CN117207236A - Self-adaptive multi-angle clamping device - Google Patents
Self-adaptive multi-angle clamping device Download PDFInfo
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- CN117207236A CN117207236A CN202311334409.2A CN202311334409A CN117207236A CN 117207236 A CN117207236 A CN 117207236A CN 202311334409 A CN202311334409 A CN 202311334409A CN 117207236 A CN117207236 A CN 117207236A
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- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000003044 adaptive effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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Abstract
The invention discloses a self-adaptive multi-angle clamping device, which relates to the technical field of mechanical arms and comprises a clamping plate I, a clamping plate II and two clamping plates III, wherein the clamping plate I is arranged on a guide seat; the two clamping plates III can also clamp the workpiece in a matched manner; the guide holder is connected with a rotary drum, and the rotary drum is rotatably sleeved on the steering shaft. According to the clamping device, the clamping device is provided with the clamping plate I, the clamping plate II, the clamping plate III and the rotating drum, and the rotating drum is driven to rotate in the process that the clamping plate I is attached to the surface of a workpiece, so that the clamping surface of the clamping plate I can be attached to the surface of the inclined or horizontal workpiece, and the clamping device can correspondingly match the state of the workpiece according to the fact that the workpiece is in the horizontal state, the inclined state or the vertical state, so that the clamping of the workpiece is realized.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a self-adaptive multi-angle clamping device.
Background
Because the file box specifications that the user used at present are different, have high to have, and the file frame that uses is also different, and some file boxes are horizontal on the file frame, and some file boxes are vertical on the file frame, and also some file boxes are inclined on the file frame, this leads to conventional clamp to get the manipulator and can't adapt to clamp under the different states of file box and get work.
Disclosure of Invention
The invention provides a self-adaptive multi-angle clamping device which can clamp workpieces in various states and at least solves part of problems in the prior art.
In order to achieve the above object, the present invention adopts the following technical scheme.
The self-adaptive multi-angle clamping device comprises a first clamping plate, a second clamping plate and two third clamping plates, wherein the first clamping plate is arranged on a guide seat, a guide sleeve is slidably arranged on the guide seat, a fixed sleeve is fixedly arranged on the guide sleeve, a rotatable rotating shaft I is inserted into the fixed sleeve, a rotatable movable sleeve is sleeved on the rotating shaft I, the second clamping plate is arranged on the movable sleeve, two ends of the rotating shaft I are respectively sleeved with a sliding sleeve, a clamping plate shaft of the third clamping plate is rotatably arranged on the sliding sleeve, and the second clamping plate can rotate around the rotating shaft I and clamp a workpiece in a matched manner; the clamping plates III can rotate around the first rotating shaft and can move along the axial direction of the first rotating shaft, and the two clamping plates III can clamp a workpiece in a matched mode; the guide holder is connected with a rotary drum, and the rotary drum is sleeved on the steering shaft.
Preferably, a connecting seat is fixed on the sliding sleeve, a transmission sleeve is rotatably arranged on the connecting seat, a first bevel gear is sleeved on the transmission sleeve, a second bevel gear meshed with the first bevel gear is sleeved on the clamping plate shaft, and the two transmission sleeves are both slidably arranged on a second rotating shaft and are matched with the second rotating shaft in a key manner.
Preferably, the cylinder III and the slide rail are fixed on at least one connecting seat, the rack II is slidably arranged on the slide rail, the gear II meshed with the rack II is sleeved on the transmission sleeve close to the rack II, and the cylinder III can drive the rack II to move along the slide rail.
Preferably, the steering shaft is provided with a reset cylinder matched with a key in a sliding manner, the rotary cylinder is fixedly provided with a positioning deflector rod, one end of the reset cylinder, which is close to the positioning deflector rod, is provided with a reset part, and when the reset part moves towards the rotary cylinder, the reset part can drive the positioning deflector rod to rotate to an initial position.
Preferably, one end of the steering shaft, which is far away from the rotary drum, is fixedly provided with a connecting arm, the connecting arm is provided with a cylinder five, the cylinder five is used for driving the reset cylinder to move along the axial direction of the steering shaft, and the connecting arm is connected with the moving mechanism.
