 and a third moving mechanism 33, the third mounting mechanism 31 is fixedly disposed at the output end of the second linear driving device 20, the third moving mechanism 33 is movably connected to the output end of the second linear driving device 20, and the output end of the third driving mechanism 32 is drivingly connected to the third moving mechanism 33; the third driving mechanism 32 includes a third driving motor 321, a third rack 322 and a third driving gear 323, the third driving motor 321 is fixedly disposed on the third mounting mechanism 31, the third rack 322 is fixedly disposed on the third moving mechanism 33, the third rack 322 is disposed along the moving direction of the third moving mechanism 33, the third driving gear 323 is tightly connected to the output spindle of the third driving motor 321, the third driving gear 323 is engaged with the third rack 322, and the portable clamping device 40 is disposed on the third moving mechanism 33.

Specifically, the operation principle of the third linear driving device 30 is as follows: when the portable clamping device 40 needs to be driven to move along the Z axis, the third driving motor 321 drives the third driving gear 323 to rotate, and since the third driving gear 323 is engaged with the third rack 322, the third rack 322 drives the third moving mechanism 33 to slide along a preset path relative to the third mounting mechanism 31; compared with the prior art that the linear sliding table structure is adopted to drive the moving end to be positioned in the Z-axis linear driving device, the linear sliding table is always kept in a fixed state, and the occupied space of the path in the Z-axis direction is in a fixed state, so that the installation space and the moving space of the driven structure of the moving end are reduced, the practicability is reduced, and the technical problem of being not beneficial to enterprise development is solved.

As shown in fig. 5 to 6, in another embodiment of the present invention, the third mounting mechanism 31 includes two sets of mounting side plates 311, two sets of mounting side plates 312 and two sets of mounting side plates 311, the two sets of mounting side plates 311 are disposed at an interval on the output end of the second linear driving device 20 and are located at two ends of the third moving mechanism 33, the sliders of the two sets of third guide pairs 312 are disposed on the end surfaces of the two sets of mounting side plates 311 opposite to each other in a one-to-one correspondence manner, the guide rails of the two sets of third guide pairs 312 are symmetrically disposed at two ends of the third moving mechanism 33, the connecting cover plate 313 is connected between the ends of the two sets of mounting side plates 311 far away from the second linear driving device 20, the third driving motor 321 is fixedly disposed on one of the mounting side plates 311, the third rack 322 is located between the mounting side plates 311 and the third moving mechanism 33, specifically, the mounting side plate 311 and the connecting cover plate 313 are matched with the output end of the second linear driving device 20 to form a sliding sleeve structure to cover the third moving mechanism 33.

As shown in fig. 5 to 6, in another embodiment of the present invention, a reinforcing block is disposed on an end surface of the mounting side plate 311 away from the third guide rail pair 312, two adjacent side walls of the reinforcing block are fixedly connected to the mounting side plate 311 and the output end of the second linear driving device 20, respectively, and the cross section of the reinforcing block is disposed in a tapered structure.

As shown in fig. 5 to 6, in another embodiment of the present invention, the third moving mechanism 33 includes two sets of third moving beams 331 and third mounting seats 332, two sets of the third mounting seats 332 are symmetrically disposed at two ends of the third moving beam 331, the portable clamping device 40 is disposed on one of the third mounting seats 332, a third limit mounting groove for fixedly mounting a guide rail of the third guide rail pair 312 is disposed on a side wall of the third moving beam 331, a gap is disposed between the third moving beam 331 and an output end of the second linear driving device 20, the third moving beam 331 is slidably fitted to the third mounting mechanism 31 through the third limit mounting groove and the third guide rail pair 312, the third rack 322 is fixedly disposed on a side wall of the third moving beam 331 and is disposed along a length direction of the third moving beam 331, specifically, the entire third moving mechanism 33 is slidably connected to the mounting side plate 311 only via a guide rail, and is driven by a rack-and-pinion structure.

