Method for clamping and correcting materials with two relatively parallel planes

Abstract

The present invention discloses a method for clamping and correcting a material having two relatively parallel planes, comprising the following steps: S1: opening a clamping and correcting device so that the distance between the two relatively parallel clamping and correcting devices is greater than the width of the material having two relatively parallel planes; S2: translating the two relatively parallel clamping and correcting devices in the clamping and correcting device to the sides of the material having two relatively parallel planes; S3: clamping the two relatively parallel planes of the material having two relatively parallel planes; and S4: correcting the material having two relatively parallel planes by rotating a correction wheel assembly. The method of the present invention can perform clamping and correction on a material.

Description

Technical Field

[0001] The invention relates to a method for clamping and correcting a material having two relatively parallel planes. Background Art

[0002] There is a type of robot that transfers materials from one place to another through the equipment. According to the needs of the work, a clamping device such as a manipulator is required to clamp the materials. The existing clamping device mainly includes a clamping seat, a clamping arm and a clamping block. The clamping arm is driven by the clamping drive to move on the clamping seat, and the clamping block is used to clamp the material to achieve the transfer of the material. In order to achieve clamping and unloading at different positions, the clamping arm of the clamping device is generally able to flip.

[0003] For example, the patent document with Chinese patent application number 202210410192.8, application date April 19, 2022, and publication date July 29, 2022, discloses a garbage container transfer robot and method, which relates to the technical field of automated transfer equipment. The garbage container transfer robot includes a movable frame, a mechanical gripper assembly, and a transport assembly; the movable frame includes a main frame, an electric roller, and a lifting drive assembly; the mechanical gripper assembly includes a pan-tilt motor, a multi-degree-of-freedom robotic arm, and a mechanical claw; the transport assembly includes a base, a reciprocating pushing assembly, an upper seat, a low-position tray, a high-position tray, and a clamping mechanism; the transport assembly is slidably mounted on the guide rods of the two vertical brackets through the guide sleeves on both sides of the base, and is located in the loading area. The garbage container transfer method is based on the garbage container transfer robot. The clamping mechanism includes a horizontal push-pull assembly, a flip assembly, and a clamping jaw. The horizontal push-pull assembly is disposed on an upper seat and is associated with the flip assembly to drive the flip assembly to perform reciprocating linear movement. The clamping jaw is mounted on the flip assembly and is driven by the flip assembly to rotate in a vertical plane. The clamping jaw is provided with a clamping opening with an adjustable opening. The clamping jaw moves under the joint drive of the reciprocating push assembly, the horizontal push-pull assembly, and the flip assembly so that the movement path of the clamping opening passes through the area directly above the low-level tray and the area directly above the high-level tray. The clamping jaw includes a base, a clamping arm, a servo, a rubber chuck, and a cylinder. The cylinder drives the clamping arm to move. The servo is mounted on the clamping arm, and the rubber chuck is mounted on the servo. The servo drives the rubber chuck to rotate to ensure that the clamped garbage container does not tilt. However, when the clamping jaw is used to clamp the garbage container, if the two opposing surfaces of the garbage container are not parallel to the sides of the rubber chuck, it is difficult to adjust the position of the garbage container, resulting in unreliable clamping. Summary of the Invention

[0004] The object of the present invention is to provide a clamping correction method capable of performing clamping correction on materials.

[0005] To achieve the above-mentioned purpose, a method for clamping and calibrating a material having two relatively parallel planes includes the following steps.

[0006] S1 drives the two oppositely arranged clamping arms installed on the clamping beam to open through the clamping drive in the clamping correction device, and the clamping arms drive the clamping corrector to open, so that the distance between the two oppositely arranged clamping correctors is greater than the width of the material with two relatively parallel planes.

[0007] S2 allows the translation drive cylinder installed between the base and the clamping correction device to drive the two oppositely arranged clamping correctors in the clamping correction device to translate to the two sides of the material with two relatively parallel planes.

[0008] S3 drives the clamping arms to move toward each other on the clamping beam through the clamping drive, and uses the clamping corrector to clamp the two relatively parallel planes of the material with two relatively parallel planes.

