CN103922137B - A kind of material clamp device - Google Patents
A kind of material clamp device Download PDFInfo
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- CN103922137B CN103922137B CN201410167438.9A CN201410167438A CN103922137B CN 103922137 B CN103922137 B CN 103922137B CN 201410167438 A CN201410167438 A CN 201410167438A CN 103922137 B CN103922137 B CN 103922137B
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- wallboard
- connecting rod
- right wallboard
- rotating shaft
- adapter plate
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Abstract
The present invention discloses a kind of material clamp device, and it comprises adapter plate, left wallboard and right wallboard, and left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard, right wallboard are respectively equipped with the first relative cavernous body and the second cavernous body; Form material between first cavernous body and the second cavernous body and accommodate space; Be provided with driver train between left wallboard and right wallboard, driver train comprises cylinder and connecting rod actuator; Cylinder is fixed on left wallboard, and the piston rod rotation of cylinder connects one end of connecting rod actuator, and the other end of connecting rod actuator is rotationally connected right wallboard; The flexible of cylinder piston rod can drive right wallboard along adapter plate at the square upward sliding perpendicular to left wallboard metope.The present invention is by changing the structure and action cooperation that fixture accommodate body, and make when carrying out material gripping, gripping power is tending towards even in the distribution on material surface, avoids not clamping, or causes the situation of damage to material.
Description
Technical field
The present invention relates to the take out device technical field in financial product production facilities, particularly a kind of gripping power well-distributed material clamp device.
Background technology
In financial product production process, fixture is one of widely used device in packaging process, and the structural relation of fixture precision and the speed of the flow work.To the gripping simultaneously of multiple material, or when effects on surface material in irregular shape carries out gripping, easily occur that indivedual material is not clamping, or the phenomenon causing material impaired because clamp force distribution is uneven.If actv. overcomes these shortcomings, produce very large realistic meaning by packaging and flow production line.
Summary of the invention
The technical problem to be solved in the present invention is: by changing the structure and action cooperation that fixture accommodate body, fixture is made to carry out material gripping, when particularly gripping being carried out to out-of-shape material, the gripping power of fixture is tending towards even in the distribution on material surface, avoid not clamping, or the situation of damage is caused to material.
The technical scheme that the present invention takes is specially: a kind of material clamp device, and comprise adapter plate, left wallboard and right wallboard, left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned first cavernous body is provided with the second cavernous body; Form material between first cavernous body and the second cavernous body and accommodate space;
Be provided with driver train between left wallboard and right wallboard, driver train comprises cylinder and connecting rod actuator; Cylinder is fixed on left wallboard, and the piston rod rotation of cylinder connects one end of connecting rod actuator, and the other end of connecting rod actuator is rotationally connected left wallboard; The flexible of cylinder piston rod can drive left wallboard along adapter plate at the square upward sliding perpendicular to left wallboard metope.
The present invention is when applying, drivening rod is got final product by the operation of control cylinder, and then drive right wallboard to do pinching action, be taken at by material clamp between two cavernous bodies, be rotationally connected because connecting rod actuator and cylinder piston rod and right wallboard are all, therefore it can allow to do small size swing in horizontal plane, reach the object that the right wallboard of buffering runs, time particularly for out-of-shape material, can realize, while clamping material, the effect of damage can not being caused to material.
In driver train of the present invention, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected the first rotating shaft and cantilever pin respectively, and cantilever pin is axially fixed on right wallboard.When cylinder piston rod fore and aft motion, connecting rod actuator can drive the right body of wall of corresponding connection to slide along adapter plate, realizes material gripping action.The action arranging right wallboard when available buffer gripping action starts of oscillating bearing, the first rotating shaft, the second rotating shaft, cantilever pin and connecting rod, avoids wallboard to the impact of material.