In another embodiment of the present invention, as shown in fig. 5 to 6, the third linear driving device 30 further includes a horizontal angle adjusting mechanism 34 for adjusting the clamping angle of the handy clamp device 40.

As shown in fig. 5 to 6, in another embodiment of the present invention, the horizontal angle adjusting mechanism 34 includes an adjusting driving assembly and an adjusting connection assembly, the adjusting driving assembly is disposed on the third moving mechanism 33, an output end of the adjusting driving assembly is disposed along a length direction of the third moving mechanism 33, the adjusting connection assembly is disposed between the third moving mechanism 33 and the portable clamping device 40, and two ends of the adjusting connection assembly are fixedly connected to the output end of the adjusting driving assembly and the portable clamping device 40, respectively.

As shown in fig. 5 to 6, in another embodiment of the present invention, the adjusting driving assembly includes an adjusting driving motor, an adjusting mounting seat and an adjusting transmission shaft, the adjusting mounting seat is fixedly disposed at an end of the third moving mechanism 33, the adjusting transmission shaft is rotatably connected in the third moving mechanism 33, the adjusting driving motor is disposed on the adjusting mounting seat, an output end of the adjusting driving motor is in driving connection with the adjusting transmission shaft, and an end of the adjusting transmission shaft away from the adjusting driving motor is fixedly connected with the adjusting connection assembly.

As shown in fig. 5 to 6, in another embodiment of the present invention, the output end of the adjusting driving motor is connected to the adjusting transmission shaft through a synchronous transmission assembly, and the synchronous transmission assembly is fixedly disposed in the adjusting mounting seat.

As shown in fig. 7, in another embodiment of the present invention, the tensioning adjustment assembly 50 includes two sets of adjustment components symmetrically disposed at two ends of the first movable seat 132, the adjustment components include a fixed seat 51, a guide 52 and a locking member, the fixed seat 51 is fixedly connected with the conveyor belt of the first synchronous wheel conveyor assembly 131, the guide 52 is disposed at an end of the first movable seat 132, the fixed seat 51 is slidably fitted with the guide 52, and the locking member is detachably disposed on the guide 52 and is used for positioning the fixed seat 51 on the guide 52; the two groups of the fixing seats 51 move to preset positions along the guiding direction corresponding to the guide piece 52, so that the positions of the corresponding fixing seats 51 on the guide piece 52 are positioned and locked by the locking pieces after the tightness degree of the conveying belt between the two groups of the fixing seats 51 reaches the preset value.

Specifically, the operation principle of the tension adjusting assembly 50 is as follows: when the conveying belt begins to loosen along with the increase of the working time, the locking pieces are unlocked, the fixed seats 51 are driven to move towards the direction of the first moving seat 132 through the guide piece 52, and after the distance between the two fixed seats 51 is shortened, the positions of the two groups of fixed seats 51 on the corresponding guide pieces 52 are locked and positioned through the locking pieces, so that the conveying belt is tensioned; compared with the technical problem that the conveying belt begins to collapse along with the increase of the working time in the conveying belt linear device in the prior art, so that the conveying precision of the conveying belt is influenced, and the conveying effect is poor, the tensioning adjusting assembly 50 provided by the embodiment of the utility model has the advantages that the connecting part of the moving end and the conveying belt is designed to be adjustable, when the conveying belt collapses, the lengths of the conveying belts at two sides of the moving end are adjusted, so that the conveying belt is ensured to be always in a tight state, the situations of sliding teeth, pulleys, stagnation of the conveying belt and the like are prevented, the conveying effect is improved, and the enterprise development is facilitated.

As shown in fig. 7, in another embodiment of the present invention, the fixing base 51 includes a first fixing plate 511 and a second fixing plate 512, the first fixing plate 511 and the second fixing plate 512 are symmetrically disposed at two ends of the timing belt of the first synchronous wheel conveying assembly 131, the first fixing plate 511 and the second fixing plate 512 clamp the timing belt of the first synchronous wheel conveying assembly 131 by screw locking, and the first fixing plate 511 is slidably connected to the guide 52.

