Clamping device

Abstract

A clamping device includes a base, a first clamping component, and a second clamping component. The first clamping component is used to clamp a first workpiece to be clamped. The first clamping component is movably connected to the base. The first clamping component includes at least two first clamping members, and each first clamping member has a first clamping surface. The second clamping component is used to clamp a second workpiece to be clamped. The second clamping component is connected to the base. The second clamping component includes at least two second clamping members, and each second clamping member has a second clamping surface different from the first clamping surface. By integrating the first clamping component and the second component into one body through the base, the two clamping components can be used alternately, respectively corresponding to the clamping of different workpieces to be clamped, realizing the dual-purpose function of the clamping device. Compared with the traditional clamping method that requires setting multiple jigs and manual replacement, the alternating clamping method reduces costs, simplifies operations, and greatly improves the clamping efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a clamping device. Background Art

[0002] In the manufacturing process of invisible braces, it is first necessary to make a dental model of the patient. The dental model is made according to the patient's orthodontic data using 3D printing technology. The existing technology adopts automated batch production of dental models. In the automated production line, there are two actions in the 3D printing process. One is to pick up the 3D printed dental model from the printing platform of the 3D printer and place it on the dental model tray; the other is to place the dental model tray on the conveyor line. At present, in order to achieve these two actions, the main methods used are: the first is to set up two robotic arms, each of which is equipped with different clamps, one of which is used to pick up the dental model and place it on the dental model tray, and the other is used to clamp the dental model tray and place the dental model tray on the conveyor line. The second is to set up a robotic arm and configure two clamps. When performing the corresponding operation, the corresponding clamp is replaced; during the clamping process, the dental model clamp uses a suction nozzle, and the dental model tray clamp uses a clamp with multiple claws. However, the above method has the following problems during actual use:

[0003] ① Setting up two robotic arms increases production costs;

[0004] ② Setting up a robotic arm to alternately replace fixtures results in reduced processing efficiency;

[0005] ③ When the nozzle is used as a fixture to suck, a large flat contact point is required on the dental model. However, the tooth itself has a complex curved surface structure, which is difficult to use as a contact point, making it difficult for the nozzle to press tightly.

[0006] ④ A clamp with multiple jaws clamps the edge of the tray. The clamp requires multiple power components to cooperate.

[0007] The structure is complex and the cost is high.

[0008] Therefore, a clamping device is proposed to solve the above problems. Summary of the Invention

[0009] Based on this, in view of the problem that the traditional technology needs to use multiple robotic arms or multiple fixtures to clamp the dental model and the material tray, resulting in high costs and low efficiency, one aspect of the present invention provides a clamping device, including a base, a first clamping component, and a second clamping component. The first clamping component is used to clamp the first clamped part. The first clamping component is arranged on one side of the base and is movably connected to the base. The first clamping component includes at least two first clamping parts, and the first clamping part has a first clamping surface. The second clamping component is used to clamp the second clamped part by expansion. The second clamping component is arranged on the other side of the base and is connected to the base. The second clamping component includes at least two second clamping parts, and the second clamping part has a second clamping surface different from the first clamping surface. The second clamping surface is configured as an inclined surface. By integrating the first clamping component and the second clamping component through the base, the clamping components at both ends can be used alternately, avoiding the use of two robotic arms and the way of manually replacing fixtures, which can reduce costs and improve the clamping efficiency. The clamping principles of the first clamping component and the second clamping component are different, and different clamping methods can match different two clamped parts, thereby effectively improving the clamping efficiency.

[0010] In one embodiment, the first clamping component further includes a first driving unit for driving the first clamping part to clamp the first clamped part. The first driving unit is movably connected to the base. The first driving unit drives the two first clamping parts to perform relative reciprocating motions to clamp and unload the first clamped part, replacing the previous clamping method using a suction nozzle but lacking a flat surface as a suction surface for the dental model. It can avoid designing a relatively large flat area for the suction nozzle to suck, thereby realizing a high-efficiency and low-resin-cost clamping method.

[0011] In one embodiment, a positioning member is provided on the first driving unit. The positioning member is used to contact the contact part of the first clamped part, so that the first clamping part can position both sides of the first clamped part. The positioning member is located on the side of the first clamping part facing the first clamping surface, and the positioning member and the first clamping part are in the same plane. By positioning the first clamped part with the positioning member, that is, when the positioning member touches the contact part of the first clamped part, it means that the first clamped part is in place at this time, and then the clamping operation is completed by the first clamping part. The positioning member plays a role in positioning the first clamped part, avoiding problems such as clamping misalignment and incomplete clamping during the clamping process, thereby ensuring the progress of the clamping operation.

