Irregular article conveying anti-loosening double clamping device

Abstract

The application provides an irregular article conveying anti-loosening double clamping device, which comprises a mounting seat, an H-shaped bidirectional power assembly, a self-adapting anti-loosening limiting and fastening device, a telescopic covering type positioning and clamping mechanism and a follow-up auxiliary clamping support mechanism, relates to the technical field of mechanical clamping devices, adopts the segmentation principle combined with the pre-action principle, simultaneously utilizes a threaded sliding structure, and is provided with the self-adapting anti-loosening limiting and fastening device, so that the technical effect that the clamping block is in contact with the surface of the irregular article and clamped while being respectively positioned and prevented from loosening is realized; the follow-up auxiliary clamping support mechanism is arranged by utilizing the electric telescopic structure in cooperation with the rotating structure, so that the technical effect that double clamping can be realized according to the width of the clamped workpiece is realized; the vertical cooperation of the bevel gears is adopted, so that the technical effect that the same power drives bidirectional movement is realized, the compact structure of the application solves the problem that the irregular article cannot be multi-point positioned when being clamped, and the stress is prone to loosening.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical clamping devices, and particularly relates to a double clamping device for irregular article conveying and anti-loosening. BACKGROUND

[0002] In the process of mechanical part production or article conveying, a gripper type robot is widely applied. The robot is an automatic operating device which can imitate some action functions of human hands and arms, and is used to grab, carry articles or operate tools according to a fixed program. The robot can replace human labor to realize the mechanization and automation of production, and can operate in a harmful environment to protect personal safety. The clamping device at the end of the robot is one of the key components of the robot. The structure of the clamping device is usually a pair of clamping grippers. The clamping of the clamping gripper segments is completed by relative clamping to realize the clamping, grabbing, moving and placing of the workpiece.

[0003] However, some existing mechanical clamping devices still have the following problems:

[0004] 1. The contact area of the clamping segment of some existing clamping grippers is small, and the clamping grippers cannot multi-directionally clamp and support the workpiece, and the clamping part is prone to falling off;

[0005] 2. Some clamping devices cannot clamp irregular articles, or use a suction cup to fix the articles, and cannot clamp and fix the articles with rough surfaces;

[0006] 3. When clamping irregular articles, the contact surface of some clamping devices only relies on the elasticity of the spring to maintain the clamping force. When conveying, the spring is prone to springing under stress or vibration, which causes the articles to fall off, and the clamping device is inconvenient to use. SUMMARY

[0007] To solve the above problems, the application provides a double clamping device for irregular article conveying and anti-loosening. According to the shape characteristics of irregular articles, the self-adaptive anti-loosening limiting and fastening device is set by using the segmentation principle combined with the pre-action principle and the threaded sliding structure. The technical effect of self-adaptive contact clamping of the clamping block with the surface of the irregular article and separate positioning and anti-loosening is realized. The follow-up auxiliary clamping and supporting mechanism is set by using the electric telescopic structure and the rotating structure. The technical effect of double clamping according to the width of the clamped workpiece is realized. The vertical cooperation of the bevel gears realizes the technical effect of bidirectional movement driven by the same power, and improves the stability of the device. The application has compact structure and convenient operation, and solves the problem that the irregular articles are prone to loosening under stress due to the failure of multi-point positioning.

[0008] In order to achieve the above object, the technical scheme adopted by the present application is as follows: The present application provides an irregular article conveying anti-loosening double clamping device, which comprises a mounting seat, a main rotating shaft arranged at the lower part of the mounting seat, a main controller arranged at the upper part of the main rotating shaft, an H-shaped bidirectional power assembly arranged at the lower part of the main rotating shaft, a self-adaptive anti-loosening limiting and fastening device, a telescopic cladding type positioning and clamping mechanism symmetrically arranged at the lower part of the H-shaped bidirectional power assembly, and a follow-up auxiliary clamping support mechanism symmetrically arranged at the two sides of the H-shaped bidirectional power assembly, wherein the self-adaptive anti-loosening limiting and fastening device comprises a self-adaptive clamping assembly, a trigger type positioning assembly and a sensing type limiting assembly, the self-adaptive clamping assembly is arranged in the telescopic cladding type positioning and clamping mechanism, the trigger type positioning assembly is arranged at one side of the telescopic cladding type positioning and clamping mechanism, the sensing type limiting assembly is movably arranged between the self-adaptive clamping assembly and the telescopic cladding type positioning and clamping mechanism, according to the shape characteristics of the irregular article, the self-adaptive anti-loosening limiting and fastening device is arranged by using the segmentation principle combined with the pre-action principle and the threaded sliding structure, and the technical effect that the clamping blocks are self-adaptively in contact with the surface of the irregular article for clamping and simultaneously positioned and prevented from loosening is achieved.