Preferably, the movable sleeve is fixedly provided with a limiting rod, the two sliding sleeves are matched with the first rotating shaft in a key manner, at least one sliding sleeve is fixedly provided with a steering deflector rod, and when the movable sleeve rotates around the first rotating shaft, the limiting rod can push the steering deflector rod to enable the sliding sleeves to rotate together when the two clamping plates are close to each other.
Preferably, a fixing seat is fixed on the guide sleeve, a first rack is slidably mounted on the fixing seat, a first gear meshed with the first rack is connected to the first rotating shaft through a key, a first spring and a second cylinder are arranged on the fixing seat, the second cylinder can drive the first rack to move and enable the first rack to compress the first spring, and when the second cylinder does not work, the first rack can reset under the action of the first spring.
Preferably, the guide sleeve is provided with a fourth air cylinder, the sliding sleeve is rotatably provided with a limiting ring, the movable end of the fourth air cylinder is hinged with two connecting rods, and the end part, away from the fourth air cylinder, of the two connecting rods is hinged with the two limiting rings respectively.
Preferably, the guide seat is provided with a first air cylinder, the movable end of the first air cylinder is hinged with a connecting rod, the clamping plate II is fixed with a hinge rod, and the connecting rod is hinged with the hinge rod.
Preferably, a limiting frame is fixed on the second clamping plate, the limiting frame can prop against the guide sleeve and move along the guide seat under the action of the first air cylinder, a guide rod is fixed on the guide seat, the second spring is sleeved on the guide rod, and the second spring can push the guide sleeve to reset.
Compared with the prior art, the invention has the beneficial effects that: by arranging the parts such as the clamping plate I, the clamping plate II, the clamping plate III and the rotating drum, the rotating drum is driven to rotate in the process that the clamping plate I is attached to the surface of the workpiece, so that the clamping surface of the clamping plate I can be attached to the inclined or horizontal surface of the workpiece, and the clamping plate II and the clamping plate III can be correspondingly matched with the state of the workpiece according to the state that the workpiece is in the horizontal state, the inclined state or the vertical state, and the clamping of the workpiece is realized; when the workpiece is in a horizontal state or an inclined state, the clamping plate III can be matched with the clamping plate II to form a larger clamping surface, and the clamping plate III is matched with the clamping plate I to clamp the workpiece; when the workpiece is in a vertical state, the clamping plates III can move independently to clamp the workpiece from two sides of the workpiece, so that the self-adaptive clamping capacity of the mechanical claw on the workpieces in different states is improved.
Drawings
Fig. 1 is a perspective view of the second and third clamping plates of the present invention in an initial state.
Fig. 2 is a perspective view of the second and third clamping plates of the present invention in a separated state.
FIG. 3 is a schematic illustration of the cooperation of the rotary drum and reset drum of the present invention.
Fig. 4 is a schematic diagram of the connection structure of the first clamping plate, the second clamping plate and the third clamping plate.
Fig. 5 is a schematic view of the cooperation of the stop lever and the steering lever of the present invention.
FIG. 6 is a schematic view of the present invention holding a file box in a vertical position.
FIG. 7 is a schematic view of the present invention when a tilted file box is clamped.
In the figure: 1. clamping plates I, 2, clamping plates II, 21, limiting frames, 22, hinging rods, 23, connecting rods, 24, cylinders I, 25, guide rods, 26, pressing plates, 27, springs II, 3, clamping plates III, 31, sliding sleeves, 32, clamping plate shafts, 33, connecting seats, 331, transmission sleeves, 332, rotating shafts II, 333, gears II, 334, cylinders III, 335, sliding rails, 336, racks II, 4, guide seats, 41, guide sleeves, 42, fixed sleeves, 421, rotating shafts I, 43, movable sleeves, 431, limiting rods, 432, steering levers, 44, fixed seats, 441, cylinders II, 442, racks I, 443, springs I, 444, gears I, 45, cylinders IV, 46, connecting rods, 47, rings, 5, steering shafts, 51, drums, 52, positioning levers, 53, reset cylinders, 54, connecting arms 55, cylinders IV, 56, flanges, 6, connecting frames, 7, balancing weights.
