A variable distance clamping mechanism

Abstract

The present invention relates to a clamping mechanism, and in particular to a variable-distance clamping mechanism. The purpose of the present invention is to provide a variable-distance clamping mechanism that can intelligently clamp disordered products on an assembly line and release products at precise positions and at equal distances. The technical solution is as follows: A variable-distance clamping mechanism comprises a frame, the frame is fixedly connected to a protective frame, and a first movable pair is symmetrically fixedly connected to the relative position of the inner wall of the frame. The present invention adopts a method of intelligently clamping the passing products by using multiple groups of clamping assemblies arranged with the conveyor belt, adopts a distance-fixing assembly and a propulsion assembly to change the distance of the translation frame and the clamping assembly, and releases the clamped products at equal distances, so as to achieve the purpose of orderly arranging disordered products and facilitate subsequent product refinement processing.

Description

Technical Field

[0001] The invention relates to a clamping mechanism, in particular to a variable-distance clamping mechanism. Background Art

[0002] In the field of industrial fixture research and development, production and use, there are many solutions, especially for such fixtures with equidistant arrangement or equidistant clamping functions of products. Among the solutions of such fixtures, industrial fixtures used on product assembly lines include double-claw or multi-claw fixtures cooperated with robots, but the application scope of such fixtures is more in scenarios with low flow density of assembly lines. Excessive product density also makes it easy for the robot base of the fixture to move and transfer frequently, which greatly affects its accuracy after long-term operation. Such fixtures can only clamp a single product at a time and then transfer and arrange it equidistantly. There are also variable-distance clamping fixtures for equidistant arrangement, but the existing variable-distance clamping fixtures of this type are more used in products that are already in equidistant arrangement, and they themselves can only grab equidistantly arranged products. Therefore, the application scope of such products is more for products that have been integrated and automated.

[0003] However, if the products on the conveyor belt of the assembly line that have been manually processed need to be arranged equidistantly for subsequent integrated automated processing that requires precise positioning, more conveying equipment will be needed for regularization, which is not only costly but also takes up a lot of space. However, the above-mentioned existing clamps cannot clamp and release products in such scenarios at equal distances.

[0004] Therefore, a variable distance clamping mechanism is developed to solve the above problems. Summary of the invention

[0005] In order to overcome the shortcomings of existing clamps that are difficult to meet when clamping products with variable distances for equidistant arrangement and the current high cost of orderly arrangement of disordered product lines, the technical problem to be solved is: to provide an intelligent variable distance clamping mechanism that can clamp disordered products on the assembly line and release the products at precise positions with equidistant release.

[0006] The technical solution of the present invention is: a variable-pitch clamping mechanism, comprising a frame, the frame is fixedly connected to a protective frame, the frame inner wall is symmetrically fixedly connected to a first moving pair at a relative position, the first moving pair is a structure with multiple groups of moving parts, and the moving parts of the first moving pairs at relative positions are a group, and each group of the moving parts of the first moving pairs is fixedly connected to a translation frame, wherein the leftmost translation frame is fixedly connected to the left side of the inner wall of the frame;

[0007] A lifting assembly is provided inside the translation frame, and the lifting assembly is used for lifting work;

[0008] A clamping assembly is fixedly connected to the lifting attachment of the lifting assembly, the clamping assembly is lifted and lowered by the lifting assembly, and the clamping assembly is used to identify and clamp passing objects;

[0009] The upper side of each translation frame is provided with a distance component, the distance components cooperate with each other, and the distance components are used to maintain the distance between the translation frames;

[0010] A propulsion assembly is provided on the upper side of the protection frame, and the propulsion assembly is connected to the rightmost translation frame.

[0011] Optionally, the lifting assembly includes a second movable pair, which is respectively fixedly connected to the inner walls on both sides of each of the translation frames, and a lifting frame is fixedly connected between the lower sides of the movable parts of each adjacent second movable pair, and the clamping assembly is lifted and lowered by the connection with the lifting frame, and a cylinder is fixedly connected to the translation frame, and the telescopic parts of the cylinder are respectively connected to the upper sides of the adjacent lifting frames.

[0012] Optionally, the clamping assembly includes a fixed frame, which is fixedly connected to the lower side of the lifting frame, and a two-way screw pair is rotatably connected in the fixed frame, the two-way screw pair is a structure in which the screw structures on both sides are reversely threaded, and the two-way screw pair is a structure with two moving blocks with the same direction of internal threads, and a servo motor is fixedly connected to the rear side of the fixed frame, and the output shaft of the servo motor is respectively connected to the screw structure of the adjacent two-way screw pair, and a clamping arm is fixedly connected to the lower side of the moving part of the two-way screw pair, each group of relative clamping arms is a group, and each group of clamping arms is provided with an infrared counter-radiation sensor module, and each group of clamping arms at the rear side is embedded with a transmitting module of the infrared counter-radiation sensor module, and each group of clamping arms at the front side is embedded with a receiving module of the infrared counter-radiation sensor module, and the transmitting module and the receiving module of each group of infrared counter-radiation sensor modules are positioned relative to each other and on the same horizontal line.