[0009] Further, the self-adaptive clamping assembly comprises rotating positioning wheels, transmission threaded rods, restoring torsional springs, clamping blocks and anti-skid contact pads, the rotating positioning wheels are rotatably arranged in the telescopic cladding type positioning and clamping mechanism, the rotating positioning wheels are uniformly provided with pointed teeth on the circumferences, the transmission threaded rods are arranged at the front parts of the rotating positioning wheels, the restoring torsional springs are sleeved on the transmission threaded rods, the restoring torsional springs are arranged in the telescopic cladding type positioning and clamping mechanism, the restoring torsional springs are connected with the transmission threaded rods and the telescopic cladding type positioning and clamping mechanism, the clamping blocks are meshingly arranged at the end parts of the transmission threaded rods, the clamping blocks are hollow, limit holes are symmetrically arranged on the side close to the transmission threaded rods, and the anti-skid contact pads are arranged at the front parts of the clamping blocks, the clamping blocks arranged in an array can be self-adaptively extruded according to the surface of the clamped article by using the segmentation principle, the threaded sliding structure is used, when the clamping blocks are extruded and moved, the transmission threaded rods meshing with the clamping blocks are rotated, so that the purpose that the clamping blocks are in contact with the surface of the clamped article for clamping is achieved, in this process, the restoring torsional springs accumulate elastic potential energy, when the clamping blocks no longer clamp the article, the elastic potential energy of the restoring torsional springs is converted into the rotation of the transmission threaded rods, so that the clamping blocks return to the original position.

[0010] As preferred, the area of the anti-skid contact pad is larger than the area of the end of the clamping block, further increasing the clamping friction and the clamping contact area, ensuring stable clamping.

[0011] Further, the trigger type positioning assembly comprises a trigger motor, an electric telescopic rod, a limiting moving plate and a positioning plug, the trigger motor is arranged on one side of the telescopic covering type positioning and clamping mechanism, the electric telescopic rod is arranged on the trigger motor, the output end of the trigger motor is electrically connected with the electric telescopic rod, the limiting moving plate is arranged on the electric telescopic rod, the limiting moving plate is arranged above the rotating positioning wheel, the positioning plug is arranged on the lower part of the limiting moving plate, the positioning plug is arranged above the rotating positioning wheel, and the positioning plug is slidably arranged between adjacent sharp conical teeth. The positioning plug is arranged, and the pre-acting principle is adopted. When different clamping blocks are in contact with the surface of irregular articles for clamping, the moving distance of the clamping blocks on the transmission screw rod is different. The sharp conical teeth control the displacement in segments. When the clamping block needs to be positioned and clamped, the positioning plug is inserted between the sharp conical teeth to prevent the rotation of the transmission screw rod, thereby preventing the movement of the clamping block. Even if the clamping block is affected by external force or vibration during the conveying of the article, the clamping block will not be affected and will not be displaced and loosened, thereby achieving the technical effect of positioning and preventing loosening of the clamping block.

[0012] Further, the induction type limiting assembly comprises a pressure bearing plate, a compression spring, a pressure sensor and a positioning pin, the pressure bearing plate is movably arranged between the clamping block and the telescopic covering type positioning and clamping mechanism, screw rod accommodation holes are uniformly arranged through the pressure bearing plate, the transmission screw rod is slidably arranged in the screw rod accommodation hole, the compression spring is arranged on the rear part of the pressure bearing plate, the compression spring is connected with the pressure bearing plate and the telescopic covering type positioning and clamping mechanism, the pressure sensor is arranged at the center of the rear part of the pressure bearing plate, the positioning pin is arranged on the front part of the pressure bearing plate, the positioning pin is symmetrically arranged on the two sides of the transmission screw rod, and the positioning pin is slidably arranged in the limiting hole. The positioning pin enables the clamping block to only move linearly. The linear movement of the clamping block is converted into the rotary movement of the transmission screw rod engaged with the clamping block, so that the displacement of the clamping block is converted into the rotation of the rotating positioning wheel, thereby the sharp conical teeth control the displacement of the clamping block in segments. When the irregular article is clamped, the most protruding surface of the article first contacts the anti-skid contact pad, and then the clamping block with the largest displacement is arranged opposite to the clamping block. When the clamping block reaches the maximum displacement, the clamping block abuts against the pressure bearing plate, the compression spring is compressed, and the pressure sensor is pressed to transmit a signal to the main controller.

[0013] As preferred, the threaded portion of the transmission threaded rod is greater than the length of the clamping block, ensuring that the clamping block is always engaged with the transmission threaded rod, and the length of the positioning portion is equal to the distance from the pressure plate to the end of the transmission threaded rod, and the length of the interior of the clamping block is greater than the distance from the pressure plate to the end of the transmission threaded rod, ensuring that when the clamping block reaches the maximum displacement, it preferentially presses against the pressure plate, avoiding clamping.