Detailed Description
The following description of the embodiments of the present invention will be made more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, the self-adaptive multi-angle clamping device provided by the embodiment of the invention comprises a clamping plate one 1, a clamping plate two 2, a guide seat 4, a connecting frame 6, two clamping plates three 3 and an angle resetting mechanism, wherein the clamping plate one 1, the clamping plate two 2 and the clamping plate three 3 are all arranged on the guide seat 4, the clamping plate one 1 can be matched with the clamping plate two 2 to clamp a workpiece, the clamping plate three 3 can be matched with the clamping plate two 3 to clamp the workpiece, the clamping direction of the clamping plate one 1 and the clamping plate two 2 is perpendicular to the clamping direction of the clamping plate three 3, the angle resetting mechanism comprises a rotary drum 51, a steering shaft 5 and a resetting cylinder 53, the guide seat 4 is fixedly connected with the rotary drum 51 through the connecting frame 6, the rotary drum 51 is rotatably sleeved on the steering shaft 5, and the resetting cylinder 53 is slidably arranged on the steering shaft 5 and is matched with the steering shaft 5 through keys.
As shown in fig. 3, a positioning deflector rod 52 is fixed on the side wall of the drum 51, a reset part is arranged at one end of the reset cylinder 53 close to the positioning deflector rod 52, the reset part is a spring linear inclined surface, and when the reset part moves towards the drum 51, the inclined surface on the reset part can drive the positioning deflector rod 52 to rotate. The inclined plane on the reset part has an initial position, no matter what angle the rotary drum 51 rotates on the steering shaft 5, when the positioning deflector rod 52 is matched with the inclined plane, the positioning deflector rod 52 can rotate to be matched with the initial position under the action of the inclined plane, so that the rotary drum 51 rotates to the initial angle with the clamping plate I1, the clamping plate II 2 and the clamping plate III 3, and the workpiece is conveniently positioned, clamped and transferred.
The connecting frame 6 is fixedly provided with a balancing weight 7, and the axial lead of the rotary drum 51 can pass through the center of gravity of the whole body formed by all relevant parts on the clamping plates I1, II and III 3, the connecting frame 6, the balancing weight 7 and the guide seat 4.
The one end of steering shaft 5 far away from rotary drum 51 is fixed with linking arm 54, and linking arm 54 is last fixedly installed cylinder five 55, and cylinder five 55's active end is connected with a section of thick bamboo 53 that resets, and cylinder five 55 can drive the axial displacement of a section of thick bamboo 53 that resets along steering shaft 5 like this to control rotary drum 51 and reset. A flange 56 is fixed to the connecting arm 54, and the connecting arm 54 may be connected to the moving mechanism through the flange 56. The moving mechanism may be a conventional multi-degree-of-freedom mechanical arm or an XYZ-axis moving platform, which can drive the connecting arm 54 to move and/or rotate.
As shown in fig. 1, the first clamping plate 1 is fixed on the side of the guide seat 4 away from the rotary drum 51. As shown in fig. 4, a slidable guide sleeve 41 is mounted on the guide seat 4, a fixed sleeve 42 is fixed on one side of the guide sleeve 41 away from the first clamping plate 1, a first rotating shaft 421 is inserted in the fixed sleeve 42, the middle part of the first rotating shaft 421 is a cylindrical surface, and splines are arranged at two ends of the first rotating shaft 421. The cylindrical surface part of the first rotary shaft 421 is sleeved with the movable sleeve 43. The first rotary shaft 421 is in a rotary fit relationship with the fixed sleeve 42 and the movable sleeve 43.
