CN114194819B - Automatic clamping and transferring device - Google Patents

Abstract

The invention provides an automatic clamping and transferring device, which includes a clamping and rotating mechanism that integrates the functions of automatically clamping and rotating the workpiece, a driving mechanism that drives the horizontal movement of the clamping and rotating mechanism, and the clamping and rotating mechanism. Cooperate with the expansion rod set mechanism to realize workpiece rotation, the connecting angle iron connecting the clamping and rotating mechanism with the driving mechanism, and the main control mechanism that controls the automatic clamping function of the driving mechanism and the clamping and rotating mechanism. The device of this application is simple in structure and easy to use. On the premise of not installing a special rotating motor, it can realize the clamping of rectangular flexible materials and light plate materials, and can also rotate the clamped materials at a certain angle. And the transfer of materials, so that the materials can meet the requirements of automatic processing during processing, and improve the processing efficiency.

Description

An automatic clamping transfer device

technical field

The invention relates to the technical field of clamping equipment, in particular to an automatic clamping and transferring device.

Background technique

With the continuous improvement of my country's industrialization and automation, various industries are also pursuing automation and intelligence. When processing rectangular flexible materials such as paper and light flexible plate materials, it is often necessary to clamp the material, and after the clamping is completed, the clamped material needs to be rotated at a certain angle (usually two directions are required) Rotation), so that the material is in the correct posture, which is convenient for the subsequent processing of the clamped material, such as the binding of paper material.

The existing processing situation is that most of the clamping and transfer are two separate modules. Among the existing mechanisms, the mechanisms that can realize clamping include dovetail clamps, paper clips, push clamps and other tools used for clamping. When clamping, most of the mechanisms simply complete the clamping work, and cannot realize the subsequent material transfer and certain angle deflection functions, which makes certain obstacles in the assembly line processing of materials during the processing process, and in Work efficiency and material clamping reliability cannot meet automation requirements, reducing production efficiency. Some companies also adopt the solution of installing more rotating motors to solve the rotation problem, which increases the difficulty of system control and hardware investment.

Contents of the invention

The technical problem to be solved by the present invention is to provide a device that integrates the functions of clamping the workpiece and rotating the workpiece, and can rotate counterclockwise at a certain angle during forward running without adding a rotating motor. The table can be rotated clockwise by the same angle during the return journey.

Based on the above problems, the technical solution proposed by the present invention is an automatic clamping and transferring device, which includes a clamping and rotating mechanism that integrates automatic clamping and workpiece rotation, a drive mechanism that drives the horizontal movement of the clamping and rotating mechanism, and The clamping and rotating mechanism cooperates to realize the telescopic rod assembly mechanism for workpiece rotation, the connecting angle iron connecting the clamping and rotating mechanism with the driving mechanism, and the main control mechanism that controls the automatic clamping function of the driving mechanism and the clamping and rotating mechanism.

Wherein, the driving mechanism can be set as but not limited to a ball screw mechanism, and the ball screw mechanism includes a screw seat, a lead screw, a motor driving the lead screw to rotate, and a slide table connected to the lead screw through balls.

Wherein, the clamping and rotating mechanism is composed of a clamping seat composed of upper and lower plates parallel to each other, a clamping mechanism and a rotating mechanism installed on the clamping seat.

The clamping mechanism includes a first pin shaft connected between the clamping seats, a compression connecting plate made of soft iron that is sleeved on the upper and lower ends of the first pin shaft and fixed on the upper and lower plates of the clamping seat, and a sleeve The anti-rotation plate connected to the upper end of the first pin shaft and fixed on the upper compression joint plate of the clamping seat, the electromagnet arranged on the upper compression joint plate and the first pin sleeved between the clamping bases Long tail clip on the shaft.

The rotating mechanism includes a rotating bearing seat located on the upper layer of the clamping seat, a second pin shaft with unequal diameters connected to the rotating bearing seat through a bearing, and a clamping shaft connected above the rotating bearing seat through the second pin shaft. The connecting block is connected to the driving rod at one side of the rotating bearing seat, an elastic plunger is arranged on the clamping connecting block, and two matching positioning holes are arranged on the rotating bearing seat.