[0013] Optionally, the distance-fixing assembly includes a limiting slide, which is respectively fixedly connected to the upper side of each group of the translation frames except the first one on the right, and the limiting slides have consistent specifications and sizes. An extension frame is fixedly connected at the left position of each group of the translation frames except the first one on the left, and a limiting guide block is fixedly connected to the upper side of the extension frame. The limiting guide blocks have consistent specifications and sizes, and the limiting guide blocks are respectively fitted into the adjacent limiting slide on the left side.

[0014] Optionally, the propulsion assembly includes an electric slide rail, which is fixedly connected to the upper side of the protective frame. A displacement frame is fixedly connected to the moving part of the electric slide rail, and the lower end of the displacement frame is fixedly connected to the upper end of the translation frame on the far right.

[0015] Optionally, it also includes a distance adjustment component, which is respectively arranged at the limit guide block, the limit guide block is provided with a limit slot, the limit slot is provided with a distance adjustment limit rod, the distance adjustment limit rod is respectively coplanar with the limit slide adjacent to the left side, the distance adjustment limit rod is provided with a first fastener, and the distance adjustment limit rod is fixed to the limit guide block through the first fastener.

[0016] Optionally, it also includes a fine-tuning component, which is respectively arranged at the clamping arms, and the fine-tuning component is used to fine-tune the left and right positions of the products between the clamping arms. The clamping arms are fixedly connected with micro-motion electric drive slides, and the opposite sides of the moving parts of the micro-motion electric drive slides are fixedly connected with micro-motion plates. The lifting frame is provided with a detection module, and the detection module is used to detect the left and right edge positions of the products thereunder, and the micro-motion electric drive slides at each group of clamping arms on opposite sides are electrically controlled by the adjacent detection modules.

[0017] Optionally, the detection module includes a mounting plate, which is fixedly connected to the lifting frame, and a gear transmission pair is provided in the middle of the mounting plate, and the gear transmission pair is a transmission pair consisting of a gear and two racks with central symmetry. The front and rear sides of each mounting plate are fixedly connected to a third moving pair, and the third moving pairs on each mounting plate are centrally symmetrically arranged. The moving parts of the third moving pairs are respectively connected to the rack structures of the adjacent gear transmission pairs, and the moving parts of each third moving pair are fixedly connected to a laser ranging module on the side away from the mounting plate, and a second fastener is provided at the fixed parts of the third moving pairs.

[0018] The beneficial effects of the present invention are: 1. The present invention adopts a method of intelligently clamping the passing products by adopting multiple groups of clamping components arranged with the conveyor belt, adopts a method of changing the distance of the translation frame and the clamping component by adopting a distance component and a propulsion component, and releases the clamped products at equal distances, thereby achieving the purpose of orderly arranging disorderly discharged products and facilitating subsequent product refinement processing.

[0019] 2. The present invention adopts the method of using the infrared counter-radiation sensor module of the clamping component to sense and identify the products passing through the position, and the infrared counter-radiation sensor module controls the servo motor through a program, so that the clamping arm can intelligently respond to the products passing through this position and clamp them, thereby achieving the purpose of a high degree of intelligence. Moreover, by lifting the clamping arm after clamping the product through the lifting component, the product can be separated from the conveyor belt when being clamped, which can protect the bottom of the product from being damaged by friction.

[0020] 3. The present invention uses a distance adjustment component to further adjust the relative limiting position between the limiting slide and the limiting guide block, so that the equidistant release spacing of the product can be adjusted, and the application range of the variable distance clamping mechanism can be further improved.

[0021] 4. The present invention adopts the laser ranging module of the detection module in combination with the micro-motion electric drive slide rail and the micro-motion plate, so that the product can continue to fine-tune the position of the clamped product under factors such as the environment and its own conditions, and can further ensure the position accuracy of the product after isometric release. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention.

[0023] Figure 2 It is a schematic diagram of the first three-dimensional structure of the frame part of the present invention.

[0024] Figure 3 It is a schematic diagram of the second three-dimensional structure of the present invention.

[0025] Figure 4 It is a schematic diagram of the second three-dimensional structure of the frame part of the present invention.

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the translation frame part of the present invention.