[0014] Further, the telescopic clamping mechanism includes an integrated clamping plate, an electric telescopic rod, a covering rotating plate, and a supporting non-slip pad. The integrated clamping plate is symmetrically arranged on the H-shaped bidirectional power assembly. The interior of the integrated clamping plate is hollow. Rotating installation holes are evenly arranged on the inner side of the integrated clamping plate. The transmission threaded rods are rotatably arranged in the rotating installation holes. Mobile plate sliding grooves are evenly arranged on the side wall of one side of the integrated clamping plate. Limiting mobile plates are slidingly arranged in the mobile plate sliding grooves. The electric telescopic rods are symmetrically arranged on the outer side of the integrated clamping plate. The covering rotating plates are rotatably arranged at the lower end of the electric telescopic rods. The supporting non-slip pads are arranged on the inner side of the covering rotating plates. When the self-adaptive anti-loosening limiting fastening device fixes the articles, the electric telescopic rods are started until the lower part of the articles, the covering rotating plates are rotated to support the articles, preventing the articles from falling, and further enhancing the anti-loosening effect.

[0015] As preferred, the restoring torsional spring is arranged in the interior of the integrated clamping plate.

[0016] Further, the H-shaped bidirectional power assembly includes a positioning clamping base, a rotating motor, a main power bevel gear, a driven bevel gear, a power rotating rod, and a power sliding block. The positioning clamping base is rotatably arranged at the lower part of the main rotating shaft. The two sides of the positioning clamping base are symmetrically provided with auxiliary sliding grooves. The rotating motor is arranged at the lower part of the positioning clamping base. The main power bevel gears are symmetrically arranged on the two sides of the rotating motor. The output ends of the rotating motor are electrically connected with the main power bevel gears. The driven bevel gears are symmetrically arranged on the two sides of the main power bevel gears. The power rotating rods are arranged on the driven bevel gears. The power sliding blocks are arranged on the power rotating rods. The integrated clamping plates are arranged on the power sliding blocks. The vertical cooperation of the bevel gears realizes the technical effect of bidirectional movement driven by the same power, ensures the symmetry of the movement of the integrated clamping plates, and improves the stability of the device.

[0017] Further, the follow-up auxiliary clamping support mechanism comprises follow-up slide rods, follow-up rotating rods, electric telescopic rods three and auxiliary support plates, the follow-up slide rods are symmetrically arranged at two sides of the integrated clamping plate, the other ends of the follow-up slide rods are slidably arranged in auxiliary sliding grooves, the follow-up rotating rods are rotatably arranged on the follow-up slide rods, the inner sides of the follow-up rotating rods are respectively provided with follow-up rotors, the electric telescopic rods three are arranged on the follow-up rotors, the auxiliary support plates are symmetrically arranged at two sides of the positioning clamping base, the auxiliary support plates are respectively connected with the electric telescopic rods three on the same side, one end of the electric telescopic rods three is rotatably arranged at two sides of the auxiliary support plate, the follow-up auxiliary clamping support mechanism is arranged by means of the electric telescopic structure and the rotating structure, and can move along with the integrated clamping plate; after the integrated clamping plate clamps the articles, the length of the electric telescopic rods three is adjusted, the two ends of the electric telescopic rods three are rotating structures, the auxiliary support plate and the positioning clamping base always form a trapezoid, the follow-up rotor makes the auxiliary clamping support mechanism laterally support the bottom of the articles, the articles are prevented from falling, and the anti-loosening effect is further improved, and the technical effect that the articles can be double-clamped according to the width of the clamped workpiece is realized.

[0018] Preferably, the anti-skid contact pad and the support anti-skid pad are made of silica gel material, the silica gel material is soft and has good elasticity, and the contact friction force is further increased.

[0019] Preferably, the main controller is a PLC controller, the model of the main controller is DVP16E200T, the main controller is electrically connected with the main rotating shaft, the electric telescopic rod two, the follow-up rotor, the electric telescopic rod three and the cladding rotating plate respectively, the main rotating shaft, the electric telescopic rod two, the follow-up rotor, the electric telescopic rod three and the cladding rotating plate are all controlled by a switching circuit, the main controller is electrically connected with the rotating motor, the trigger motor and the pressure sensor respectively, the rotating motor and the trigger motor are controlled by a digital circuit, and the trigger motor is a stepping motor.