As the concrete form of implementation of one, the quantity of the right wallboard of the present invention is more than 2, and each right wallboard is installed on adapter plate side by side; All driver train is connected with between each right wallboard and left wallboard.Each right wallboard may correspond to a material, also may correspond to the different parts of material, only needs exerting oneself of conservative control cylinder, can realize the synchronous gripping to material, and the different parts uniform force of each material or material.
As a kind of preferred implementing form, the quantity of the right wallboard of the present invention is more than 2, and each right wallboard is installed on adapter plate side by side; In each driver train, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected the first rotating shaft and the second rotating shaft respectively, and one end of each secondary connecting rod is rotationally connected the second rotating shaft respectively, and the other end is rotationally connected one of them cantilever pin respectively; Two cantilever pins are axially fixed on two adjacent right wallboards respectively.Each driver train can drive the gripping action of two right wallboards simultaneously, gripping is carried out to the different parts of same material or two materials, because two right wallboards order about action by same cylinder, can ensure in gripping process even to the gripping power of material, reliable clamping, and material more not easily sustains damage.
Preferably, in the present invention, right wallboard is installed on adapter plate by line slideway sliding block joint.In the gripping course of action of right wallboard, line slideway plays the effect of guiding, and makes the motion process of right wallboard more level and smooth, and gripping process is steady.
Preferably, right wallboard of the present invention is L shape, and an one side arm is parallel to adapter plate, the above-mentioned line slideway of sliding block joint; And cantilever pin is perpendicular to this side arm, and be axially fixed on this side arm; Another side arm of right wallboard and left wallboard plane parallel, and the second cavernous body is set.The cantilever pin of axial restraint can rotate in a circumferential direction along himself axle on right wallboard, and adapt to connecting rod actuator flexible in gripping process, the angle between the second connecting rod brought and right wallboard changes.
In addition, the present invention also provides another kind of material clamp device, and it comprises adapter plate, left wallboard and right wallboard, and left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned first cavernous body is provided with the second cavernous body; Form material between first cavernous body and the second cavernous body and accommodate space;
Right wallboard quantity is more than 3, and each right wallboard is installed on adapter plate side by side; Be connected by propulsive effort two sub-agencies or direct drive mechanism between left wallboard with right wallboard:
Above-mentioned propulsive effort two sub-agencies comprises cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; Cylinder is fixed on left wallboard, the piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, the two ends of one-level connecting rod are rotationally connected the first rotating shaft and the second rotating shaft respectively, one end of each secondary connecting rod is rotationally connected the second rotating shaft respectively, the other end is rotationally connected one of them cantilever pin, and two cantilever pins are axially fixed on two adjacent right wallboards respectively;
Direct drive mechanism comprises cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected the first rotating shaft and cantilever pin respectively, and cantilever pin is axially fixed on one of them right wallboard.
Above-mentioned this material clamp device, when applying, can arrange the quantity of propulsive effort two sub-agencies and direct drive mechanism, the position of distribution as required, and the quantity of corresponding right wallboard; Its propulsive effort, in gripping process, can be averagely allocated to two adjacent right wallboards by propulsive effort two sub-agencies, makes gripping power during each right wallboard work in the same size, more adapts to the demand that gripping power wants average.It is the situation of odd number that direct drive mechanism can be used for clamped material number, or is used for driving a single right wallboard.
No matter be propulsive effort two sub-agencies or direct drive mechanism in the present invention, connecting rod actuator wherein all can do small size swing in the horizontal direction, automatically to regulate each right wallboard along the position of clamping direction, make unrelated position between each group of right wallboard but propulsive effort size is identical, make to clamp between cavernous body and material more closely, feeding is more reliable.