[0027] Figure 6 It is a schematic diagram of the three-dimensional structure of the clamping component part of the present invention.

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the clamp arm part of the present invention.

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the detection module part of the present invention.

[0030] Fig. 9 It is a schematic diagram of the three-dimensional structure of the distance component part of the present invention.

[0031] Fig.10 It is a schematic diagram of the partial three-dimensional structure of the distance component part of the present invention.

[0032] Fig.11 It is a schematic diagram of the three-dimensional structure of the fine-tuning component part of the present invention.

[0033] In the accompanying drawings: 1-frame, 2-protection frame, 3-first moving pair, 4-translation frame, 5-lifting assembly, 6-clamping assembly, 7-distance assembly, 8-propulsion assembly, 51-second moving pair, 52-lifting frame, 53-cylinder, 61-fixed frame, 62-bidirectional screw pair, 63-servo motor, 64-clamping arm, 65-infrared counter-radiation sensor module, 71-limit slide, 72-extension frame, 73-limit guide block, 81-electric slide rail, 82-displacement frame, 9-distance adjustment assembly, 900-limit slot, 91-distance adjustment limit rod, 92-first fastener, 10-fine-tuning assembly, 101-micro-motion electric drive slide rail, 102-micro-motion plate, 11-detection module, 111-mounting plate, 1110-gear transmission pair, 112-third moving pair, 113-laser ranging module, 114-second fastener. DETAILED DESCRIPTION

[0034] The following descriptions are merely preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention.

[0035] Example 1: Figure 1-Figure 4 As shown, a variable-distance clamping mechanism includes a frame 1, a protective frame 2, a first moving pair 3, a translation frame 4, a lifting assembly 5, a clamping assembly 6, a distance assembly 7 and a propulsion assembly 8. The protective frame 2 is fixedly connected to the upper side of the frame 1, and the first moving pair 3 is symmetrically fixedly connected at the relative position of the inner wall of the frame 1. The first moving pair 3 is a slide rail structure. The first moving pair 3 is a structure with 4 groups of 8 moving parts, and the moving parts of the first moving pairs 3 at relative positions are a group. The moving parts of each group of the first moving pairs 3 are fixedly connected with a translation frame 4, and the translation frame 4 is a hollow structure with an open bottom. Among them, the leftmost translation frame 4 is fixedly connected to the left side of the inner wall of the frame 1, and a lifting component 5 is provided inside the translation frame 4. The lifting component 5 is used for lifting and lowering. A clamping component 6 is fixedly connected to the lifting attachment of the lifting component 5. The clamping component 6 is lifted and lowered by the lifting component 5. The clamping component 6 is used to identify and clamp the passing objects. The upper side of the translation frame 4 is provided with a distance component 7. The distance components 7 cooperate with each other. The distance components 7 are used to maintain the distance between the translation frames 4. A propulsion component 8 is provided on the upper side of the protective frame 2, and the propulsion component 8 is connected to the rightmost translation frame 4.

[0036] When transporting products on a production line that has been manually processed, the variable distance clamping mechanism can be used when the products need to be transferred and evenly spaced for subsequent processing.

[0037] Installation and debugging of the variable-pitch clamping mechanism: The frame 1 of the variable-pitch clamping mechanism can be installed by an external intelligent manipulator, and the external intelligent manipulator can be calibrated for height and position and other debugging operations, so that the variable-pitch clamping mechanism can not contact the moving assembly line conveyor belt, and the products on the conveyor belt can pass through the clamping range of the clamping component 6 of the variable-pitch clamping mechanism, and then the clamping speed and recognition sensitivity of the clamping component 6 of the variable-pitch clamping mechanism are debugged according to the speed of the product assembly line, and the speed of the external manipulator is debugged according to the flow speed and density of the product on the product assembly line, and then other relevant parameters of the external manipulator are debugged.

[0038] The variable-length clamping mechanism is located in the calibration area on the conveyor belt: after the variable-length clamping mechanism and the external manipulator are installed and debugged, the position of the variable-length clamping mechanism on the conveyor belt is calibrated by controlling the external manipulator, so that the variable-length clamping mechanism is located at the end position of the assembly line conveyor belt movement, and the four groups of clamping components 6 are arranged from left to right in a direction parallel to the movement direction of the assembly line conveyor belt, wherein the clamping component 6 on the left is at the leftmost position of the assembly line conveyor belt movement; after determining the position of the variable-length clamping mechanism on the conveyor belt, the transfer path and placement area of ​​the product of the variable-length clamping mechanism can be calibrated by controlling the external manipulator.