[0009] S4 drives the correction wheel assembly to rotate through the motor in the clamping corrector. The direction of rotation of the correction wheel assembly is to rotate in a direction inclined outward toward the plane of the material. As the clamping arm continues to move, the clamping corrector overcomes the elastic force of the elastic member connected between the clamping corrector and the clamping arm and continues to move toward each other. The material with two relatively parallel planes is corrected by the rotation of the correction wheel assembly.

[0010] The above-mentioned clamping and correction method forms a clamping space between the clamping correctors after the clamping arm is opened by the clamping drive, and at the same time, the free end of the clamping arm of the clamping corrector faces inward under the elastic force of the elastic member. When the clamping corrector moves to both sides of the material, if the material with two relatively parallel planes is not aligned, the correction drive is started while the clamping drive is started to drive the clamping arm to move inward. The correction drive drives the correction wheel assembly to rotate, and a rotational force is applied to the side of the material with two relatively parallel planes through the inward movement pressure of the clamping arm and the elastic force of the elastic member and through the correction wheel assembly, thereby correcting the material, facilitating clamping, and improving the reliability of clamping.

[0011] Further, the swing angle of the clamping corrector is limited by being arranged on the clamping corrector and passing the guide rod of the arc groove arranged on the clamping arm. Like this, the swing angle of the clamping corrector is controllable.

[0012] Furthermore, the elastic member is a spring, which is arranged between the guide rod and a fixed shaft arranged on the clamping arm. The fixed shaft is located on the inner side of the guide rod and is arranged away from the clamping corrector.

[0013] Furthermore, the correction wheel assembly includes a correction wheel seat, a correction wheel and a correction pressure plate. The correction wheel seat is provided with a cavity extending to the middle from bottom to top, and the correction wheel seat is provided with a mounting hole connected to the cavity from top to bottom. A flange extending outward is provided at the lower end edge of the correction wheel seat, and the outer diameter of the flange is smaller than the maximum diameter of the correction wheel. The upper end of the correction drive body is located in the cavity, and the output shaft of the correction drive passes through the mounting hole, and the output shaft of the correction drive drives the correction wheel seat to rotate. The correction wheel is sleeved on the correction wheel seat and supported by the flange, and the correction pressure plate is pressed on the upper end of the correction wheel. A locking device is provided between the flange, the correction wheel and the correction pressure plate. The output shaft of the correction drive drives the correction wheel seat to rotate, and the correction wheel seat drives the correction wheel to rotate. Accommodating the upper end of the correction drive in the cavity can reduce the overall length of the drive and correction wheel assembly, making the center of gravity more centered. By providing the correction wheel seat and the pressure plate, and providing a flange at the lower end of the correction wheel seat, it is convenient to install and fix the correction wheel.

[0014] Furthermore, the correction wheel seat drives the correction wheel to rotate by the cooperation of the protrusions provided on the circumference of the correction wheel seat and the grooves provided on the correction wheel, which can better achieve the circumferential positioning of the correction wheel seat and the correction wheel.

[0015] Furthermore, the correction wheel includes a correction wheel body and a spacer ring. There are two or more correction wheel bodies, and the spacer ring is provided between adjacent correction wheel bodies. When a correction wheel body is damaged, only the corresponding correction wheel body needs to be replaced, reducing maintenance costs.

[0016] Furthermore, the driving teeth provided on the correction wheel body provide a swing driving force to the material having two relatively parallel planes, so that the driving effect is better.

[0017] Furthermore, the correction drive is a motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the translational flip clamping device.

[0019] Figure 2 A three-dimensional view of the swing arm clamping correction device without the clamping base.

[0020] Figure 3 Exploded view of the swing arm clamping correction device with the clamping base removed.

[0021] Figure 4 Top view of the swing arm clamping correction device without the clamping base.

[0022] Figure 5 A three-dimensional diagram of the clamping corrector.

[0023] Figure 6 Exploded view of the clamping corrector.