Beneficial effect of the present invention is:
(1) the connecting rod actuator in driver train is divided into two kinds, and a kind of for can drive two right wallboard actions simultaneously simultaneously, one is only drive a right wallboard action.When applying, the array configuration of the right wallboard of many groups and two kinds of driver trains can be adopted to carry out material gripping, and each right wallboard clamps for a material, and each material can be clamped simultaneously; Due to unrelated position between each right wallboard, make to clamp between cavernous body and material more closely, feeding is more reliable;
(2) in clamping process, utilize the connecting rod drive form comprising two second connecting rods and cantilever pin, two adjacent right wallboards can be averagely allocated to by driving the propulsive effort of cylinder, make gripping power during each right wallboard work in the same size, can ensure that the gripping power suffered by each material is identical;
(3) in clamping process, connecting rod in the middle of connecting rod mechanism of the present invention can do the small size swing of level, can ensure that two right wallboards do small size adjustment and not interrelated separately to the position of clamping in the process of clamping, the error in right wallboard clamping direction and cylinder moving direction can be adjusted;
(4) coordinate the application of cavernous body, the present invention have material clamped position can oneself's adjustment, gripping power well-distributed feature, and the wearing and tearing of cavernous body and distortion can be ignored and normally work.
Accompanying drawing explanation
Figure 1 shows that a kind of specific embodiment structural representation of the present invention;
Figure 2 shows that the first example structure schematic diagram of driver train of the present invention;
Figure 3 shows that the second example structure schematic diagram of driver train of the present invention.
Detailed description of the invention
Further illustrate below in conjunction with the drawings and specific embodiments.
Shown in figure 1, material clamp device provided by the invention, comprise adapter plate 1, left wallboard 2 and right wallboard 3, left wallboard 2 is fixedly installed in one end of adapter plate 1, and right wallboard 3 sliding block joint is installed on the other end of adapter plate 1; Left wallboard 2 has with right wallboard 3 and is parallel to each other and relative metope; On left wallboard 2, the metope relative with right wallboard 3 is provided with the first cavernous body 6; On right wallboard 3, the metope relative with above-mentioned first cavernous body 6 is provided with the second cavernous body 5; Form material between first cavernous body 6 and the second cavernous body 5 and accommodate space, be connected by driver train 4 between left wallboard with right wallboard.
Embodiment one:
The quantity of right wallboard 3 is even number, and driver train 4 comprises cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44, secondary connecting rod 46, second rotating shaft 45 and cantilever pin 47, and the quantity of two cascade 46 bars and cantilever pin 47 is all two; Cylinder 41 is fixed on left wallboard 2, the piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, the two ends of one-level connecting rod 44 are rotationally connected the first rotating shaft 43 and the second rotating shaft 45 respectively, one end of each secondary connecting rod 46 is rotationally connected the second rotating shaft 46 respectively, the other end is rotationally connected one of them cantilever pin 47, two cantilever pins 47 and is axially fixed at respectively on two adjacent right wallboards 3.
In the right wallboard of even number, right wallboard is ordered about by same driver train and carries out gripping action between two, the propulsive effort of cylinder can be divided equally to two right wallboards by driver train, gripping power is comparatively even, for the different parts gripping of same material, not only clamping degree is better, and can avoid the damage to material.
Embodiment two:
The quantity of right wallboard 3 is not limit, and each right wallboard 3 is all ordered about by a driver train 4 and does gripping action.Driver train 4 comprises cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44 and cantilever pin 47; The piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, and the two ends of one-level connecting rod 44 are rotationally connected the first rotating shaft 43 and cantilever pin 47 respectively, and cantilever pin 47 is axially fixed on a right wallboard 3.
In the present embodiment, each right wallboard 3 is unrelated, only need when applying the exerting oneself of each cylinder 41 of Reasonable adjustment, can ensure same material different parts, or the gripping power of multiple material is comparatively average.
Embodiment three:
As a kind of preferred embodiment, as shown in Figure 1, right wallboard 3 quantity is 7, each right wallboard 3 is installed on adapter plate 1 side by side, be connected by propulsive effort two sub-agencies or direct drive mechanism between left wallboard 2 with right wallboard 3, as shown in Figure 1, wherein 6 right wallboards are driven by 3 propulsive effort two sub-agencies, and one that falls single right wallboard 3 is driven by direct drive mechanism.