[0020] The beneficial effects achieved by the above structure are as follows: the irregular article conveying anti-loosening double clamping device provided by the application realizes the technical effect that the clamping blocks are in contact with the surface of the irregular articles and are clamped and positioned and anti-loosening at the same time according to the shape characteristics of the irregular articles by adopting the segmentation principle and the pre-action principle and by using the threaded sliding structure to arrange the self-adaptive anti-loosening limiting and fastening device; the follow-up auxiliary clamping support mechanism is arranged by means of the electric telescopic structure and the rotating structure, and the technical effect that the articles can be double-clamped according to the width of the clamped workpiece is realized; the technical effect that the same power drives bidirectional movement is realized by using the vertical cooperation of the bevel gears, the symmetry of the movement of the integrated clamping plate is ensured, and the stability of the device is improved, the compact structure and the convenient operation of the application solve the problem that the irregular articles are prone to loosening due to the multi-point positioning failure when the irregular articles are clamped. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Structure diagram of the double clamping device for preventing the irregular article from loosening provided by the present application;

[0022] Figure 2 Structure diagram of the self-adaptive clamping assembly;

[0023] Figure 3 Structure diagram of the rear part of the self-adaptive clamping assembly;

[0024] Figure 4 Structure diagram of the combination of the self-adaptive clamping assembly and the trigger type positioning assembly;

[0025] Figure 5 Structure diagram of the Figure 4 Local enlarged diagram of A in the middle part;

[0026] Figure 6 Structure diagram of the combination of the self-adaptive clamping assembly and the positioning insert plate;

[0027] Figure 7 Structure diagram of the induction type limiting assembly;

[0028] Figure 8 Structure diagram of the telescopic covering type positioning and clamping mechanism;

[0029] Figure 9 Structure diagram of the rear part of the telescopic covering type positioning and clamping mechanism;

[0030] Figure 10 Structure diagram of the H type bidirectional power assembly;

[0031] Figure 11 Bottom structure diagram of the double clamping device for preventing the irregular article from loosening provided by the present application.

[0032] Wherein, 1, mounting seat, 2, adaptive anti-loosening limiting fastening device, 3, telescopic cladding type positioning clamping mechanism, 4, H-shaped bidirectional power assembly, 5, follow-up auxiliary clamping support mechanism, 6, adaptive clamping assembly, 7, trigger type positioning assembly, 8, inductive type limiting assembly, 9, integrated clamping plate, 10, electric telescopic rod two, 11, cladding rotating plate, 12, support non-slip pad, 13, positioning clamping base, 14, rotary motor, 15, driving power bevel gear, 16, driven bevel gear, 17, power transfer rod, 18, power slip block, 19, follow-up slide rod, 20, follow-up transfer rod, 21, electric telescopic rod three, 22, auxiliary support plate, 101, main shaft, 102, main controller, 601, rotating positioning wheel, 602, transmission threaded rod, 603, recovery torsional spring, 604, clamping block, 605, non-slip contact pad, 606, pointed conical gear teeth, 607, limiting hole, 701, trigger motor, 702, electric telescopic rod one, 703, limiting moving plate, 704, positioning plugboard, 801, pressure plate, 802, compression spring, 803, pressure sensor, 804, positioning tip, 805, screw rod clearance hole, 901, rotating mounting hole, 902, moving plate sliding groove, 1301, auxiliary sliding groove, 1901, follow-up rotor. DETAILED DESCRIPTION

[0033] The technical features or connection relationships of the present application are not described in detail, and the existing technology is adopted.

[0034] The present application will be further described in detail below in combination with the drawings.