Wherein, the telescopic rod set mechanism is fixed on one side of the end of the screw seat, and the telescopic rod set mechanism includes a bracket fixed on the side end of the screw seat, a first bearing seat fixed on the support, a bearing in the first bearing seat, and the The telescopic rod sleeve connected by bearing rotation, the hexagonal bolt is fixed at one end of the telescopic rod sleeve, a hollow cavity is arranged in the telescopic rod sleeve, a spring pressing rod and a telescopic rod connected with the spring pressing rod are arranged in the hollow cavity, and the other end of the telescopic rod Stretch out described expansion rod sleeve and connect the first bolt type bearing perpendicular to expansion rod.

Wherein, the connecting angle iron mechanism comprises a first connecting angle iron arranged in an L shape, a second connecting angle iron vertically connected at the bottom end of the vertical section of the first connecting angle iron, and a second connecting angle iron vertically connected at the end of the horizontal section of the first connecting angle iron There are three connection angle irons, the second connection angle iron is fixedly connected to the top surface of the slide table, and the third connection angle iron is fixedly connected to the clamping connection block.

Among them, it also includes an auxiliary stable mechanism, which is respectively arranged above the middle and the end of the screw seat, including a bracket fixed on the bottom of the screw seat, a second bearing seat fixed on the upper end of the bracket, and a laterally movable connection on the second bearing. The third pin shaft on the seat, the end of the third pin shaft close to the clamping and rotating mechanism is connected to the second bolt type bearing along the direction of the central axis of the third pin shaft.

Wherein, the main control mechanism includes a PLC main controller, the motor of the driving mechanism is electrically connected to the PLC main controller, the switch for controlling the power on and off of the electromagnet is electrically connected to the PLC main controller, and the PLC main controller controls the normal operation of the motor. Turn and reverse, and control the power on and off of the electromagnet.

Further, the main control mechanism is provided with a position sensor at the end of the driving mechanism for detecting the position of the workpiece and transmitting information to the PLC main controller, and the position sensor is connected to the PLC main controller through communication.

Advantages and beneficial effects of the present invention:

The automatic clamping and transferring device of the present invention has a simple structure and is easy to use. On the basis of clamping rectangular flexible materials and light plate materials, the clamped materials can also be rotated at a certain angle and transferred, so that The material can meet the requirements of automatic processing during processing. Among them, the use of long-tail clamps and electromagnets cooperate with each other to realize automatic control and power-on and cut-off of electromagnets to realize long-term clamping and loosening operations of materials. It is simple and convenient to use and saves labor costs; Under the premise of not installing a special rotation motor, by setting the telescopic rod set mechanism, and using the mutual cooperation between the lever and the roller on the telescopic rod, the workpiece can automatically rotate counterclockwise at a certain angle when the slide table is running forward, and the workpiece will automatically rotate with the slide table The same angle is automatically rotated clockwise during the return trip, which reduces the difficulty of the control system and other hardware investment.

Description of drawings

Fig. 1 is a structural representation of the present invention

Fig. 2 is a structural schematic diagram of the driving mechanism in the present invention.

Fig. 3 is a top view of the clamping and rotating mechanism in the present invention.

Fig. 4 is a sectional view of the CC section in Fig. 3;

Fig. 5 is a schematic structural view of the connecting angle iron in the present invention.

FIG. 6 is a sectional view of the BB section in FIG. 1 .

FIG. 7 is a cross-sectional view of section AA in FIG. 1 .

Among them: 1. Driving mechanism; 11. Lead screw seat; 12. Lead screw; 13. Slide table; 14. Motor; 2. Clamping and rotating mechanism; 21. Clamping seat; 22. Anti-rotation plate; 23. First Pin shaft; 24, pressing connecting plate; 25, electromagnet; 26, clamping connecting block; 27, rotating bearing seat; 28, second pin shaft; 29, bearing; 210, snap ring for hole; 211, the first Shaft snap ring; 212, driving lever; 213, long tail clamp; 214, elastic plunger; 3, connecting angle iron mechanism; 31, first connecting angle iron; 32, second connecting angle iron; 33, third connecting Angle iron; 4, telescopic rod set mechanism; 41, first bearing seat; 42, telescopic rod sleeve; 43, hexagonal bolt; 44, spring pressing rod; 45, spring; 46, telescopic rod; 47, first bolt type bearing ; 48, hexagonal nut; 49, flat end top wire; 5, auxiliary stable mechanism; 51, bracket; 52, second bearing seat; 53, third pin shaft; 54, second bolt type bearing; Snap ring; 6. Position sensor.