[0039] The identification and clamping working process of the variable-distance clamping mechanism: when the variable-distance clamping mechanism is in place, the main control program power supply of the clamping component 6 is started, and the identification function of the leftmost clamping component 6 is activated. The activation of the identification function of the clamping component 6 means that it can judge whether an object has passed through. When the manually processed assembly line products flow on the conveyor belt and pass through the three groups of clamping components 6 on the right, the clamping components 6 whose identification functions are not activated will not clamp the products; when the product flows through the leftmost clamping component 6, the clamping component 6 whose identification function is activated will sense that the product is within the clampable range, and then the clamping component 6 will control the product through its identification function. The clamping assembly 6 clamps the product and controls the lifting assembly 5 connected to the clamping assembly 6 to perform lifting work, so that the clamping assembly 6 clamps the product and lifts it upward to separate the product from the conveyor belt, thereby preventing the moving conveyor belt from rubbing against the bottom of the product in the fixed position when the other three groups of clamping assemblies 6 are in the standby process; and when the recognition function of the leftmost clamping assembly 6 is activated and it is determined that an object has passed and is clamped, the recognition function of the next group of clamping assemblies 6 will be activated, and a product will be clamped and lifted as described above, and this cycle will continue until the rightmost clamping assembly 6 clamps and lifts the product; in this way, the disordered products on the conveyor belt of the assembly line can be intelligently clamped in an orderly manner.

[0040] The transfer and variable distance placement process of the variable distance clamping mechanism: when the four groups of clamping components 6 are all clamped to the product, the external manipulator can be controlled to transfer the variable distance clamping mechanism to the top of the placement area. At this time, the propulsion component 8 can be controlled to work, and the propulsion component 8 will drive the rightmost clamping component 6 to move to the right. When the rightmost clamping component 6 moves to the right, it will drive the three groups of clamping components 6 on the left to move to the right through the distance component 7. When the propulsion component 8 moves to the right to the end, the rightmost clamping component 6 will move through the distance component 7, thereby driving the three groups of clamping components 6 on the left to move away from each other. The positioning is completed, that is, the spacing between the four groups of clamping components 6 is made consistent, and then the lifting component 5 is controlled to move downward to make the clamped products contact the surface of the placement area, and the clamping component 6 is controlled to release the products, so that the spacing between the products can be consistent, so that the equidistant placement of the products can be completed for subsequent processing; then the program of the variable-distance clamping mechanism is controlled to reset, so that the propulsion component 8 drives the clamping component 6 to reset, and the area where the variable-distance clamping mechanism is located is reset by an external manipulator, and the next batch of products are clamped and placed in the same clamping process as above.

[0041] Example 2: Figure 5 As shown, the lifting assembly 5 includes a second moving pair 51, a lifting frame 52 and a cylinder 53. The second moving pair 51 is respectively fixedly connected to the inner walls on both sides of each translation frame 4. The second moving pair 51 is a linear motion pair of a guide rail structure. The lifting frame 52 is fixedly connected between the lower sides of the moving parts of each adjacent second moving pair 51. The clamping assembly 6 is lifted and lowered by the connection with the lifting frame 52. The translation frame 4 is fixedly connected with a cylinder 53, and the telescopic parts of the cylinder 53 are respectively connected to the upper sides of the adjacent lifting frames 52.

[0042] When a group of clamping components 6 recognizes and clamps a product, the cylinder 53 at the corresponding position of the group of clamping components 6 will be started, and the telescopic part of the cylinder 53 will drive the lifting frame 52 to lift the group of clamping components 6 upward through the second moving pair 51, thereby lifting the clamped product upward and away from the conveyor belt; controlling the cylinder 53 to drive its telescopic part to move downward can move the lifting frame 52 and the clamping component 6 downward for reset.

[0043] like Figure 5-Figure 6As shown, the clamping assembly 6 includes a fixed frame 61, a bidirectional screw pair 62, a servo motor 63, a clamping arm 64 and an infrared counter-radiation sensor module 65. The fixed frame 61 is fixedly connected to the lower side of the lifting frame 52. The fixed frame 61 is a hollow structure. The fixed frame 61 is rotatably connected with the bidirectional screw pair 62. The bidirectional screw pair 62 is a structure in which the screw structures on both sides are mutually reversely threaded. The bidirectional screw pair 62 is a structure with two same-direction internal threaded moving blocks. The rear side of the fixed frame 61 is fixedly connected with the servo motor 63. The output shafts of the servo motor 63 are respectively It is connected to the screw structure of the adjacent bidirectional screw pair 62, and the lower side of the moving parts of the bidirectional screw pair 62 is fixedly connected with a clamping arm 64, each group of relative clamping arms 64 is a group, and each group of clamping arms 64 is provided with an infrared counter-radiation sensor module 65, and each group of clamping arms 64 on the rear side has a transmitting module of the infrared counter-radiation sensor module 65 embedded in it, and each group of clamping arms 64 on the front side has a receiving module of the infrared counter-radiation sensor module 65 embedded in it, and the transmitting module and the receiving module of each group of infrared counter-radiation sensor module 65 are positioned relative to each other and are on the same horizontal line.