[0035] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, the irregular article conveying anti-loosening double clamping device provided by the application comprises a mounting seat 1, the lower part of the mounting seat 1 is provided with a main rotating shaft 101, the upper part of the main rotating shaft 101 is provided with a main controller 102, the main controller 102 is a PLC controller, the lower part of the main rotating shaft 101 is provided with an H-shaped bidirectional power assembly 4, the lower part of the H-shaped bidirectional power assembly 4 is symmetrically movably provided with a telescopic cladding type positioning clamping mechanism 3, the inner side of the telescopic cladding type positioning clamping mechanism 3 is respectively inlaid with a self-adaptive anti-loosening limiting fastening device 2, the two sides of the H-shaped bidirectional power assembly 4 are symmetrically slidably provided with a follow-up auxiliary clamping supporting mechanism 5, wherein the H-shaped bidirectional power assembly 4 comprises a positioning clamping base 13, the positioning clamping base 13 is rotatably arranged at the lower part of the main rotating shaft 101, the two sides of the positioning clamping base 13 are respectively and symmetrically provided with auxiliary sliding grooves 1301 without penetrating through, the lower part of the positioning clamping base 13 is provided with a rotary motor 14, the two sides of the rotary motor 14 are symmetrically provided with driving power bevel gears 15, the output ends of the rotary motor 14 are respectively electrically connected with the driving power bevel gears 15, the two sides of the driving power bevel gears 15 are respectively and symmetrically meshed with driven power bevel gears 16, the driven power bevel gears 16 are respectively provided with power rotating rods 17, and the power rotating rods 17 are respectively meshed with power sliding blocks 18; the telescopic cladding type positioning clamping mechanism 3 comprises integrated clamping plates 9, the integrated clamping plates 9 are respectively arranged on the power sliding blocks 18, the inside of the integrated clamping plates 9 is hollow, the inner side of the integrated clamping plates 9 is respectively and uniformly penetrated through to be provided with rotating mounting holes 901, one side of the integrated clamping plates 9 is respectively and uniformly penetrated through the side wall to be provided with moving plate sliding grooves 902, the outer side of the integrated clamping plates 9 is respectively and symmetrically provided with electric telescopic rods two 10, the lower ends of the electric telescopic rods two 10 are respectively rotatably provided with cladding rotating plates 11, and the inner sides of the cladding rotating plates 11 are respectively provided with supporting anti-skid pads 12.The adaptive anti-loosening limiting and fastening device 2 comprises adaptive clamping assemblies 6, trigger type positioning assemblies 7 and inductive limiting assemblies 8. The adaptive clamping assemblies 6 are arranged in the integrated clamping plate 9. The trigger type positioning assemblies 7 are arranged on one side of the integrated clamping plate 9. The trigger type positioning assemblies 7 are arranged in the integrated clamping plate 9. The inductive limiting assemblies 8 are movably arranged between the adaptive clamping assemblies 6 and the integrated clamping plate 9. The adaptive clamping assembly 6 comprises a rotating positioning wheel 601 rotatably arranged in the integrated clamping plate 9. The rotating positioning wheel 601 is uniformly provided with pointed teeth 606 on the circumference. The rotating positioning wheel 601 is provided with a transmission threaded rod 602. The transmission threaded rod 602 is rotatably arranged in the rotating mounting hole 901. The transmission threaded rod 602 is provided with a restoring torsional spring 603. The restoring torsional spring 603 is arranged in the integrated clamping plate 9. The restoring torsional spring 603 is connected with the transmission threaded rod 602 and the integrated clamping plate 9. The transmission threaded rod 602 is provided with a clamping block 604. The clamping block 604 is hollow. The clamping block 604 is provided with a limiting hole 607 symmetrically arranged on the side close to the transmission threaded rod 602. The clamping block 604 is provided with an anti-skid contact pad 605. The trigger type positioning assembly 7 comprises a trigger motor 701. The trigger motor 701 is a step motor. The trigger motor 701 is arranged on one side of the integrated clamping plate 9. The trigger motor 701 is provided with an electric telescopic rod 702. The output end of the trigger motor 701 is electrically connected with the electric telescopic rod 702. The electric telescopic rod 702 is provided with a limiting moving plate 703. The limiting moving plate 703 is arranged above the rotating positioning wheel 601. The limiting moving plate 703 is slidably arranged in the moving plate sliding groove 902. The limiting moving plate 703 is provided with a positioning plug plate 704 uniformly arranged on the lower part. The positioning plug plate 704 is arranged above the rotating positioning wheel 601. The positioning plug plate 704 is slidably arranged between the adjacent pointed teeth 606. The inductive limiting assembly 8 comprises a pressure bearing plate 801 movably arranged between the clamping block 604 and the integrated clamping plate 9. The pressure bearing plate 801 is provided with a screw rod gap hole 805 uniformly arranged through. The transmission threaded rod 602 is slidably arranged in the screw rod gap hole 805. The pressure bearing plate 801 is provided with a compression spring 802 uniformly arranged on the rear part. The compression spring 802 is connected with the pressure bearing plate 801 and the integrated clamping plate 9. The pressure bearing plate 801 is provided with a pressure sensor 803 arranged at the center of the rear part. The pressure bearing plate 801 is provided with a positioning pin 804 uniformly arranged on the front part. The positioning pin 804 is symmetrically arranged on both sides of the transmission threaded rod 602. The positioning pin 804 is slidably arranged in the limiting hole 607.The follow-up auxiliary clamping support mechanism 5 comprises follow-up slide rods 19, which are symmetrically arranged on both sides of the integrated clamping plate 9, and the other ends of the follow-up slide rods 19 are slidably arranged in auxiliary slide grooves 1301, respectively. The follow-up slide rods 19 are rotatably provided with follow-up rotating rods 20, respectively. The inner sides of the follow-up rotating rods 20 are respectively provided with follow-up rotating bodies 1901, and the follow-up rotating bodies 1901 are respectively provided with electric telescopic rods three 21. One end of each electric telescopic rod three 21 is connected with an auxiliary support plate 22, which is symmetrically arranged on both sides of the positioning and clamping base 13. One end of each electric telescopic rod three 21 is rotatably arranged on both sides of the auxiliary support plate 22. The main controller 102 is electrically connected with the main rotating shaft 101, the electric telescopic rod two 10, the follow-up rotating body 1901, the electric telescopic rod three 21 and the cladding rotating plate 11, respectively. The main controller 102 is electrically connected with the rotating motor 14, the trigger motor 701 and the pressure sensor 803, respectively.