Detailed ways

The specific implementation of the present invention will be described in detail below in conjunction with specific examples.

As shown in Figure 1, an automatic clamping and transfer device includes a clamping and rotating mechanism 2 that integrates automatic clamping and workpiece rotation, a driving mechanism 1 that drives the clamping and rotating mechanism 2 to move horizontally, and a clamping The rotating mechanism 2 cooperates to realize the telescopic rod 46 assembly mechanism that the workpiece rotates, the connecting angle iron that connects the clamping rotating mechanism 2 with the driving mechanism 1, and the master that controls the automatic clamping function of the driving mechanism 1 and the clamping rotating mechanism 2. control agency.

Wherein, as shown in Figure 2, the drive mechanism 1 can be provided with but not limited to a ball screw 12 mechanism, the ball screw 12 mechanism includes a screw seat 11, a screw 12, a motor 14 for driving the screw 12 to rotate, The slide table 13 connected with the lead screw 12 by balls.

Wherein, as shown in FIGS. 3-4 , the clamping and rotating mechanism 2 includes a clamping seat 21 composed of upper and lower plates parallel to each other, a clamping mechanism and a rotating mechanism installed on the clamping seat 21 . The clamping mechanism includes a first pin shaft 23 connected between the clamping seats 21, a pressing pin made of soft iron that is sleeved on the upper and lower ends of the first pin shaft 23 and fixed on the upper and lower plate bodies of the clamping seat 21. The tight connecting plate 24, the anti-rotation plate 22 sleeved on the upper end of the first pin shaft 23 and fixed on the upper layer of the clamping seat 21, the pressing connecting plate 24, the electromagnet 25 and the long tail clamp arranged on the pressing connecting plate 24 213, the two clamp handles of the long tail clip 213 are sleeved on the first pin shaft 23 between the clamping seats 21, the clip body of the long tail clip 213 is located outside the anti-rotation plate 22, and the electromagnet 25 It is arranged on the upper compression connecting plate 24, and the electromagnet 25 and the lower compression connecting plate 24 are attracted by electrification, and the handle of the long tail clip 213 is squeezed, and the clip body of the long tail clip 213 is correspondingly opened, and the power is cut off. The electromagnet 25 loses its magnetism, and the clip handle of the long tail clip 213 is opened under the elasticity produced by the shape recovery principle of the long tail clip 213, and the clip body is closed.

Preferably, in order to facilitate the clamping of paper or sheet-like components, the clamping seat 21 can be set in an L-shape, and multiple clamping mechanisms can be set on boards in different directions, and at least one of the clamping mechanisms can be set Electromagnet 25.

Preferably, the rotating mechanism is arranged at the corner of the L-shaped clamping seat 21, including a rotating bearing seat 27 located on the upper plate body of the clamping seat 21, and unequal diameters connected to the rotating bearing seat 27 through bearings 29. The second pin shaft 28, the clamping coupling block 26 connected above the rotary bearing seat 27 through the second pin shaft 28 and the driving lever 212 connected to one side of the rotary bearing seat 27, the elastic column is arranged on the clamping coupling block 26 The plug 214 and two matching positioning holes are set on the rotating bearing seat 27, which realizes that under the drive of the driving lever 212, the clamping coupling block 26 rotates around the second pin shaft 28 from one positioning hole to the other positioning hole, and when When the steel ball of the elastic plunger 214 snaps into the positioning hole, a larger torque needs to be provided by the driving rod 212 to force the steel ball of the elastic plunger 214 to roll out of the positioning hole to realize the positioning of the rotation angle. The setting of the rotation positioning hole and the installation position of the elastic plunger 214 determines the angle of rotation of the workpiece. Preferably, the angle formed by the two positioning holes and the angle line connected to the second pin shaft 28 is set to 45°, which can realize the left and right rotation of the workpiece. 45° rotation. A hole snap ring 210 is provided at the joint between the second pin shaft 28 and the rotating bearing seat 27, and a first shaft snap ring 211 is provided at the joint between the second pin shaft 28 and the clamping seat 21 to ensure that the rotating bearing The tight connection between the seat 27 , the clamping seat 21 and the second pin shaft 28 realizes the rotation along with the rotation of the second pin shaft 28 .