[0044] When the variable-distance clamping mechanism is in place, the main control program power supply of the clamping assembly 6 is started, and the leftmost infrared radiation sensor module 65 is activated, so that the transmitting module of the infrared radiation sensor module 65 will emit infrared rays to be received by its receiving module, which indicates that no object has passed through the clamping arm 64; if an object passes through the clamping arm 64 and blocks the infrared rays emitted by the transmitting module of the infrared radiation sensor module 65, the receiving module of the infrared radiation sensor module 65 will not receive the infrared rays, which indicates that an object has passed through the clamping arm 64. At this time, the receiving module of the infrared radiation sensor module 65 will control the servo motor 63 to run according to the program through signal transmission, so that the servo motor 63 drives the double The servo motor 63 runs toward the screw rod pair 62, so that the moving parts of the two-way screw rod pair 62 drive the clamping arms 64 to run towards each other, so that the clamping arms 64 clamp the passing object. After the servo motor 63 runs its working program, it will control the operation of the lifting component 5 to lift the object upward. At the same time, the next group, that is, the infrared counter-radiation sensor module 65 on the right side of the clamping arms 64 will be activated as described above, until the rightmost group of infrared counter-radiation sensor modules 65 is activated as described above to clamp the product; when the variable-pitch clamping mechanism is located in the placement area, the servo motor 63 can be controlled to run in the reverse direction, so that the two-way screw rod pair 62 rotates in the reverse direction, so that the clamping arms 64 move away from each other, so that the clamping arms 64 release their grip on the product, thereby placing the product.

[0045] like Figure 9-11As shown, the distance-fixing assembly 7 includes a limiting slide 71, an extension frame 72 and a limiting guide block 73. The limiting slides 71 are respectively fixedly connected to the upper sides of the three groups of translation frames 4 on the left side, and there is a height difference and offset installation between the limiting slides 71. The limiting slide 71 is a groove-type guide rail, and the specifications and dimensions of the limiting slides 71 are consistent. The left positions of the three groups of translation frames 4 on the right side are all fixedly connected with extension frames 72, and the upper sides of the extension frames 72 are all fixedly connected with limiting guide blocks 73. There is a height difference and offset installation between the limiting guide blocks 73, and the specifications and dimensions of the limiting guide blocks 73 are consistent. The limiting guide blocks 73 are respectively fitted in the adjacent limiting slides 71 on the left side.

[0046] When it is necessary to arrange the products clamped by the clamping assembly 6 in the placement area at an equal distance, the propulsion assembly 8 can be controlled to operate so that the propulsion assembly 8 drives the rightmost translation frame 4 to move to the right, so that the rightmost translation frame 4 slides in the adjacent limiting slide 71 on the left through the limiting guide block 73 until the limiting guide block 73 contacts the right end of the group of limiting slides 71. At this time, the group of limiting guide blocks 73 will drive the group of limiting slides 71 to move to the right. When the group of limiting slides 71 moves to the right, the group of limiting slides 71 will drive the adjacent translation frame 4 and the limiting guide block 73 on its left to move to the right. In this way, the three groups of translation frames 4 on the right can be moved to the right until the propulsion assembly 8 moves to the right to its end. Position, at this time, the three groups of limit guide blocks 73 are all located at the right side position of the corresponding limit slide 71. At this time, the spacing between the three groups of translation frames 4 on the right side is limited by the position of the limit guide blocks 73 and the limit slide 71, so that the spacing between the four groups of translation frames 4 can be consistent, and the spacing between the clamping components 6 can also be consistent, so that the equidistant arrangement of the products can be achieved; if it is necessary to reset the position of the three groups of translation frames 4 on the right side, the propulsion component 8 can be controlled to move to the left, so that it drives the rightmost translation frame 4 to move to the left, and through the cooperation of the limit guide block 73 and the limit slide 71, the limit guide block 73 is moved to the left side of the limit slide 71 it cooperates with. At this time, the four groups of translation frames 4 are closed and the spacing is consistent, so that resetting is achieved.