[0012] In one embodiment, a positioning detection portion for detecting the first clamped member is provided on one side of the positioning member facing the first clamped member. The positioning detection portion functions to detect the position of the first clamped member. The positioning member is disposed at the middle position between the two second clamping members. When the positioning detection portion detects the first clamped member, at this time, the second clamping members exactly correspond to the middle positions on both sides of the first clamped member. The positioning detection portion transmits the signal that the first clamped member is in place to the control system, and then the clamping operation is achieved through the first clamping component, effectively saving unnecessary operation time during the clamping process and having strong practicability.

[0013] In one embodiment, the first clamping component is slidably connected to the base through a sliding component provided on the base. The sliding component includes a slide seat for carrying the first driving unit and a guide rail for sliding the slide seat, and the guide rail is provided on the base. The sliding component enables the first clamping component to have a movable space. When the positioning member is positioning the first clamped member, it may occur that the first clamping member collides with objects in other areas. At this time, the entire first clamping component can slide on the base in a specified direction through the sliding component. The matching of the slide seat and the guide rail enables the first clamping component to achieve sliding, playing a role in preventing collision for the first clamping component.

[0014] In one embodiment, a guiding member is provided between the slide seat and the base, and a shock-absorbing member for the slide seat is provided on the base. A buffer member for the interaction between the slide seat and the base is sleeved on the guiding member. The first clamping component can slide in the direction of the central axis where the base is located through the slide seat. The guiding member is parallel to the side surface of the base. One end of the guiding member is fixedly connected to the base. A part of the buffer member is sleeved on the guiding member and a part is embedded inside the slide seat. The guiding member is used to guide the buffer member. The initial position of the buffer member is in a compressed state, pressing the slide seat against the shock-absorbing member. When the first clamping component touches other objects, the slide seat drives the first clamping component to slide back to compress the buffer member, playing a role in buffering the first clamping component. After the buffer member unloads the force, the slide seat is reset to drive the first clamping component to reset. At this time, the shock-absorbing member can prevent the slide seat from directly hitting the base, achieving the effects of buffering and anti-collision during the sliding process of the slide seat and the first clamping component.

[0015] In one embodiment, the second clamping component further includes a second driving member for driving the second clamping members to clamp the second clamped member, and a part of the second driving member is fixedly connected to the base. The second driving component drives the plurality of second clamping members to perform radial reciprocating motions to achieve the functions of clamping and unloading the second clamped member.

[0016] In one embodiment, an execution part corresponding to the second clamping part is provided at the driving end of the second driving part. The execution parts are arranged at circumferential intervals around the central axis of the second driving part. The second driving part can drive the execution parts to move reciprocally in the radial direction. The second clamping part expands and tightens under the driving force of the radial reciprocating movement, and is used for clamping or unloading the second clamped part. The execution parts and the second clamping part are in a form of matching quantity and corresponding positions. The second clamping part is connected to the second driving part through the execution parts, realizing the function of the second driving part driving the second clamping part to clamp.

[0017] In one embodiment, one side of the execution part far from the second driving part is connected to the second clamping part, so that the execution part can drive the second clamping part to move. The second clamping part is connected to the execution part by means of snap connection, replacing the installation method of using bolts for the second clamping part. When multiple second clamping parts expand circumferentially for clamping, it can avoid the position error between the second clamping parts, improve the expansion accuracy of the second clamping parts, and thus ensure a better clamping effect of the second clamping parts.

[0018] In one embodiment, the first clamping surface is configured to clamp the outer surface of the first clamped part, and the second clamping surface is configured to clamp the inner surface of the second clamped part. The first clamping surface is the inner surface of the first clamping part, which matches and clamps the outer surface of the first clamped part, adopting a clamping method from outside to inside. The second clamping surface is the outer surface of the second clamping part, which matches and clamps the inner surface of the second clamped part, adopting a clamping method of expanding from inside to outside. In this way, two different clamping methods are used to clamp different clamped parts.