In another embodiment of the present invention, as shown in fig. 7, the guiding element 52 comprises two sets of guiding rods, which are spaced apart from each other at the end of the first movable base 132, and are slidably fitted with the end of the first fixing plate 511.

As shown in fig. 7, in another embodiment of the present invention, the first fixing plate 511 includes a clamping portion 513 and an extending portion 514, the clamping portion 513 and the second fixing plate 512 clamp the conveyor belt of the first synchronous wheel conveyor assembly 131 by screw locking, and the extending portion 514 is disposed at an end of the clamping portion 513 close to the first moving seat 132; wherein, the interface of extension 514 is T type dress structure setting, extension 514 includes connector and connector, the taper structure setting that is of connector, the connector dorsad first removal seat 132 shrink gradually and with clamping part 513 fixed connection, the connector sets up the connector is close to the first tip that removes seat 132, the cross-sectional width of connector is greater than the connector, the connector with the shaping has the groove of stepping down that two sets of symmetries set up between the connector, the connector with guide bar sliding adaptation.

In another embodiment of the present invention, as shown in fig. 7, the guide bar is provided with an external thread on a circumferential side wall thereof, and the locking member is a pre-tightening screw and is threadedly coupled to the guide bar.

In another embodiment of the present invention, as shown in fig. 7, the connecting head is provided with a connecting hole for slidably fitting the guide rod, and the connecting hole is offset from the clamping portion 513.

In another embodiment of the present invention, as shown in fig. 7, a tooth portion for increasing the friction between the second fixing plate 512 and the conveyor belt is disposed on the end of the second fixing plate 512 close to the conveyor belt of the first synchronous wheel conveyor assembly 131.

As shown in fig. 8 to 9, in another embodiment of the present invention, the portable clamping device 40 includes a connecting mechanism, a clamping driving mechanism 42, and a deflection opening and closing mechanism, the connecting mechanism is fixedly connected to the output end of the third linear driving device 30, the connecting mechanism is provided with an installation cavity, the clamping driving mechanism 42 is disposed in the installation cavity, the deflection opening and closing mechanism is rotatably connected to the connecting mechanism, the number of the output ends of the deflection opening and closing mechanism is two, the output ends of the deflection opening and closing mechanism extend to the outside of the installation cavity, and the two output ends of the deflection opening and closing mechanism always move relatively to realize a closing or expanding action; wherein, coupling mechanism includes pin joint seat and flexible buffering subassembly 412, the quantity of flexible buffering subassembly 412 is two sets of at least, and two sets of flexible buffering subassembly 412 sets up respectively the both ends of pin joint seat, the beat is opened and is closed the output of mechanism and rotate to be connected the tip of pin joint seat, flexible buffering subassembly 412 is located the beat is opened and is closed the output moving path of mechanism, the output direction of flexible buffering subassembly 412 aims at the beat is opened and is closed the output of subassembly, flexible buffering subassembly 412 is the hydraulic buffer.

Specifically, according to the working principle of the portable clamping device 40, the telescopic limit stroke of the output end of the telescopic buffer component 412 is adjusted, and when the output end of the deflection opening and closing mechanism performs a closing action to clamp a sorted object, since the output end of the telescopic buffer component 412 is located on the moving path of the output end of the deflection opening and closing mechanism, the output end of the telescopic buffer component 412 interferes with the movement of the output end of the deflection opening and closing mechanism when contracting to the limit position; compared with the technical problems that the numerical control system adopted in the prior art is high in cost, complex in machine adjustment and not beneficial to operation, and the air cylinder structure is adopted, and the stroke of the air cylinder structure is fixedly arranged, so that the air cylinder structure needs to be disassembled and assembled during replacement, the operation is more complex, and the air cylinder structure is not beneficial to enterprise development.