[0036] In specific use, first, the application is installed on the mechanical arm through the mounting seat 1, the main controller 102 and the external power supply are connected, then according to the position of the goods to be transported, the clamping direction of the goods can be selected by rotating the main shaft 101, when clamping irregular goods, the positioning and clamping base 13 is moved above the goods, the goods is placed in the telescopic covering type positioning and clamping mechanism 3, the rotating motor 14 is started by the main controller 102, the vertical meshing cooperation of the driving power bevel gear 15 and the driven bevel gear 16 is adopted, the symmetrical integrated clamping plate 9 moves towards each other to achieve the purpose of clamping and clamping, realizing the technical effect of bidirectional movement driven by the same power, ensuring the symmetry of the movement of the integrated clamping plate 9, improving the stability of the device, with the opposite movement of the integrated clamping plate 9, each anti-skid contact pad 605 of silica gel material adaptively contacts and extrudes according to the shape of the surface of the goods, the arrayed clamping blocks 604 move on the transmission screw rod 602 with extrusion, the setting of the positioning block 804 makes the clamping block 604 can only make linear motion, when the clamping block 604 is extruded and moved, the transmission screw rod 602 meshing with it rotates, the linear movement of the clamping block 604 is converted into the rotary motion of the transmission screw rod 602 meshing with it, in this process, the elastic potential energy of the restoring torsional spring 603 is accumulated, when the clamping block 604 no longer clamps the goods, the elastic potential energy of the restoring torsional spring 603 is converted into the rotary motion of the transmission screw rod 602, so that the clamping block 604 returns to the original position;The displacement of the clamping blocks 604 is converted into the rotation of the rotating positioning wheel 601, which in turn causes the pointed tooth wheel 606 to segmentally control the displacement of the clamping blocks 604. When clamping irregular objects, the most protruding surface of the object first contacts the anti-skid contact pad 605, and then the clamping block 604 opposite to it has the maximum displacement. At this time, the movement distance of each clamping block 604 on the transmission screw rod 602 is different. When one of the clamping blocks 604 reaches the maximum displacement, the clamping block 604 abuts against the pressure plate 801, the compression spring 802 is compressed, and the pressure sensor 803 is pressed to transmit a signal to the main controller 102. At this time, the main controller 102 controls the rotating motor 14 to stop, and the integrated clamping plate 9 no longer performs extrusion, avoiding deformation of the object under stress. At the same time, a signal is input to the trigger motor 701, so that the electric telescopic rod 702 extends and retracts, thereby driving the limit moving plate 703 to move downward, and the positioning plug plate 704 is inserted between the pointed tooth wheel 606 to prevent the rotation of the transmission screw rod 602, thereby preventing the movement of the clamping block 604. Even if the object is affected by external force or vibration during transportation, the clamping block 604 will not be affected and will not be displaced. The technical effect of separately positioning and preventing loosening of the clamping block 604 is achieved. After the self-adaptive anti-loosening limiting and fastening device 2 fixes the object, the electric telescopic rod two 10 can be started until the lower part of the object, and the covered rotating plate 11 is rotated to support the object, preventing the object from falling, and further enhancing the anti-loosening effect. Then, by setting the follow-up auxiliary clamping support mechanism 5, the electric telescopic structure is matched with the rotating structure, and the length of the electric telescopic rod three 21 is adjusted. Since both ends of the electric telescopic rod three 21 are rotating structures, they always form a trapezoid with the auxiliary support plate 22 and the positioning clamping base 13. The follow-up rotor 1901 makes the auxiliary clamping support mechanism laterally support the bottom of the object, preventing the object from falling, further enhancing the anti-loosening effect, and achieving the technical effect of double clamping according to the width of the clamped workpiece. Finally, the object can be transported by a mechanical arm. The clamping and fastening of the object during transportation is reliable, and even if it is impacted, it will not loosen and fall.

[0037] When the object is to be loosened, the follow-up rotor 1901 is rotated to return the auxiliary support plate 22 to its original position, and the object is no longer laterally clamped. Then, the trigger motor 701 is started to move the positioning plug plate 704 out of the pointed tooth wheel 606, so that the rotating positioning wheel 601 is no longer positioned. Subsequently, the rotating motor 14 is started to move the integrated clamping plate 9 to both sides, so that the object is no longer clamped. The clamping blocks 604 are no longer subjected to extrusion force, and the elastic potential energy accumulated by the torsional spring 603 is released. The transmission screw rod 602 is reversely rotated, thereby causing the clamping blocks 604 to always slightly press the surface of the object until the clamping blocks 604 return to their original positions. The object is only supported by the covered rotating plate 11. Finally, the covered rotating plate 11 is rotated to put down the object.