Propulsive effort two sub-agencies comprises cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44, secondary connecting rod 46, second rotating shaft 45 and cantilever pin 47, and the quantity of secondary connecting rod 46 and cantilever pin 47 is all two; Cylinder 41 is fixed on left wallboard 2, the piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, the two ends of one-level connecting rod 44 are rotationally connected the first rotating shaft 43 and the second rotating shaft 45 respectively, one end of each secondary connecting rod 46 is rotationally connected the second rotating shaft 45 respectively, the other end is rotationally connected one of them cantilever pin 47, two cantilever pins 47 and is axially fixed on two adjacent right wallboards 3 respectively;
Direct drive mechanism comprises cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44 and cantilever pin 47; The piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, and the two ends of one-level connecting rod 44 are rotationally connected the first rotating shaft 43 and cantilever pin 47 respectively, and cantilever pin 47 is axially fixed at one and falls on single right wallboard.
In the present embodiment, the quantity of propulsive effort two sub-agencies and direct drive mechanism and distributing position can adjust as required.
In the present invention, the first rotating shaft and the second rotating shaft all adopt the axle of existing band circlip, and cantilever pin all adopts the cantilever pin of existing band clasp, can ensure that the action of connecting rod actuator is level and smooth.Connecting rod actuator all can do small size swing in the horizontal direction, automatically to regulate each right wallboard along the position of clamping direction, make unrelated position between each group of right wallboard but propulsive effort size is identical, make to clamp between cavernous body and material more closely, feeding is more reliable.
Claims (7)
1. a material clamp device, is characterized in that, comprise adapter plate, left wallboard and right wallboard, left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned first cavernous body is provided with the second cavernous body; Form material between first cavernous body and the second cavernous body and accommodate space;
Be provided with driver train between left wallboard and right wallboard, driver train comprises cylinder and connecting rod actuator; Cylinder is fixed on left wallboard, and the piston rod rotation of cylinder connects one end of connecting rod actuator, and the other end of connecting rod actuator is rotationally connected right wallboard; The flexible of cylinder piston rod can drive right wallboard along adapter plate at the square upward sliding perpendicular to left wallboard metope;
In described driver train, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected the first rotating shaft and cantilever pin respectively, and cantilever pin is axially fixed on right wallboard.
2. material clamp device according to claim 1, is characterized in that, the quantity of described right wallboard is more than 2, and each right wallboard is installed on adapter plate side by side; All driver train is connected with between each right wallboard and left wallboard.
3. material clamp device according to claim 1 and 2, is characterized in that, right wallboard is installed on adapter plate by line slideway sliding block joint;
Right wallboard is L shape, and an one side arm is parallel to adapter plate, sliding block joint line slideway; And cantilever pin is perpendicular to this side arm, and be axially fixed on this side arm; Another side arm of right wallboard and left wallboard plane parallel, and the second cavernous body is set.
4. a material clamp device, is characterized in that, comprise adapter plate, left wallboard and right wallboard, left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned first cavernous body is provided with the second cavernous body; Form material between first cavernous body and the second cavernous body and accommodate space;
Be provided with driver train between left wallboard and right wallboard, driver train comprises cylinder and connecting rod actuator; Cylinder is fixed on left wallboard, and the piston rod rotation of cylinder connects one end of connecting rod actuator, and the other end of connecting rod actuator is rotationally connected right wallboard; The flexible of cylinder piston rod can drive right wallboard along adapter plate at the square upward sliding perpendicular to left wallboard metope;
The quantity of described right wallboard is more than 2, and each right wallboard is installed on adapter plate side by side;
In each driver train, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected the first rotating shaft and the second rotating shaft respectively, and one end of each secondary connecting rod is rotationally connected the second rotating shaft respectively, and the other end is rotationally connected one of them cantilever pin respectively; Two cantilever pins are axially fixed on two adjacent right wallboards respectively.
5. material clamp device according to claim 4, is characterized in that, right wallboard is installed on adapter plate by line slideway sliding block joint.