As shown in fig. 8 to 9, in another embodiment of the present invention, the swing opening and closing mechanism includes two sets of swing clamping jaw assemblies symmetrically and rotatably connected to the pivot seat, one end of the swing clamping jaw assembly is connected to the output end of the clamping driving mechanism 42, the other end of the swing clamping jaw assembly extends in a direction away from the pivot seat, and the swing directions of the two sets of swing clamping jaw assemblies are always opposite.

In another embodiment of the present invention, as shown in fig. 8-9, the yaw jaw assembly comprises a connecting swing arm 431 and a clamping body 432; the pin joint seat is including installation piece 413 and extension board 414, the quantity of extension board 414 is two sets of, and is two sets of extension board 414 is fixed to be set up the both ends of installation piece 413, the whole cross-section of pin joint seat is I shape structure setting, the both ends of installation piece 413 shaping respectively has beat mounting groove 415, and is two sets of beat mounting groove 415 all is located two sets of extend between the board 414, it connects to connect swing arm 431 and rotates to be connected in the beat mounting groove 415, connect swing arm 431's one end with centre gripping actuating mechanism 42's output fixed connection, connect swing arm 431's the other end with clamping body 432 fixed connection, flexible buffer unit 412 is fixed to be set up on the lateral wall of installation piece 413.

As shown in fig. 8 to 9, in another embodiment of the present invention, an extension seat is disposed at the bottom of the mounting block 413, the connecting swing arm 431 is pivotally connected to the yaw installation groove 415, the mounting block 413 and the extension seat are respectively located at two sides of the pivot, the number of the buffer assemblies is two, and all the buffer assemblies are uniformly distributed on the extension seat and the side wall of the mounting block 413.

As shown in fig. 8 to 9, in another embodiment of the present invention, the connecting swing arm 431 includes a driving connecting block and a driven connecting block, one end of the driven connecting block is rotatably connected in the deflection mounting groove 415 through a pivot, the other end of the driven connecting block is fixedly connected to the clamping body 432, one end of the driving connecting block is connected to the deflection fixing end of the driven connecting block, the other end of the driving connecting block extends away from the driven connecting block in a straight line and is rotatably connected to the output end of the clamping driving mechanism 42, the driving connecting block and the driven connecting block are arranged in a bent structure, and the driving connecting block is bent and extends away from the mounting block 413; the end of the driving connecting block extends into the installation cavity, and the end of the driven connecting block extends to the outside of the installation cavity.

As shown in fig. 8 to 9, in another embodiment of the present invention, the clamping driving mechanism 42 includes two sets of symmetrically disposed telescopic assemblies, one end of the telescopic assembly is rotatably connected to the inner wall of the installation cavity, and the other end of the telescopic assembly is rotatably connected to the swing end of the swing opening and closing mechanism.

As shown in fig. 8 to 9, in another embodiment of the present invention, the telescopic assembly is an air cylinder or an electric push rod, wherein an end of the telescopic assembly away from the yaw opening and closing mechanism is rotatably connected to a top wall of the installation cavity through a pivot seat, two sets of the telescopic assemblies are arranged in a staggered and inclined manner, the installation block 413 is arranged at a bottom wall of the installation cavity, and a gap for accommodating the telescopic assembly is formed between the installation block 413 and the top wall of the installation cavity.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. The utility model provides a portable clamping device which characterized in that: the device comprises a connecting mechanism, a clamping driving mechanism and a deflection opening and closing mechanism, wherein the connecting mechanism is fixedly connected with the output end of a driving device, the connecting mechanism is provided with an installation cavity, the clamping driving mechanism is arranged in the installation cavity, the deflection opening and closing mechanism is rotationally connected to the connecting mechanism, the number of the output ends of the deflection opening and closing mechanism is two, the output ends of the deflection opening and closing mechanism extend to the outer side of the installation cavity, and the two output ends of the deflection opening and closing mechanism move relatively all the time to realize closing or expanding actions;