As shown in fig. 4, a limiting frame 21 is fixed on the movable sleeve 43, a hinge rod 22 is fixed in the limiting frame 21, and one side of the limiting frame 21 away from the movable sleeve 43 is fixedly connected with the second clamping plate 2. The second clamping plate 2 can rotate around the first rotating shaft 421 and can rotate to be parallel to the first clamping plate 1. When the guide sleeve 41 moves along the guide seat 4, the clamping plate two 2 can be matched with the clamping plate one 1 to clamp a workpiece. The sliding sleeves 31 are respectively sleeved at the two ends of the first rotating shaft 421, and the two sliding sleeves 31 are sleeved on the spline of the first rotating shaft 421, so that the sliding sleeves 31 can synchronously rotate with the first rotating shaft 421.
One side of the third clamping plate 3 is fixed with a clamping plate shaft 32, the clamping plate shaft 32 is rotatably inserted on the sliding sleeve 31, and the third clamping plate 3 can be rotated by rotating the clamping plate shaft 32 by taking the clamping plate shaft 32 as the center. Since the third clamp plate 3 is disposed on the sliding sleeve 31, the third clamp plate 3 can also rotate about the first rotation shaft 421. When the two clamping plates three 3 are driven to move along the axial direction of the first rotating shaft 421 at the spline portion of the first rotating shaft 421, the two clamping plates three 3 can approach each other and clamp the workpiece in cooperation.
As shown in fig. 1, in the initial state of the present invention, the two clamping plates three 3 and two clamping plates 2 are arranged in parallel and are in a vertical state, and the clamping plate one 1 is in a horizontal state.
Through the arrangement, the workpiece clamping device can clamp workpieces with various placing angles. Taking a file box as an example, firstly pressing the first clamping plate 1 above the file box through the moving mechanism, if the file box is in an inclined state shown in fig. 7, along with the downward movement of the first clamping plate 1 by the moving mechanism, the clamping surface of the first clamping plate 1 is gradually attached to the side surface of the file box, in the process, the rotary drum 51 naturally rotates on the steering shaft 5, and when the second clamping plate 2 and the third clamping plate 3 are driven to rotate 90 degrees by taking the first rotating shaft 421 as the center, the guide sleeve 41 is controlled to move along the guide seat 4, so that the second clamping plate 2 and the third clamping plate 3 can be matched with the first clamping plate 1 to clamp an inclined workpiece; if the file box is in a horizontal state, the clamping process is similar to the tilting state, except that the drum 51 does not need to be rotated; if the file box is in the vertical state shown in fig. 6, when the second clamping plate 2 rotates to a certain angle, the end part of the second clamping plate 2 can be propped against the file box, the rotation of the second clamping plate 2 is stopped, the first driving rotating shaft 421 is driven to continue to rotate, so that the third clamping plates 3 can rotate to a horizontal state, the third clamping plates 3 are driven to rotate by taking the clamping plate shaft 32 as the center, the clamping surfaces of the third clamping plates 3 face the file box, and then the sliding sleeve 31 is driven to move on the first rotating shaft 421, so that the third clamping plates 3 clamp the file box from two side surfaces of the file box.
In summary, the clamping device of the invention can clamp workpieces with various angles.
In order to drive the first clamping plate 1, the second clamping plate 2 and the third clamping plate 3 to move, the matching is realized, and the connecting structure adopted by the invention is as follows.
As shown in fig. 2 and 4, the guide rod 25 is fixed on the guide seat 4, the second spring 27 is sleeved on the guide rod 25, the pressing sheet 26 is slidably installed on the guide rod 25 between the second spring 27 and the guide sleeve 41, and the second spring 27 can push the pressing sheet 26, so that the pressing sheet 26 presses on the guide sleeve 41, and the initial position of the guide sleeve 41 is maintained. The guide seat 4 is fixedly provided with a first air cylinder 24, the movable end of the first air cylinder 24 is hinged with a connecting rod 23, and the connecting rod 23 is hinged with a hinging rod 22. When the first cylinder 24 drives the connecting rod 23 to move, the hinge rod 22 can be driven to move, so that the second clamping plate 2 rotates around the first rotating shaft 421, after the second clamping plate 2 rotates 90 degrees, the limiting frame 21 of the second clamping plate 2 can be abutted against the guide sleeve 41, and at the moment, the first cylinder 24 continues to work, so that the guide sleeve 41 can be driven to compress the second spring 27 and move along the guide seat 4, and the distance between the second clamping plate 2 and the first clamping plate 1 is tensioned, so that the second clamping plate 2 can be matched with the first clamping plate 1 to clamp a workpiece.