[0047] like Figure 3-Figure 4 As shown, the propulsion assembly 8 includes an electric slide rail 81 and a displacement frame 82. The electric slide rail 81 is fixedly connected to the upper side of the protective frame 2. The electric slide rail 81 is a servo-controlled screw-propelled motion pair. The moving part of the electric slide rail 81 is fixedly connected to the displacement frame 82. The displacement frame 82 is a door-type structure. The door-type structure of the displacement frame 82 is used to ensure the passability of the limit slide 71. The lower end of the displacement frame 82 is fixedly connected to the upper end of the rightmost translation frame 4.

[0048] The operation of the electric slide rail 81 is controlled, and the moving part of the electric slide rail 81 drives the displacement frame 82 to move, so that the displacement frame 82 drives the rightmost translation frame 4 to move.

[0049] like Fig.11As shown, it also includes a distance adjustment component 9, which includes a distance adjustment limit rod 91 and a first fastener 92. The distance adjustment components 9 are respectively arranged at the limit guide block 73. The limit guide block 73 is provided with a limit slot 900. The limit slot 900 is a key slot structure. The key slot structure is also provided with a threaded deep hole structure. The limit slot 900 is provided with a distance adjustment limit rod 91. The distance adjustment limit rod 91 is a key structure. The key structure of the distance adjustment limit rod 91 cooperates with the key slot structure of the limit slot 900. The distance adjustment limit rod 91 is respectively coplanar with the limit slide 71 adjacent to the left side. The number of distance adjustment limit rods 91 is not unique, and the limiting length of the distance adjustment limit rod 91 is not unique. The distance adjustment limit rod 91 is provided with a first fastener 92. The first fastener 92 is a butterfly bolt. The distance adjustment limit rod 91 is fixed to the limit guide block 73 through the first fastener 92.

[0050] When it is necessary to adjust the variable distance of the translation frame 4, that is, to adjust the required distance of the product after the variable distance is released, the distance adjustment limit rods 91 of appropriate length can be inserted into the limit slots 900 according to the required spacing of the translation frame 4, and fixed by the first fastener 92; when the rightmost translation frame 4 moves, the distance adjustment limit rod 91 will first contact and pull or push the limit slide 71, thereby changing the distance between the limit slide 71 and the limit guide block 73, so that the final spacing of the translation frame 4 can be adjusted.

[0051] like Figure 6-Figure 8 As shown, it also includes a fine-tuning component 10, which includes a micro-motion electric drive slide 101, a micro-motion plate 102 and a detection module 11. The fine-tuning components 10 are respectively arranged at the clamping arms 64. The fine-tuning components 10 are used to fine-tune the left and right positions of the products between the clamping arms 64, and can accurately clamp the products so that the distance position during equidistant arrangement is further improved in accuracy. The clamping arms 64 are fixedly connected with micro-motion electric drive slides 101, the micro-motion electric drive slides 101 are servo-controlled, the micro-motion electric drive slides 101 are linear motion pairs, and the opposite sides of the moving parts of the micro-motion electric drive slides 101 are fixedly connected with micro-motion plates 102, and the micro-motion plates 102 are structures with anti-slip surfaces on the opposite sides. A detection module 11 is provided at the lifting frame 52, and the detection module 11 is used to detect the left and right edge positions of the products below it, and the micro-motion electric drive slides 101 at the clamping arms 64 on each opposite side are electrically controlled by the adjacent detection modules 11.

[0052] The detection module 11 can be adjusted according to the left and right widths of the product itself, so that the detection module 11 can adapt to the left and right widths of the product, so that the spacing of the clamping arms 64 when clamping the product and releasing it at equal intervals can be further improved in accuracy; when a set of clamping arms 64 clamps the product, the micro-motion plate 102 contacts the product, and at this time the detection module 11 is controlled to be turned on, and the detection module 11 will detect the left and right positions of the product. If the product is offset to the left or right, the detection module 11 at the corresponding position of the product will detect the offset to the left or right, and at this time the detection module 11 will control the micro-motion plate 102 corresponding to the position. The electric drive slide 101 runs, and the micro-motion electric drive slide 101 will drive the connected micro-motion plate 102 to move, so that the two micro-motion plates 102 at this position move synchronously, thereby driving the contacted product to move, until the detection module 11 cannot detect the left and right sides of the product, that is, the product is in the middle position of the left and right detection range of the detection module 11. At this time, the precise position of the product clamped by each set of clamping arms 64 can be guaranteed, and the spacing between the products after equidistant release can be further increased; after the clamping arms 64 release the product and reset, the micro-motion electric drive slide 101 will also reset the center.