[0038] The above is the overall workflow of the present application, the next time you use the steps can be repeated.

[0039] It should be noted that, in this paper, such as the first and second relationship terms are only used to distinguish one entity or operation from another entity or operation, and does not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent in such process, method, article or equipment.

[0040] Although embodiments of the present application have been shown and described, it is to be understood that for the purpose of the present application, the embodiments change, modify, replace and vary can be understood by those of ordinary skill in the art without departing from the principles and spirit of the present application, the scope of the present application is defined by the appended claims and their equivalents.

[0041] The above describes the present application and its embodiments, this description is not limited, the drawings shown is only one of the embodiments of the present application, the actual structure is not limited. In general, if the ordinary skilled in the art is inspired, without departing from the purpose of the present application, without creative design of similar structure and embodiments of the technical solution, all should belong to the protection scope of the present application.

Claims

1. A dual clamping device for preventing loosening during the conveying of irregular items, comprising a mounting base (1), characterized in that: The mounting base (1) has a main rotating shaft (101) at its lower part and a main controller (102) at its upper part. The main rotating shaft (101) has an H-shaped bidirectional power assembly (4), an adaptive anti-loosening limiting fastening device (2), a telescopic wrap-around positioning clamping mechanism (3), and a follow-up auxiliary clamping support mechanism (5) at its lower part. Two sets of the telescopic wrap-around positioning clamping mechanisms (3) are symmetrically and movably arranged at the lower part of the H-shaped bidirectional power assembly (4). The adaptive anti-loosening limiting fastening device (2) is embedded inside the telescopic wrap-around positioning clamping mechanism (3). The follow-up auxiliary clamping and supporting mechanism (5) is symmetrically slidably disposed on both sides of the H-type bidirectional power assembly (4). The adaptive anti-loosening limiting fastening device (2) includes an adaptive clamping assembly (6), a trigger positioning assembly (7), and a sensing limiting assembly (8). The adaptive clamping assembly (6) is arrayed inside the telescopic wrap-around positioning clamping mechanism (3). The trigger positioning assembly (7) is disposed on one side of the telescopic wrap-around positioning clamping mechanism (3). The sensing limiting assembly (8) is movably disposed between the adaptive clamping assembly (6) and the telescopic wrap-around positioning clamping mechanism (3). The adaptive clamping assembly (6) includes a rotating positioning wheel (601), a transmission threaded rod (602), a restoring torsion spring (603), a clamping block (604), and an anti-slip contact pad (605). The rotating positioning wheel (601) is rotatably disposed inside the telescopic wrap-around positioning clamping mechanism (3). The circumference of the rotating positioning wheel (601) is evenly distributed with pointed conical teeth (606). The transmission threaded rod (602) is disposed at the front of the rotating positioning wheel (601), and the restoring torsion spring (603) is sleeved on the transmission threaded rod (602). The restoring torsion spring (603) is located inside the telescopic wrap-around positioning clamping mechanism (3). The restoring torsion spring (603) connects the transmission threaded rod (602) and the telescopic wrap-around positioning clamping mechanism (3). The clamping block (604) is engaged at the end of the transmission threaded rod (602). The clamping block (604) is hollow inside. The clamping block (604) has symmetrically provided limiting holes (607) on the side of the clamping block (604) near the transmission threaded rod (602). The anti-slip contact pad (605) is located at the front of the clamping block (604).

2. The double clamping device for preventing loosening during the conveying of irregular items according to claim 1, characterized in that: The trigger-type positioning component (7) includes a trigger motor (701), an electric telescopic rod (702), a limiting moving plate (703), and a positioning insert (704). The trigger motor (701) is located on one side of the telescopic wrap-around positioning clamping mechanism (3). The electric telescopic rod (702) is located on the trigger motor (701). The output end of the trigger motor (701) is electrically connected to the electric telescopic rod (702). The limiting moving plates (703) are arranged in an array on the electric telescopic rod (702). The limiting moving plates (703) are located above the rotating positioning wheel (601). The positioning inserts (704) are evenly distributed on the lower part of the limiting moving plates (703). The positioning inserts (704) are located above the rotating positioning wheel (601). The positioning inserts (704) are slidably located between adjacent conical gear teeth (606).

3. The double clamping device for preventing loosening during the conveying of irregular items according to claim 2, characterized in that: The inductive limiting component (8) includes a pressure plate (801), a compression spring (802), a pressure sensor (803), and a positioning pin (804). The pressure plate (801) is movably disposed between the clamping block (604) and the telescopic wrap-around positioning clamping mechanism (3). The pressure plate (801) is provided with evenly distributed screw clearance holes (805). The transmission threaded rod (602) is slidably disposed in the screw clearance holes (805). The compression spring (802) The compression spring (802) is evenly distributed at the rear of the pressure plate (801) and connects the pressure plate (801) and the telescopic wrap-around positioning clamping mechanism (3). The pressure sensor (803) is located at the center of the rear of the pressure plate (801). The positioning pins (804) are evenly distributed at the front of the pressure plate (801). Two sets of positioning pins (804) are symmetrically arranged on both sides of the transmission threaded rod (602). The positioning pins (804) are slidably disposed in the limiting hole (607).