[0024] Figure 7 A top view of the clamping corrector.

[0025] Figure 8 For clamping corrector Figure 7 Middle AA section view.

[0026] Figure 9 This is a schematic diagram of the swing arm clamping correction device before calibrating the material.

[0027] Figure 10 This is a schematic diagram of the swing arm clamping correction device after correcting the material. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] The method for clamping and correcting a material having two relatively parallel planes is realized by a translational flip clamping device.

[0030] like Figure 1 As shown, the translational flip clamping device includes a base 10, a translational drive cylinder 20 and a clamping correction device. The clamping correction device is slidably arranged on the base 10. The translational drive cylinder 20 is connected between the base 10 and the clamping correction device. The translational drive cylinder 20 can drive the clamping correction device to translate on the base.

[0031] like Figure 3 As shown, the clamping and correction device includes a clamping seat 1, a flip drive 2, a flip seat 3, a clamping beam 4, a clamping drive 5, a clamping arm 6 and a clamping corrector 7. There are two flip drives 2, which are installed on the clamping seat 1. The flip seat 3 is fixed to the output shaft of the flip drive 2, and the clamping beam 4 is installed on the flip seat 3. The cross section of the clamping beam 4 is quadrilateral. When the clamping arm is slidably arranged on the clamping beam 4, it can prevent the clamping arm 6 from rotating relative to the clamping beam 4. Clamping arms 6 are respectively slidably provided at both ends of the clamping beam 4, and a clamping drive 5 is provided between the two clamping arms 6; when the flip drive 2 is working, it can drive the flip seat 3 to flip, the flip seat 3 drives the clamping beam 4 to flip, and the clamping beam 4 drives the clamping arm 6 and the clamping corrector 7 to flip. In the present invention, the clamping seat 1, flip drive 2, flip seat 3, clamping beam 4, clamping drive 5, and clamping arm 6 are all existing structures and connection methods, such as the structures described in the background technology, so they are not repeated here.

[0032] like Figures 2 to 4As shown, the free end of the clamping arm 6 is provided with an arc-shaped groove 61, and a fixed shaft 62 is installed on the inner side of the arc-shaped groove 61 on the clamping arm 6. The fixed shaft 62 includes a fixing bolt 621 and a fixing nut 622. The fixing bolt 621 passes through the clamping arm 6, and the fixing nut 622 is threadedly connected to the lower end of the fixing bolt 621.

[0033] like Figures 2 to 4 As shown, the clamping corrector 7 is arranged at the free end of the clamping arm. Figures 2 to 8 As shown, the clamping corrector 7 includes a correction arm 71, a motor 72, a correction wheel assembly 73 and an elastic member.

[0034] like Figures 2 to 8 As shown, the correction arm 71 includes an upper correction arm 711 and a lower correction arm 712. The upper correction arm 711 is located above the lower correction arm 712, with a space between them. An upper mounting hole 7111 is provided on the upper correction arm 711. An upper hinge hole 7112 is provided on the end of the upper correction arm 711 near the clamping arm 6. An upper fixing hole 7113 is provided on the upper correction arm 711 between the upper mounting hole 7111 and the upper hinge hole 7112. A bearing 751 is installed in the upper mounting hole 7111, which can also be replaced by a fixing sleeve. An upper fixing sleeve 752 is installed in the upper hinge hole 7112. A lower mounting hole 7121 is provided on the correction lower arm 712, a lower hinge hole 7122 is provided on the end of the correction lower arm 721 close to the clamping arm 6, and a lower fixing hole 7123 is provided on the correction lower arm 721 between the lower mounting hole 7121 and the lower hinge hole 7122; a lower fixing sleeve 753 is installed in the lower hinge hole 7122.

[0035] The motor 72 includes a motor body and an output shaft. Two or more motor fixing rings 721 are sleeved on the outer periphery of the lower end of the motor body. In this embodiment, two motor fixing rings 721 are provided, and there is a gap between adjacent motor fixing rings 721.