[0053] like Figure 6-Figure 8 As shown, the detection module 11 includes a mounting plate 111, a gear transmission pair 1110, a third moving pair 112, a laser ranging module 113 and a second fastener 114. The mounting plates 111 are fixedly connected in the lifting frame 52 respectively. A gear transmission pair 1110 is provided in the middle of the mounting plate 111. The gear transmission pair 1110 is a transmission pair consisting of a gear and two racks with central symmetry. The front and rear sides of each mounting plate 111 are fixedly connected to the third moving pair 112. The third moving pair 112 is a linear motion pair. The third moving pairs 112 on each mounting plate 111 are centrally symmetrically arranged. The moving parts of the third moving pair 112 are respectively connected to the rack structures of the adjacent gear transmission pairs 1110. The moving parts of each third moving pair 112 are fixedly connected to the laser ranging module 113 away from the mounting plate 111. The fixed parts of the third moving pair 112 are provided with second fasteners 114, which are fastening bolts.

[0054] When debugging the detection module 11, the detection module 11 can be debugged according to the height of the detection module 11 relative to the conveyor belt and the height of the products clamped in this batch, the laser distance measuring module 113 can be started, and the laser distance measuring module 113 will emit a laser beam to detect the distance between itself and the conveyor belt, and then the product is placed under the laser distance measuring module 113 to detect the distance between them; then the product is placed in the middle position of the clamping arm 64, and then the moving part of the third moving pair 112 is moved to drive the laser distance measuring modules 113 to move closer or farther from each other through the gear transmission pair 1110, so that the laser beams emitted by the two laser distance measuring modules 113 surround the left and right sides of the product and are close to the edge, and then the position of the third moving pair 112 is fixed by the second fastener 114; when a product is clamped by the clamping assembly 6, the laser distance measuring module 113 at the position of the product The left and right positions of the product will be detected, that is, the laser ranging module 113 at this position will detect the distance between itself and the position below. If one of the laser ranging modules 113 detects a distance between itself and the conveyor belt, and the laser ranging module 113 at another position detects a distance between itself and the product, it means that the position of the product is biased towards another position. At this time, the micro-motion plate 102 at the position corresponding to the group of laser ranging modules 113 can be controlled to move to the reverse position until the distances detected by the two laser ranging modules 113 are both the distances between themselves and the conveyor belt. At this time, it means that the product is between the two laser ranging modules 113 at this position. In this way, if the laser ranging modules 113 corresponding to the four groups of clamping arms 64 all achieve this clamping of the product, the accuracy of the subsequent processing of the equidistant arrangement can be improved when the equidistant release is performed.

[0055] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A variable-distance clamping mechanism, comprising a frame (1), characterized in that: The frame (1) is fixedly connected to a protective frame (2), and first movable pairs (3) are symmetrically fixedly connected at relative positions of the inner wall of the frame (1), and the first movable pairs (3) are structures with multiple groups of movable parts, and the movable parts of the first movable pairs (3) at relative positions form a group, and each group of movable parts of the first movable pairs (3) is fixedly connected to a translation frame (4), wherein the leftmost translation frame (4) is fixedly connected to the left side of the inner wall of the frame (1); A lifting assembly (5) is provided inside the translation frame (4), and the lifting assembly (5) is used to perform lifting work; A clamping assembly (6) is fixedly connected to the lifting attachment of the lifting assembly (5), and the clamping assembly (6) comprises clamping arms (64) arranged opposite to each other, each group of the clamping arms (64) opposite to each other forming a group, each group of the clamping arms (64) being provided with an infrared counter-radiation sensor module (65), each group of the clamping arms (64) at the rear side being embedded with a transmitting module of the infrared counter-radiation sensor module (65), and each group of the clamping arms (64) at the front side being embedded with a receiving module of the infrared counter-radiation sensor module (65); The lifting assembly (5) comprises a second moving pair (51), the second moving pair (51) being fixedly connected to the inner walls of both sides of each of the translation frames (4), a lifting frame (52) being fixedly connected between the lower sides of the moving parts of each adjacent second moving pair (51), the clamping assembly (6) being lifted and lowered by being connected to the lifting frame (52), the translation frames (4) being fixedly connected to cylinders (53), the telescopic parts of the cylinders (53) being connected to the upper sides of the adjacent lifting frames (52); The clamping assembly (6) is lifted and lowered by the lifting assembly (5), and the clamping assembly (6) is used to identify and clamp the passing object; the main control program power of the clamping assembly (6) is started, the identification function of the leftmost clamping assembly (6) is activated, and when the object flows on the conveyor belt and passes through the right clamping assembly (6), the clamping assembly (6) on the right whose identification function is not activated will not clamp the object; when the object flows through the leftmost clamping assembly (6), the clamping assembly (6) will clamp the object through the control of its identification function, and control the lifting assembly (5) connected to the clamping assembly (6) to perform lifting work, and when the identification function of the leftmost clamping assembly (6) is activated and it is determined that the object passes and is clamped, the identification function of the next group of clamping assemblies (6) will be activated to clamp and lift an object; The upper sides of the translation frames (4) are each provided with a distance component (7), the distance components (7) cooperate with each other, and the distance components (7) are used to maintain the distance between the translation frames (4); A propulsion assembly (8) is provided on the upper side of the protection frame (2), and the propulsion assembly (8) is connected to the rightmost translation frame (4); The invention also comprises a fine adjustment component (10), wherein the fine adjustment component (10) is respectively arranged at the clamping arms (64), and the fine adjustment component (10) is used to fine adjust the left and right positions of the objects between the clamping arms (64); the clamping arms (64) are fixedly connected with micro-motion electric drive slide rails (101); the opposite sides of the moving parts of the micro-motion electric drive slide rails (101) are fixedly connected with micro-motion plates (102); the lifting frame (52) is provided with a detection module (11), and the detection module (11) is used to detect the left and right edge positions of the objects below it; the micro-motion electric drive slide rails (101) at each group of clamping arms (64) on opposite sides are electrically controlled by the adjacent detection modules (11).