[0019] In one embodiment of the present invention, the clamping device integrates the first clamping component and the second component into one body through the base, enabling the two clamping components to be used alternately, respectively corresponding to the clamping of different clamped parts, realizing the dual-purpose function of the clamping device. Compared with the traditional clamping method that requires setting multiple fixtures and manual replacement, the present invention adopts an alternating clamping method, which reduces costs, simplifies operations, and greatly improves the clamping efficiency. Moreover, the clamping methods of the two clamping components are different, adopting inward contraction clamping and outward expansion clamping, thereby achieving high-accuracy clamping of different clamped parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the clamping device in one embodiment;

[0021] Figure 2 It is an exploded view of the first clamping component in the clamping device in one embodiment;

[0022] Figure 3 It is an exploded view of the second clamping component in the clamping device in one embodiment;

[0023] Figure 4 Structural schematic diagram of the sliding component in the clamping device in one embodiment;

[0024] Figure 5 Position structural schematic diagram of the limiting member in the clamping device in one embodiment;

[0025] Figure 6 Schematic diagram of the movement of the second clamping member expanding in the clamping device in one embodiment;

[0026] Figure 7 Front view of the second clamping member in the clamping device in one embodiment;

[0027] Figure 8 Schematic diagram of the robotic arm driving the clamping device in one embodiment;

[0028] Figure 9 Schematic diagram of the first workpiece to be clamped and the first workpiece to be clamped in the clamping device in one embodiment;

[0029] Figure 10 Schematic diagram of the second workpiece to be clamped and the clamping device in one embodiment, where the second workpiece to be clamped has not been clamped in the clamping device;

[0030] Figure 11 Structural schematic diagram of the clamping hole in one embodiment. Detailed implementation manners

[0031] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0032] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0034] In the present invention, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. should be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0036] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it may be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0037] Refer to Figure 1 , Figure 1The overall structural schematic diagram of the clamping device in an embodiment of the present invention is shown. A clamping device provided in an embodiment of the present invention includes a base 100, a first clamping component 200, and a second clamping component 300. The base 100 is used to integrate the first clamping component 200 and the second clamping component 300 into a dual-purpose integrated device. The first clamping component 200 and the second clamping component 300 can be installed on both sides or both ends of the base 100. In this embodiment, the two clamping components are arranged at both ends of the base 100, presenting a clamping device with two heads that can be used alternately.

[0038] Refer to Figure 2 , Figure 2 The exploded view of the first clamping component in the clamping device in an embodiment is shown. The first clamping component 200 is used to clamp the first clamped part 201 (see Figure 9 ). The first clamping component 200 is movably connected to the base 100, which can be translational or other ways, so that the first clamping component 200 has a certain buffer displacement for anti-collision of the first clamping component 200. The first clamping component 200 includes at least two first clamping parts 202. In this embodiment, two first clamping parts 202 are used. The first clamping part 202 has a first clamping surface M. The first clamping surfaces M of the two first clamping parts are arranged facing each other for clamping from the outside to the inside.

[0039] Refer to Figure 3 , Figure 3 The exploded view of the second clamping component in the clamping device in an embodiment is shown. The second clamping component 300 is used to clamp the second clamped part 301 by expansion (see Figure 10 ). The second clamping component 300 is connected to the base 100. The second clamping component 300 includes at least two second clamping parts 302. In this embodiment, three second clamping parts 302 are used. The second clamping part 302 has a second clamping surface L different from the first clamping surface M. The second clamping surface L faces the outside and is used to clamp the second clamped part 301 by expanding outward through the second clamping surface L. The second clamping surface L is configured as an inclined surface. Correspondingly, the inner wall of the clamping hole 305 of the second clamped part 301 is also configured as an inclined surface corresponding to the first clamping surface L. Using the inclined surface as the acting surface of the second clamping part 302 can better match the inner wall of the clamping hole 305, so as to more firmly realize the clamping of the second clamped part 301.

[0040] In this embodiment, the first clamped member 201 is a dental mold, and the second clamped member 301 is a tray for loading the dental mold. The tray is provided with clamping holes 305 that match the second clamping member 302. As those skilled in the art can know, the first clamping assembly 200 and the second clamping assembly 300 can also clamp other clamped members. During actual use, the clamping device of the present invention is driven by the robotic arm 102. In this embodiment, the base 100 is provided with a mounting member 101 for connecting the robotic arm 102, which is used to mount the entire clamping device on the moving end of the robotic arm 102 through the base 100. The robotic arm 102 is used to rotate or turn or move the base 100, so that the first clamping assembly 200 and the second clamping assembly 300 can be used alternately to clamp the dental mold or the tray accordingly. Of course, other driving methods can also be used in the art to operate this clamping device.