[0036] The correction lower arm 712 is sleeved on the motor body through the lower mounting hole 7121. A hoop 70 is sleeved outside the motor body and below the correction lower arm 712. A tightening bolt 701 is passed through the opening of the hoop 70 and connected to the tightening bolt 701 through a tightening nut 702 to achieve the tightening of the motor body by the hoop 70. A spacer sleeve 703 is provided between adjacent motor fixing rings 721. An upper spacer sleeve 704 coaxial with the spacer sleeve 703 and the same number as the spacer sleeve 703 is provided above the topmost motor fixing ring 721. More than three spacer sleeves 703 are evenly distributed outside the circumference of the motor body. A connecting bolt 705 passes through the correction lower arm 712, the hoop 70, the upper spacer sleeve 704, the motor fixing ring 721, the spacer sleeve 703, and the motor fixing ring 721 from top to bottom. A connecting nut 706 is threadedly connected to the lower end of the connecting bolt 705. An upper connecting nut 707 is threadedly connected between the hoop 70 and the upper spacer sleeve 704. Like this, the correction lower arm 712 and the hoop 70 are fastened together by the action of the upper connecting nut 707 and the connecting bolt 705. Since the hoop is tightly clamped outside the motor body, the motor body can be fixed on the correction lower arm 712; since the connecting nut 706 is provided, the motor body, the correction lower arm 712, the hoop 70, the upper spacer sleeve 704, the motor fixing ring 721 and the spacer sleeve 703 are connected into a whole, and the fixation of the motor is reliable.

[0037] The correction wheel assembly 73 includes a correction wheel seat 731 , a correction wheel 732 and a correction pressure plate 733 .

[0038] The diameter of the lower end 7311 of the correction wheel seat is larger than the diameter of the upper end 7312 of the correction wheel seat. The correction wheel seat 731 is provided with a cavity 7314 extending to the middle from bottom to top. The correction wheel seat 731 is provided with a mounting hole 7315 communicating with the cavity 7314 from top to bottom. The cavity 7314 is located in the lower end of the correction wheel seat, and the mounting hole 7315 is located in the upper end of the correction wheel seat. A flange 7313 extending outward is provided at the lower end edge of the correction wheel seat 731. The outer diameter of the flange 7313 is smaller than the outer diameter of the correction wheel 732. The upper end of the motor body is located in the cavity 7314, and there is a gap between the motor body and the inner wall of the cavity. The motor's output shaft passes through mounting hole 7315 and is connected to the correction wheel seat 731 via a key or a structure with a notch on one side. Rotating the output shaft drives the correction wheel seat 731. The motor's output shaft passes through a bearing 751. A washer 754 is provided on the inner ring of the bearing 751. A bolt 755 connected to the motor's output shaft passes through the washer 754, connecting the motor's output shaft to the bearing 754. A pin 756 radially passes between the upper end of the correction wheel seat and the motor's output shaft, further reliably connecting the motor's output shaft to the correction wheel seat 731. An axially extending protrusion 7316 is provided on the outer periphery of the lower end of the correction wheel seat, above the flange.

[0039] The correction wheel 732 includes a correction wheel body 7321 and a spacer ring 7322. Two or more correction wheel bodies 7321 are provided, with spacer rings 7322 positioned between adjacent correction wheel bodies 7321. The maximum diameter of the spacer rings 7322 is smaller than the maximum diameter of the correction wheel body 7321. In the present invention, the maximum diameter of the correction wheel body refers to the maximum diameter formed after the drive teeth are provided. Drive teeth 7323 are provided on the outer circumference of the correction wheel body 7321 and are evenly spaced around the circumference of the correction wheel body. Grooves 7324 that mate with protrusions 7316 are provided on the inner walls of both the correction wheel body 7321 and the spacer rings 7322. The correction wheel 732 is supported by a flange 7313. A correction pressure plate 733 is pressed against the upper end of the correction wheel 732. The maximum diameter of the correction pressure plate is smaller than the maximum diameter of the correction wheel body. A locking device is provided between the flange 7313, the correction wheel 732, and the correction pressure plate 733. The locking device includes a locking bolt 734 and a locking nut 735. The locking bolt 734 passes through the flange 7313, the correction wheel 732, and the correction pressure plate 733, and the locking nut 735 is threadedly connected to the locking bolt and pressed onto the correction pressure plate 733. The locking device connects the correction wheel seat 731, the correction wheel 732, and the correction pressure plate 733 into a whole, making it easy to install and remove the correction wheel 732. To better fix the correction wheel, a locking nut 736 is threadedly connected to the upper end of the correction wheel seat and pressed onto the correction pressure plate. Due to the provision of the protrusion 7316 and the groove 7324, the correction wheel seat can reliably drive the correction wheel to rotate.