wherein, coupling mechanism includes pin joint seat and flexible buffering subassembly, the quantity of flexible buffering subassembly is two sets of at least, and is two sets of flexible buffering subassembly sets up respectively the both ends of pin joint seat, the beat is opened the output that closes the mechanism and is rotated and connect the tip of pin joint seat, flexible buffering subassembly is located the beat is opened the output removal route that closes the mechanism, the output direction of flexible buffering subassembly is aimed at the beat is opened the output that closes the subassembly.

2. The portable clamping device of claim 1, wherein: the deflection opening and closing mechanism comprises two groups of deflection clamping jaw assemblies which are symmetrically and rotatably connected to the pin joint seat, one end of each deflection clamping jaw assembly is connected with the output end of the clamping driving mechanism, the other end of each deflection clamping jaw assembly extends in a direction opposite to the pin joint seat, and the deflection directions of the two groups of deflection clamping jaw assemblies are opposite all the time.

3. The portable clamping device of claim 2, wherein: the deflection clamping jaw assembly comprises a connecting swing arm and a clamping body; the pin joint seat is including installation piece and extension board, the quantity of extension board is two sets of, and is two sets of it is in to extend the fixed setting of board the both ends of installation piece, the whole cross-section of pin joint seat is I word shape structure setting, the both ends of installation piece are shaped respectively has the beat mounting groove, and is two sets of the beat mounting groove all is located two sets of extend between the board, it rotates to connect the swing arm to be connected in the beat mounting groove, the one end of connecting the swing arm with centre gripping actuating mechanism's output fixed connection, the other end of connecting the swing arm with holding body fixed connection, flexible buffering subassembly is fixed to be set up on the lateral wall of installation piece.

4. The portable clamping device of claim 3, wherein: the bottom of installation piece is provided with extends the seat, it connects to connect the swing arm through pivot rotation and connects in the beat mounting groove, the installation piece with it is located respectively to extend the seat the both sides of pivot, the quantity of buffering subassembly is two sets of, and all buffering subassembly evenly distributed is in extend the seat with on the lateral wall of installation piece.

5. The portable clamping device of claim 3, wherein: the connecting swing arm comprises a driving connecting block and a driven connecting block, one end of the driven connecting block is rotatably connected into the deflection mounting groove through a pivot, the other end of the driven connecting block is fixedly connected with the clamping body, one end of the driving connecting block is connected with a deflection fixed end of the driven connecting block, the other end of the driving connecting block extends away from the driven connecting block in a straight line and is rotatably connected with the output end of the clamping driving mechanism, the driving connecting block and the driven connecting block are arranged in a bent structure, and the driving connecting block is bent and extends in a direction opposite to the mounting block; the end of the driving connecting block extends into the installation cavity, and the end of the driven connecting block extends to the outside of the installation cavity.

6. The portable clamping device according to any one of claims 3 to 5, wherein: the clamping driving mechanism comprises two groups of telescopic assemblies which are symmetrically arranged, one end of each telescopic assembly is rotatably connected with the inner wall of the installation cavity, and the other end of each telescopic assembly is rotatably connected with the deflection end of the deflection opening and closing mechanism.

7. The portable clamping device of claim 6, wherein: the telescopic component is an air cylinder or an electric push rod, wherein the telescopic component is far away from the end part of the deflection opening and closing mechanism is rotatably connected onto the top wall of the installation cavity through a pin joint seat, the telescopic component is arranged in a staggered and inclined mode, the installation block is arranged at the position of the bottom wall of the installation cavity, and a gap used for containing the telescopic component is formed between the installation block and the top wall of the installation cavity.

8. The utility model provides a multiaxis intelligence letter sorting robot which characterized in that: comprises the portable clamping device as claimed in any one of claims 1 to 7.

Images