6. material clamp device according to claim 5, is characterized in that, right wallboard is L shape, and an one side arm is parallel to adapter plate, sliding block joint line slideway; And cantilever pin is perpendicular to this side arm, and be axially fixed on this side arm; Another side arm of right wallboard and left wallboard plane parallel, and the second cavernous body is set.
7. a material clamp device, is characterized in that, comprise adapter plate, left wallboard and right wallboard, left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned first cavernous body is provided with the second cavernous body; Form material between first cavernous body and the second cavernous body and accommodate space;
Right wallboard quantity is more than 3, and each right wallboard is installed on adapter plate side by side; Be connected by propulsive effort two sub-agencies or direct drive mechanism between left wallboard with right wallboard:
Above-mentioned propulsive effort two sub-agencies comprises cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; Cylinder is fixed on left wallboard, the piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, the two ends of one-level connecting rod are rotationally connected the first rotating shaft and the second rotating shaft respectively, one end of each secondary connecting rod is rotationally connected the second rotating shaft respectively, the other end is rotationally connected one of them cantilever pin, and two cantilever pins are axially fixed on two adjacent right wallboards respectively;
Direct drive mechanism comprises cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected the first rotating shaft and cantilever pin respectively, and cantilever pin is axially fixed on one of them right wallboard.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410167438.9A CN103922137B (en) | 2014-04-24 | 2014-04-24 | A kind of material clamp device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410167438.9A CN103922137B (en) | 2014-04-24 | 2014-04-24 | A kind of material clamp device |
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| CN103922137A CN103922137A (en) | 2014-07-16 |
| CN103922137B true CN103922137B (en) | 2015-11-04 |
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| CN201410167438.9A Active CN103922137B (en) | 2014-04-24 | 2014-04-24 | A kind of material clamp device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115159088A (en) * | 2022-06-22 | 2022-10-11 | 国网江苏省电力有限公司营销服务中心 | Clamping device and method |
| CN116330335B (en) * | 2023-04-07 | 2023-11-03 | 湖北深铁智鑫机器人有限公司 | Robot hand device |
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| CN203833231U (en) * | 2014-04-24 | 2014-09-17 | 南京中钞长城金融设备有限公司 | Material clamping device |
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| US20060263270A1 (en) * | 2005-05-18 | 2006-11-23 | Beckman Coulter, Inc. | Robotic grip and twist assembly |
| AU2007205734B2 (en) * | 2007-08-10 | 2010-01-07 | Visy R & D Pty Ltd | Improved gripper |
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| JPS60202035A (en) * | 1984-03-26 | 1985-10-12 | Toyoda Mach Works Ltd | Takeout device for cloth and the like |
| CN2866405Y (en) * | 2005-03-11 | 2007-02-07 | 阿巴科机器(大洋州)有限公司 | Holding device for lifting and transporting sheet material |
| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人***有限公司 | Automatic flexible chucking tools |
| CN201932707U (en) * | 2011-01-06 | 2011-08-17 | 安徽森科新材料有限公司 | Manipulator for gypsum blocks |
| CN202379474U (en) * | 2011-12-31 | 2012-08-15 | 常州市常衡精工自动化设备有限公司 | Gripper for stacking robot |
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| CN103922137A (en) | 2014-07-16 |
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Owner name: ZHONGCHAO GREATWALL FINANCIAL EQUIPMENT HOLDING CO Effective date: 20150216 |
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Effective date of registration: 20150216 Address after: Jiangning District of Nanjing City, Jiangsu province Rhine Road No. 699 211100 Applicant after: Nanjing CBPM-Great Wall Financial Equipment Co., Ltd. Applicant after: Zhongchao Greatwall Financial Equipment Holding Co., Ltd. Address before: Jiangning District of Nanjing City, Jiangsu province Rhine Road No. 699 211100 Applicant before: Nanjing CBPM-Great Wall Financial Equipment Co., Ltd. |
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