Wherein, as shown in Fig. 6-Fig. 7, telescopic rod set mechanism 4 is fixed on the end side of lead screw seat 11, and telescopic rod set mechanism 4 comprises the bracket fixed on the side end of lead screw seat 11, and is fixed on the support by bolt and nut pairs. The first bearing seat 41, the bearing in the first bearing seat 41, the telescopic rod sleeve 42 that is rotatably connected with the bearing, the hexagonal bolt 43 is fixed at one end of the telescopic rod sleeve 42, and the telescopic rod sleeve 42 is provided with a hollow cavity, so A spring pressure rod 44 and a telescopic rod 46 connected with the spring pressure rod 44 are arranged in the hollow cavity, wherein one end of the spring pressure rod 44 abuts against the hexagonal bolt 43, and a spring 45 is sleeved on the spring pressure rod 44, which is located in the telescopic rod sleeve. The end of the telescopic rod 46 in 42 is provided with an inwardly extending connection hole, the spring pressure rod 44 is slidably connected in the connection hole, and the other end of the telescopic rod 46 stretches out from the telescopic rod sleeve 42 and is connected perpendicular to the telescopic rod. The first bolt-type bearing 47 of the rod 46, the end of the telescopic rod cover 42 is provided with a flat-end top wire 49 to limit the telescopic rod 46, and the flat-end top wire 49 is matched with the steps on the telescopic rod 46 to prevent The telescopic rod 46 pushes the telescopic rod 46 out of the telescopic rod sleeve 42 under the action of the spring 45 . The lower end of the first bolt type bearing 47 is vertically fixed on the telescopic rod 46 through a hex nut 48 . The upper part of the first bolt-type bearing 47 is a roller that cooperates with the driving lever 212. When the driving lever 212 moved with the slide table 13, since the driving lever 212 was arranged opposite to the roller and was at a certain angle with the roller, the driving lever 212 could only move on the slide. Under the promotion of platform 13, the steel ball of elastic plunger 214 is forced to roll out of the positioning hole, and rotates around second pin shaft 28. Since the relative positional relationship between the installation angle of driving rod 212 and the roller on telescopic rod 46 has changed at this time, the dialing The rod 212 can press the roller so that the roller moves back a certain distance to ensure that the rotation of the clamping coupling block 26 around the second pin 28 from one positioning hole to another positioning hole is successfully completed without affecting the movement of the sliding table 13 to drive the rotating mechanism.

As shown in Figure 5, the connecting angle iron mechanism 3 includes a first connecting angle iron 31 arranged in an L shape, a second connecting angle iron 32 vertically connected to the bottom end of the vertical section of the first connecting angle iron 31, and a second connecting angle iron 32 vertically connected to the bottom end of the first connecting angle iron 31. The third connecting angle iron 33 at the end of the horizontal section of angle iron 31, the horizontal section of the first connecting angle iron 31 is longer than its vertical section, the horizontal section length of the first connecting angle iron 31 is equal to half of the length of the leading screw 12, the second The connecting angle iron 32 is fixedly connected to the top surface of the sliding table 13 through bolts, and the third connecting angle iron 33 is fixedly connected to the clamping connecting block 26 through bolts.