[0040] A guide rod 81 passes through the upper fixing hole and the lower fixing hole. The lower end of the guide rod 81 is threadedly connected with a nut to prevent the guide rod from being separated. The guide rod also passes through the arc groove.

[0041] A hinge shaft 82 passes through between the clamping arm and the upper fixing sleeve 752 , and a hinge shaft 82 passes through between the clamping arm and the lower fixing sleeve 753 . The hinge shaft 82 may be a combination structure of a bolt and a nut.

[0042] An elastic member is connected between the guide rod 81 and the fixed shaft 62 , and the elastic member is a spring.

[0043] A method for clamping and calibrating a material having two relatively parallel planes includes the following steps.

[0044] S1 drives the two oppositely arranged clamping arms 6 installed on the clamping beam 4 to open through the clamping drive 5 in the clamping correction device, and the clamping arms 6 drive the clamping corrector 7 to open, so that the distance between the two oppositely arranged clamping correctors is greater than the width of the material with two relatively parallel planes.

[0045] S2 allows the translation drive cylinder 20 installed between the base 10 and the clamping correction device to drive the two oppositely arranged clamping correctors in the clamping correction device to translate to the two sides of the material with two relatively parallel planes.

[0046] S3 drives the clamping arms 6 to move toward each other on the clamping beam 4 through the clamping drive 5, and utilizes the clamping corrector 7 to clamp the two relatively parallel planes of the material having two relatively parallel planes.

[0047] S4 drives the correction wheel assembly 73 to rotate by the motor 72 in the clamping corrector 7. The direction of rotation of the correction wheel assembly 73 is to rotate in a direction tilted outward toward the plane of the material. Figure 9 In the rotation direction shown, as the clamping arm 6 continues to move, the clamping corrector 7 overcomes the elastic force of the spring connected between the clamping corrector and the clamping arm and continues to move toward each other, and the material with two relatively parallel planes is corrected through the rotation of the correction wheel assembly.

[0048] In the present invention, the free end of the clamping corrector 7 is swung inwards under the action of the spring. Figure 9 As shown, when the material 1000 with two relatively parallel planes is in a horizontally skewed state, when the clamping arm drives the clamping corrector 7 to be located on both sides of the material 1000 with two relatively parallel planes, the clamping drive 5 first drives the clamping arm 6 to move inward on the clamping beam 4 at the same time. When the driving teeth 7323 of the correction wheel 732 of the clamping corrector 7 come into contact with the material with two relatively parallel planes, the spring is pulled up, and the clamping corrector 7 swings outward in a circle with the hinge shaft 82 as the circle. At the same time, the correction drive is turned on, and the correction wheel 732 is driven to rotate by the motor 72. The rotation direction of the correction wheel 732 is to rotate in the direction of the outward tilt of the material. When the correction wheel is rotating, as the clamping arm continues to move inward, the driving teeth of the correction wheel generate a driving force on the side of the material, prompting the material to gradually return to the straight position until it is straightened. Figure 10 state, thereby correcting the material, facilitating clamping and improving clamping reliability. During the swinging process, the correction arm guides the guide rod through the arc groove and limits the guide plate at both ends of the arc groove, thereby limiting the swing angle of the correction arm. Accommodating the upper end of the motor in the cavity can reduce the overall length of the motor and correction wheel assembly, making the center of gravity more centered; by providing a correction wheel seat and pressure plate, and providing a flange at the lower end of the correction wheel seat, it is convenient to install and fix the correction wheel.