2. A variable distance clamping mechanism as claimed in claim 1, characterized in that: The clamping assembly (6) comprises a fixed frame (61), wherein the fixed frame (61) is fixedly connected to the lower side of the lifting frame (52), and a bidirectional screw pair (62) is rotatably connected inside the fixed frame (61). The bidirectional screw pair (62) is a structure in which the screw structures on both sides are mutually reversely threaded. The bidirectional screw pair (62) is a structure with two moving blocks with internal threads in the same direction. A servo motor (63) is fixedly connected to the rear side of the fixed frame (61), and the output shaft of the servo motor (63) is respectively connected to the screw structure of the adjacent bidirectional screw pair (62). The moving part of the bidirectional screw pair (62) is connected to the clamping arm (64). The transmitting module and the receiving module of each group of the infrared counter-radiation sensor modules (65) are positioned relative to each other and are on the same horizontal line.

3. A variable distance clamping mechanism as claimed in claim 2, characterized in that: The distance-fixing assembly (7) comprises a limiting slide (71), wherein the limiting slide (71) is respectively fixedly connected to the upper side of each group of the translation frames (4) except the first one on the right side, and the limiting slides (71) have the same specifications and sizes. The left side of each group of the translation frames (4) except the first one on the left side is fixedly connected with an extension frame (72), and the upper side of the extension frame (72) is fixedly connected with a limiting guide block (73), and the limiting guide block (73) has the same specifications and sizes. The limiting guide blocks (73) are respectively fitted in the limiting slides (71) adjacent to the left side.

4. A variable distance clamping mechanism as claimed in claim 3, characterized in that: The propulsion assembly (8) comprises an electric slide rail (81), the electric slide rail (81) being fixedly connected to the upper side of the protection frame (2), a displacement frame (82) being fixedly connected to the moving part of the electric slide rail (81), and a lower end of the displacement frame (82) being fixedly connected to the upper end of the rightmost translation frame (4).

5. A variable distance clamping mechanism as claimed in claim 4, characterized in that: It also comprises a distance adjustment component (9), the distance adjustment component (9) being respectively arranged at the position-limiting guide block (73), the position-limiting guide block (73) being respectively provided with a position-limiting slot (900), the position-limiting slot (900) being respectively provided with a distance adjustment limit rod (91), the distance adjustment limit rod (91) being respectively coplanar with the position-limiting slide frame (71) adjacent to the left side, the distance adjustment limit rod (91) being respectively provided with a first fastener (92), and the distance adjustment limit rod (91) being fixed to the position-limiting guide block (73) via the first fastener (92).

6. A variable distance clamping mechanism as claimed in claim 5, characterized in that: The detection module (11) comprises a mounting plate (111), wherein the mounting plates (111) are respectively fixedly connected to the lifting frame (52), a gear transmission pair (1110) is provided in the middle of the mounting plate (111), and the gear transmission pair (1110) is a transmission pair consisting of a gear and two racks whose positions are centrally symmetrical. A third moving pair (112) is fixedly connected to the front and rear sides of each mounting plate (111), and the third moving pairs (112) on each mounting plate (111) are centrally symmetrically arranged. The moving parts of the third moving pairs (112) are respectively connected to the rack structures of the adjacent gear transmission pairs (1110), and a laser distance measuring module (113) is fixedly connected to the side of the moving parts of each third moving pair (112) away from the mounting plate (111), and a second fastener (114) is arranged at the fixing parts of the third moving pairs (112).

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