In order to rotate the second clamping plate 2 around the first rotating shaft 421, the third clamping plate 3 can rotate along with the first rotating shaft 421, so as to achieve the effect shown in fig. 7. As shown in fig. 3 and 4, a limiting rod 431 is fixedly installed on the movable sleeve 43, and a steering rod 432 is fixedly installed on one of the sliding sleeves 31, when the first cylinder 24 drives the movable sleeve 43 to rotate around the first rotating shaft 421, the limiting rod 431 can push the steering rod 432 to enable the sliding sleeves 31 to rotate together. The sliding sleeve 31 drives the other sliding sleeve 31 to rotate together through the first rotating shaft 421, so that the third clamping plate 3 follows the second clamping plate 2.
In order to realize the purpose shown in fig. 6, after the second clamping plate 2 is abutted against the workpiece, the third clamping plate 3 actively rotates. The fixed seat 44 is fixedly connected to the side surface of the guide sleeve 41, and the first rack 442 is slidably mounted on the fixed seat 44. A first gear 444 meshed with the first rack 442 is sleeved on the first rotating shaft 421. Gear one 444 and shaft one 421 transmit torque through a keyed fit. The first 443 and the second 441 are mounted on the fixing base 44. The second cylinder 441 drives the first rack 442 to move and the first rack 442 compresses the first spring 443, and when the first rack 442 moves, the first gear 444 is driven to rotate, so as to drive the first rotating shaft 421 and the third sliding sleeve 31 and the third clamping plate 3 to continue to rotate. When the second cylinder 441 is not in operation, the first rack 442 can be reset under the action of the first spring 443, and the first rotation shaft 421 is rotated by the cooperation of the first rack 442 and the first gear 444 until the steering rod 432 on the sliding sleeve 31 again abuts against the stop lever 431, so that the third clamping plate 3 is restored to be flush with the second clamping plate 2.
As shown in fig. 4, in order to simultaneously drive the rotation of the two clamp shafts 32, the clamp faces of the clamp plates three 3 are controlled to face. The connecting seat 33 is fixedly installed on the two sliding sleeves 31, the transmission sleeve 331 is installed on the connecting seat 33 through a bearing, a first bevel gear is sleeved on the transmission sleeve 331, a second bevel gear meshed with the first bevel gear is sleeved on the clamping plate shaft 32, the two transmission sleeves 331 are movably sleeved on a second rotating shaft 332, and the two transmission sleeves 331 are in spline fit with the second rotating shaft 332. Thus, when the second rotating shaft 332 rotates, the second rotating shaft 332 can simultaneously drive the two clamping plate shafts 32 to rotate. In order to control the rotation of the second rotating shaft 332, a third cylinder 334 and a sliding rail 335 are fixedly installed on one of the connecting seats 33, a second rack 336 is slidably installed on the sliding rail 335, and the third cylinder 334 can drive the second rack 336 to move along the sliding rail 335. A second gear 333 meshed with the second rack 336 is sleeved on the transmission sleeve 331 close to the second rack 336, and the second gear 333 is in interference fit with the transmission sleeve 331. When the third cylinder 334 is operated, the second rack 336 is driven to move, and the second gear 333 is driven to rotate, so that the second rotating shaft 332 drives the two clamping plate shafts 32 to rotate.
In order to be able to pull in the two clamping plates three 3, the two clamping plates three 3 can be brought into engagement with each other to clamp the workpiece. The guide sleeve 41 is fixedly provided with a fourth air cylinder 45, the sliding sleeve 31 is rotatably provided with a limiting ring 47, meanwhile, the movable end of the fourth air cylinder 45 is hinged with two connecting rods 46, and the end part of the two connecting rods 46 away from the fourth air cylinder 45 is respectively hinged with the two limiting rings 47. When the fourth cylinder 45 stretches and contracts, the limiting ring 47 can be driven by the connecting rod 46, so that the limiting ring 47 moves on the first rotating shaft 421 with the sliding sleeve 31, and the two clamping plates three 3 can move relatively. Because the stop collar 47 is in a rotationally-engaged relationship with the sliding sleeve 31, the stop collar 47 does not interfere with the rotation of the sliding sleeve 31.