Claims

1. A method for clamping and correcting a material having two relatively parallel planes, which is achieved by a translational flip clamping device, characterized in that: The translational flip clamping device includes a base, a translational drive cylinder and a clamping correction device. The clamping correction device is slidably arranged on the base, and the translational drive cylinder is connected between the base and the clamping correction device; the clamping correction device includes a clamping seat, a clamping beam, a clamping drive, a clamping arm and a clamping corrector; clamping arms are respectively provided for sliding at both ends of the clamping beam, and a clamping drive is provided between the two clamping arms; the clamping corrector is provided at the free end of the clamping arm; the clamping corrector includes a correction arm, a motor, a correction wheel assembly and an elastic member; the correction wheel assembly includes a correction wheel seat, a correction wheel and a correction pressure plate, the correction wheel seat is provided with a cavity extending to the middle from bottom to top, and the correction wheel seat is provided from A mounting hole communicating with the cavity is provided from top to bottom, and a flange extending outward is provided at the lower edge of the correction wheel seat, the outer diameter of the flange being smaller than the maximum diameter of the correction wheel; the upper end of the motor body of the motor is located in the cavity, the output shaft of the motor passes through the mounting hole, and the output shaft of the correction drive drives the correction wheel seat to rotate; the correction wheel is sleeved on the correction wheel seat and supported by the flange, the correction pressure plate is pressed against the upper end of the correction wheel, and a locking device is provided between the flange, the correction wheel, and the correction pressure plate; the output shaft of the motor drives the correction wheel seat to rotate, and the correction wheel seat drives the correction wheel to rotate; a method for clamping and correcting a material having two relatively parallel planes using a translational flip clamping device comprises the following steps: S1 drives the two oppositely arranged clamping arms mounted on the clamping beam to open through the clamping drive in the clamping correction device, and the clamping arms drive the clamping corrector to open, so that the distance between the two oppositely arranged clamping correctors is greater than the width of the material with two relatively parallel planes; S2 allows the translation drive cylinder installed between the base and the clamping correction device to drive the two oppositely arranged clamping correctors in the clamping correction device to translate to the two sides of the material with two relatively parallel planes; S3 drives the clamping arms to move toward each other on the clamping beam through the clamping drive, and uses the clamping corrector to clamp the two relatively parallel planes of the material with two relatively parallel planes; S4 drives the correction wheel assembly to rotate through the motor in the clamping corrector. The direction of rotation of the correction wheel assembly is to rotate in a direction inclined outward toward the plane of the material. As the clamping arm continues to move, the clamping corrector overcomes the elastic force of the elastic member connected between the clamping corrector and the clamping arm and continues to move toward each other. The material with two relatively parallel planes is corrected by the rotation of the correction wheel assembly.

2. The method for clamping and correcting a material having two relatively parallel planes according to claim 1, characterized in that: The swing angle of the clamping corrector is limited by a guide rod which is arranged on the clamping corrector and passes through an arcuate slot arranged on the clamping arm.

3. The method for clamping and correcting a material having two relatively parallel planes according to claim 2, characterized in that: The elastic member is a spring, which is arranged between the guide rod and a fixed shaft arranged on the clamping arm. The fixed shaft is located on the inner side of the guide rod and is arranged away from the clamping corrector.

4. The method for clamping and correcting a material having two relatively parallel planes according to claim 1, wherein: The correction wheel is driven to rotate by the correction wheel seat through the cooperation of the protrusions arranged on the circumference of the correction wheel seat and the grooves arranged on the correction wheel.

5. The method for clamping and correcting a material having two relatively parallel planes according to claim 1, characterized in that: The correction wheel comprises a correction wheel body and a spacer ring. There are two or more correction wheel bodies, and spacer rings are provided between adjacent correction wheel bodies.

6. The method for clamping and correcting a material having two relatively parallel planes according to claim 5, characterized in that: The driving teeth arranged on the correction wheel body provide a swing driving force to the material having two relatively parallel planes.

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