It also includes an auxiliary stable mechanism 5, which is respectively fixed above the middle and end of the screw seat 11, including a bracket 51 fixed at the bottom of the screw seat 11, and a second bearing seat fixed on the upper end of the bracket 51 by a bolt and nut pair 52. The third pin shaft 53 that is laterally movably connected to the second bearing seat 52, and one end of the third pin shaft 53 close to the clamping and rotating mechanism 2 is connected to the second bolt along the direction of the central axis of the third pin shaft 53 Type bearing 54, the inlet and outlet of the second bearing seat 52 is provided with a snap ring 55 for the second shaft. Play a role in maintaining the smooth operation of the mechanism.

The main control mechanism includes a PLC main controller, the motor 14 of the drive mechanism 1 is electrically connected to the PLC main controller, the PLC main controller controls the forward rotation and reverse rotation of the motor 14, and controls the switch and The PLC main controller is electrically connected, and the PLC main controller controls the power on and off of the electromagnet 25 . A position sensor 6 is installed at the right end of the driving mechanism 1. When it is detected that the clamped workpiece moves to a specific position, the information is transmitted to the PLC main controller, and the PLC main controller controls the attraction and separation of the electromagnet 25 to realize the workpiece gripping and releasing.

Its working principle is: the initial state of the clamping and rotating mechanism 2 is that the electromagnet 25 is attracted and the long tail clip 213 is opened. 13 Move to clamp the materials and workpieces to be processed, the two electromagnets 25 on the clamping assembly are released, and the long tail clamp 213 clamps the placed materials and workpieces. The motor 14 of the driving mechanism 1 rotates, pushing the clamping and rotating mechanism 2 to move from the initial position to the processing direction. When the lever 212 of the mechanism 2 reaches the position of the telescopic rod set mechanism 4, the lever 212 squeezes the telescopic rod set mechanism 4, and the telescopic rod 46 is forced to shrink, and at the same time, the lever 212 is moved to drive the clamping assembly to rotate counterclockwise by 45° , the clamping assembly realizes the counterclockwise rotation of the clamping rotation mechanism 2 and the workpiece by 45° through the telescopic rod sleeve mechanism 4, and continues to advance to the end position of the ball screw 12 mechanism, and the telescopic rod 46 is reset at the same time.

When the advance reaches the end position of the drive mechanism, the workpiece stops advancing. At this time, the electromagnet 25 on the clamping and rotating mechanism 2 is engaged, and the holding time is 2s. The long tail clamp 213 is opened, and the workpiece is released for subsequent processing. Simultaneously, the motor 14 on the driving mechanism 1 rotates in the opposite direction, and the clamping and rotating mechanism 2 and the long tail clip 213 are retreated by a certain distance, so as to make room for the subsequent processing of the material. The motor 14 on the driving mechanism 1 rotates in the forward direction to push the clamping and rotating mechanism 2 to move to the material processing position, and at the same time, the electromagnet 25 will be in the suction state to ensure that the long tail clamp 213 is in the open state. After reaching the position, the electromagnet 25 on the clamping and rotating mechanism 2 is released, and the long tail clamp 213 clamps the processed workpiece and material, and at the same time, the motor 14 on the driving mechanism 1 rotates in reverse, and the clamping and rotating mechanism 2 and the Long tail clamp 213 is dragged backward, and starts return journey.

When the clamping rotation mechanism 2 reaches the position of the telescopic rod set mechanism 4 back and forth, the lever 212 on the clamping assembly cooperates with the telescopic rod set mechanism 4 again. Take the assembly and rotate it clockwise by 45°, and the clamping and rotating mechanism 2 realizes the clockwise rotation of the clamping assembly and the workpiece by 45° through the telescopic rod set mechanism 4. At this time, the clamping and rotating mechanism 2 and the clamped workpiece are reset and continue to move forward Arriving at the end position of the ball screw 12 mechanism, the telescopic rod 46 resets simultaneously.

After reaching the end position of the drive mechanism 1, the electromagnet 25 is attracted, the long tail clip 213 is opened, and the processed workpiece is put down.

An embodiment of the invention has been described in detail above, but the content described is only a preferred embodiment of the invention and cannot be considered as limiting the implementation scope of the invention. All equivalent changes and improvements made according to the application scope of the present invention shall still belong to the scope covered by the patent of the present invention.