Working principle: pressure sensors are arranged on clamping surfaces of the clamping plate I1, the clamping plate II 2 and the clamping plate III 3, and the clamping state is judged. The specific process is that the clamping surface of the clamping plate 1 is pressed on the workpiece, in the process, the clamping surface is gradually attached to the surface of the workpiece, if the clamping surface of the clamping plate 1 is parallel to the surface of the workpiece, the rotary drum 51 cannot rotate, and if the clamping surface of the clamping plate 1 is inclined, the rotary drum 51 rotates along with the rotation. After the clamping plate I1 is pressed on the workpiece under a certain pressure, the air cylinder I24 is started, the air cylinder I24 pulls the clamping plate II 2 to rotate, if the clamping plate II 2 does not meet resistance in the process of rotating by 90 degrees, the clamping plate II 2 and the clamping plate III 3 are matched with the clamping plate I1 together to clamp the workpiece, and clamping is completed. If the clamping plate II 2 encounters resistance in the process of rotating 90 degrees, the first air cylinder 24 stops working, the second air cylinder 441 and the third air cylinder 334 work, the clamping plate III 3 continues to rotate until 90 degrees of accumulated rotation, the clamping plate III 3 rotates until the clamping surface of the clamping plate III 3 faces to the surface of a workpiece, the fourth air cylinder 45 is started, and the two clamping plates III 3 clamp the workpiece under the action of the connecting rod 46 to finish clamping.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. The self-adaptive multi-angle clamping device is characterized by comprising a first clamping plate (1), a second clamping plate (2) and two third clamping plates (3), wherein the first clamping plate (1) is arranged on a guide seat (4), a guide sleeve (41) is slidably arranged on the guide seat (4), a fixed sleeve (42) is fixed on the guide sleeve (41), a first rotating shaft (421) capable of rotating is inserted in the fixed sleeve (42), a movable sleeve (43) capable of rotating is sleeved on the first rotating shaft (421), the second clamping plate (2) is arranged on the movable sleeve (43), sliding sleeves (31) are sleeved at two ends of the first rotating shaft (421) respectively, a clamping plate shaft (32) of the third clamping plate (3) is rotatably arranged on the sliding sleeves (31), and the second clamping plate (2) can rotate around the first rotating shaft (421) and clamp a workpiece in a matched mode; the clamping plates III (3) can rotate around the first rotating shaft (421) and can move along the axial direction of the first rotating shaft (421), and the two clamping plates III (3) can clamp a workpiece in a matching way; the guide seat (4) is connected with a rotary drum (51), and the rotary drum (51) is sleeved on the steering shaft (5).
2. The self-adaptive multi-angle clamping device according to claim 1, wherein a connecting seat (33) is fixed on the sliding sleeve (31), a transmission sleeve (331) is rotatably installed on the connecting seat (33), a first bevel gear is sleeved on the transmission sleeve (331), a second bevel gear meshed with the first bevel gear is sleeved on the clamping plate shaft (32), and two transmission sleeves (331) are both slidably installed on a second rotating shaft (332) and are in key fit with the second rotating shaft (332).
3. The self-adaptive multi-angle clamping device according to claim 2, wherein a third air cylinder (334) and a sliding rail (335) are fixed on at least one connecting seat (33), a second rack (336) is slidably mounted on the sliding rail (335), a second gear (333) meshed with the second rack (336) is sleeved on a transmission sleeve (331) close to the second rack (336), and the third air cylinder (334) can drive the second rack (336) to move along the sliding rail (335).