4. The double clamping device for preventing loosening during the conveying of irregular items according to claim 3, characterized in that: The telescopic wrap-around positioning and clamping mechanism (3) includes an integrated clamping plate (9), an electric telescopic rod (10), a wrap-around rotating plate (11), and a supporting anti-slip pad (12). The two sets of integrated clamping plates (9) are symmetrically arranged on the H-shaped bidirectional power assembly (4). The interior of the integrated clamping plate (9) is hollow. Rotary mounting holes (901) are evenly distributed through the inner side of the integrated clamping plate (9). The transmission threaded rod (602) is rotatably mounted on the rotating mounting plate. Inside the mounting hole (901), a sliding groove (902) for a movable plate is evenly distributed through the side wall of the integrated clamping plate (9). The limiting movable plate (703) is slidably disposed in the sliding groove (902). Two sets of electric telescopic rods (10) are symmetrically disposed on the outside of the integrated clamping plate (9). The covering rotating plate (11) is rotatably disposed at the lower end of the electric telescopic rod (10). The supporting anti-slip pad (12) is disposed on the inner side of the covering rotating plate (11).

5. The double clamping device for preventing loosening during the conveying of irregular items according to claim 4, characterized in that: The restoring torsion spring (603) is located inside the integrated clamping plate (9). The threaded portion of the transmission threaded rod (602) is greater than the length of the clamping block (604). The length of the positioning pin (804) is equal to the distance from the pressure plate (801) to the end of the transmission threaded rod (602). The length inside the clamping block (604) is greater than the distance from the pressure plate (801) to the end of the transmission threaded rod (602).

6. The double clamping device for preventing loosening during the conveying of irregular items according to claim 5, characterized in that: The H-type bidirectional power assembly (4) includes a positioning clamping base (13), a rotary motor (14), a driving bevel gear (15), a driven bevel gear (16), a power rotating rod (17), and a power sliding block (18). The positioning clamping base (13) is rotatably located at the lower part of the main rotating shaft (101). The two sides of the positioning clamping base (13) are symmetrically provided with auxiliary sliding grooves (1301) without penetration. The rotary motor (14) is located at the lower part of the positioning clamping base (13). Two sets of active bevel gears (15) are symmetrically arranged on both sides of the rotary motor (14). The output end of the rotary motor (14) is electrically connected to the active bevel gears (15). Two sets of driven bevel gears (16) are symmetrically meshed on both sides of the active bevel gears (15). The power rotating rod (17) is arranged on the driven bevel gears (16). The power sliding block (18) is meshed on the power rotating rod (17). The integrated clamping plate (9) is arranged on the power sliding block (18).

7. The double clamping device for preventing loosening during the conveying of irregular items according to claim 6, characterized in that: The follow-up auxiliary clamping support mechanism (5) includes a follow-up slide rod (19), a follow-up rotating rod (20), an electric telescopic rod three (21), and an auxiliary support plate (22). Two sets of the follow-up slide rods (19) are symmetrically arranged on both sides of the integrated clamping plate (9). The other end of the follow-up slide rod (19) is slidably arranged in the auxiliary slide groove (1301). The follow-up rotating rod (20) is rotatably arranged on the follow-up slide rod (19). A follow-up rotor (1901) is provided on the inner side of the follow-up rotating rod (20). The electric telescopic rod three (21) is arranged on the follow-up rotor (1901). Two sets of the auxiliary support plates (22) are symmetrically arranged on both sides of the positioning clamping base (13). The auxiliary support plate (22) is connected to the electric telescopic rod three (21) on the same side. One end of the electric telescopic rod three (21) is rotatably arranged on both sides of the auxiliary support plate (22).

8. The double clamping device for preventing loosening during the conveying of irregular items according to claim 7, characterized in that: The anti-slip contact pad (605) and the supporting anti-slip pad (12) are made of silicone material, and the area of ​​the anti-slip contact pad (605) is larger than the area of ​​the end of the clamping block (604).

9. A double clamping device for preventing loosening during the conveying of irregular items according to claim 8, characterized in that: The main controller (102) is a PLC controller. The main controller (102) is electrically connected to the main rotating shaft (101), the second electric telescopic rod (10), the follower rotor (1901), the third electric telescopic rod (21), and the covering rotating plate (11). The main controller (102) is electrically connected to the rotary motor (14), the trigger motor (701), and the pressure sensor (803). The trigger motor (701) is a stepper motor.

Images