Claims (5)

1. An automatic clamping and transferring device, comprising a clamping and rotating mechanism and a driving mechanism for driving the clamping and rotating mechanism to move horizontally, it is characterized in that: the clamping and rotating mechanism integrates the automatic clamping and rotation of workpieces, and also includes Cooperate with the clamping and rotating mechanism to realize the telescopic rod set mechanism for workpiece rotation, the connecting angle iron connecting the clamping and rotating mechanism with the driving mechanism, and the main control mechanism for controlling the automatic clamping function of the driving mechanism and the grasping and rotating mechanism; The driving mechanism is set as a ball screw mechanism, and the ball screw mechanism includes a screw seat, a screw, a motor that drives the screw to rotate, and a slide table connected to the screw through balls; The clamping and rotating mechanism is composed of a clamping seat composed of upper and lower plates parallel to each other, a clamping mechanism and a rotating mechanism installed on the clamping seat, and the clamping mechanism includes a first clamp connected between the clamping seats. The pin shaft, the compression connecting plate that is sleeved on the upper and lower ends of the first pin shaft and fixed on the upper and lower plate bodies of the clamping seat, and the compression connecting plate that is sleeved on the upper end of the first pin shaft and fixed on the upper layer of the clamping seat The anti-rotation plate, the electromagnet arranged on the upper compression connecting plate and the long tail clip sleeved on the first pin shaft between the clamping seats; The rotating mechanism includes a rotating bearing seat located on the upper layer of the clamping seat, a second pin shaft with unequal diameters connected to the rotating bearing seat through a bearing, and a clamping shaft connected above the rotating bearing seat through the second pin shaft. The connecting block and the driving rod connected to one side of the rotating bearing seat, the clamping connecting block is provided with an elastic plunger, and the rotating bearing seat is provided with two matching positioning holes; The telescopic rod set mechanism is fixed on one side of the end of the screw seat, and the telescopic rod set mechanism includes a bracket fixed on the side end of the screw seat, a first bearing seat fixed on the support, a bearing in the first bearing seat, and a bearing rotating with the bearing. The connected telescopic rod sleeve, one end of the telescopic rod sleeve is fixed with a hexagonal bolt, and a hollow cavity is arranged in the telescopic rod sleeve, and a spring pressure rod and a telescopic rod connected with the spring pressure rod are arranged in the hollow cavity, and the other end of the telescopic rod protrudes The telescopic rod sleeve is connected to the first bolt-type bearing perpendicular to the telescopic rod. 2. The automatic clamping and transfer device according to claim 1, characterized in that: the connecting angle iron mechanism comprises a first connecting angle iron arranged in an L shape, and is vertically connected to the second connecting angle iron at the bottom end of the vertical section of the first connecting angle iron Angle iron, vertically connected to the third connecting angle iron at the end of the horizontal section of the first connecting angle iron, the second connecting angle iron is firmly connected to the top surface of the slide table, the third connecting angle iron is fixed to the clamping connection block catch. 3. The automatic clamping and transferring device according to claim 1, characterized in that: it also includes an auxiliary stabilizing mechanism, the auxiliary stabilizing mechanism is respectively arranged above the middle of the lead screw seat and above the end, including a bracket fixed at the bottom of the lead screw seat, The second bearing seat fixed on the upper end of the bracket, and the third pin shaft connected to the second bearing seat in a lateral movement, the third pin shaft is connected along the direction of the central axis of the third pin shaft near one end of the clamping and rotating mechanism Second stud type bearing. 4. The automatic clamping transfer device according to claim 1, characterized in that: the main control mechanism comprises a PLC master controller, the motor of the drive mechanism is electrically connected to the PLC master controller, and the control electromagnet power-on and power-off The switch is electrically connected with the PLC main controller, and the PLC main controller controls the forward rotation and reverse rotation of the motor, and controls the power on and off of the electromagnet. 5. The automatic clamping transfer device according to claim 4, characterized in that: the main control mechanism is provided with a position sensor for detecting the position of the workpiece and transmitting information to the PLC main controller at the end of the drive mechanism, and the position sensor is connected with the PLC main controller. Controller communication connection.

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