4. The self-adaptive multi-angle clamping device according to claim 1, wherein a reset cylinder (53) matched with a key is slidably arranged on the steering shaft (5), a positioning deflector rod (52) is fixed on the rotary cylinder (51), a reset part is arranged at one end of the reset cylinder (53) close to the positioning deflector rod (52), and when the reset part moves towards the rotary cylinder (51), the reset part can drive the positioning deflector rod (52) to rotate to an initial position.
5. An adaptive multi-angle clamping device according to claim 4, wherein a connecting arm (54) is fixed at one end of the steering shaft (5) far away from the rotary drum (51), a cylinder five (55) is arranged on the connecting arm (54), the cylinder five (55) is used for driving the reset cylinder (53) to move along the axial direction of the steering shaft (5), and the connecting arm (54) is connected with a moving mechanism.
6. The self-adaptive multi-angle clamping device according to claim 1, wherein a limiting rod (431) is fixed on the movable sleeve (43), two sliding sleeves (31) are matched with the first rotating shaft (421) in a key mode, a steering deflector rod (432) is fixed on at least one sliding sleeve (31), and when the movable sleeve (43) rotates around the first rotating shaft (421) to enable the second clamping plate (2) to approach the first clamping plate (1), the limiting rod (431) can push the steering deflector rod (432) to enable the sliding sleeves (31) to rotate together.
7. The self-adaptive multi-angle clamping device according to claim 1, wherein a fixing seat (44) is fixed on the guide sleeve (41), a first rack (442) is slidably installed on the fixing seat (44), a first gear (444) meshed with the first rack (442) is connected to the first rotating shaft (421) through a key, a first spring (443) and a second cylinder (441) are arranged on the fixing seat (44), the second cylinder (441) can drive the first rack (442) to move and enable the first rack (442) to compress the first spring (443), and when the second cylinder (441) does not work, the first rack (442) can be reset under the action of the first spring (443).
8. The self-adaptive multi-angle clamping device according to claim 1, wherein a fourth air cylinder (45) is arranged on the guide sleeve (41), a limiting ring (47) is rotatably arranged on the sliding sleeve (31), two connecting rods (46) are hinged to the movable end of the fourth air cylinder (45), and the ends, far away from the fourth air cylinder (45), of the two connecting rods (46) are hinged to the two limiting rings (47) respectively.
9. The self-adaptive multi-angle clamping device according to claim 1, wherein a first air cylinder (24) is arranged on the guide seat (4), a connecting rod (23) is hinged to the movable end of the first air cylinder (24), a hinging rod (22) is fixed to the second clamping plate (2), and the connecting rod (23) is hinged to the hinging rod (22).
10. The self-adaptive multi-angle clamping device according to claim 1, wherein a limiting frame (21) is fixed on the second clamping plate (2), the limiting frame (21) can abut against the guide sleeve (41) and move along the guide seat (4) under the action of the first air cylinder (24), a guide rod (25) is fixed on the guide seat (4), a second spring (27) is sleeved on the guide rod (25), and the second spring (27) can push the guide sleeve (41) to reset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311334409.2A CN117207236A (en) | 2023-10-16 | 2023-10-16 | Self-adaptive multi-angle clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311334409.2A CN117207236A (en) | 2023-10-16 | 2023-10-16 | Self-adaptive multi-angle clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117207236A true CN117207236A (en) | 2023-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311334409.2A Pending CN117207236A (en) | 2023-10-16 | 2023-10-16 | Self-adaptive multi-angle clamping device |
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| Country | Link |
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| CN (1) | CN117207236A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117733826A (en) * | 2024-01-27 | 2024-03-22 | 武汉义智和科技有限公司 | Multi-degree-of-freedom instrument overturning manipulator |
-
2023
- 2023-10-16 CN CN202311334409.2A patent/CN117207236A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117733826A (en) * | 2024-01-27 | 2024-03-22 | 武汉义智和科技有限公司 | Multi-degree-of-freedom instrument overturning manipulator |
| CN117733826B (en) * | 2024-01-27 | 2024-06-11 | 武汉义智和科技有限公司 | Multi-degree-of-freedom instrument overturning manipulator |
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