[0041] Refer to again Figure 2 , the first clamping assembly 200 further includes a first driving unit 203 for driving the first clamping member 202 to clamp the first clamped member 201. The first driving unit 203 is movably connected to the base 100. The driving end of the first driving unit 203 is connected to one end of the first clamping member 202, which is used to drive the two first clamping members 202 to perform relative reciprocating motion, so as to realize the clamping of the dental mold by the first clamping member 202. The first driving unit 203 can be hydraulically driven, can be motor-driven, or can be pneumatically driven. As those skilled in the art can know, any driving method that can achieve the relative reciprocating movement of the two first clamping members 202 is acceptable. Preferably, in this embodiment, the first driving unit 203 is pneumatically driven.

[0042] In some embodiments, a positioning member 204 is provided on the first driving unit 203. The positioning member 204 is used to contact the contact portion 201b of the first clamped member 201, so that the first clamping member 202 can position both sides of the first clamped member 201. The positioning member 204 is located on the side of the first clamping member 202 facing the first clamping surface M, and the positioning member 204 and the first driving unit 203 are located in the same plane. The positioning member 204 is a long rod / block extending along the direction of the first clamping member 202. The positioning member 204 is installed on the first driving unit 203 through a fixing member / block / plate 206. Specifically, the positioning member 204 and the mounting member / block / plate 206, and the mounting member / block / plate 206 and the first driving unit 203 can be fixed by means of a convex and notch snap connection, and then the positioning member 204 is installed on the mounting member 206 by means of bolts. Similarly, the mounting member 206 is also installed on the first driving unit 203 by means of bolts. The positioning member 204 is located between the two first clamping members 202. The dental model 201 includes a curved portion 201a with a C-shaped arc simulating teeth and a (cross plate) contact portion 201b sandwiched between the two ends of the curved portion 210a. The overall longitudinal section of the dental model 201 is D-shaped. When grasping the dental model 201, the positioning block 204 first abuts against the top surface of the contact portion 201b of the dental model, and then the end portions of the two first clamping members 202 approach the dental model 201 respectively and clamp the two side surfaces of the curved portion 201a, realizing the clamping of the dental model 201. The positioning member 204 can position the position of the dental model 201, avoiding the problem of misalignment of the clamped dental model 201 caused by premature clamping or late clamping.

[0043] In some embodiments, a positioning detection portion 205 for detecting the first clamped member 201 is provided on the side of the positioning member 204 facing the first clamped member 201. The positioning detection portion 205 is a sensor, which can be a pressure sensor or a position sensor. The sensor 205 is used to detect whether the positioning member 204 positions to the position of the cross plate 201b of the dental model. When the positioning member 204 contacts the cross plate 201b of the dental model, the sensor 205 transmits a signal to the control center at this time, and at this time, the first driving unit 203 can be operated to drive the first clamping member 202 to clamp the dental model 201.

[0044] Combined Figure 4 As shown Figure 4The structural schematic diagram of the sliding component of the clamping device in an embodiment of the present invention is shown. The first clamping component 200 is slidably connected to the base 100 through the sliding component 400 provided on the base 100. The sliding component 400 includes a slide base 401 for carrying the first driving unit 203 and a guide rail 402 for sliding the slide base 401. The guide rail 402 is provided on the base 100. The sliding component 400 can be a screw sliding or a translational sliding. In this embodiment, the translational sliding method is adopted. The sliding component 400 is used to enable the first driving unit 203 to have a certain buffer displacement for the anti-collision of the first clamping component 200. In this embodiment, the extending direction of the first clamping member 202 is specified as the X direction. The first driving unit 203 is installed on the slide base 401. The slide base 401 is installed on the guide rail 402 through a slider 406. The guide rail 402 extends along the X direction. By sliding the slider 406 on the guide rail 402, the slide base 401 can slide along the X direction on the base 100. When clamping the dental model 201, the end of the first clamping member 202 will touch the printing platform of the 3D printer. By setting the slide base 401 and the guide rail 402, after the first clamping member 202 touches the printing platform, the entire first clamping component 200 will slide along the X direction, reducing the impact force of the first clamping member 202 on the printing platform and avoiding damage to the printing platform.

[0045] In some embodiments, a guiding member 403 is provided between the slide base 401 and the base 100. A damping member 404 for the action of the slide base 401 is provided on the base. A buffer member 405 for the action between the slide base 401 and the base 100 is sleeved on the guiding member 403. A groove 103 extending along the X direction is formed on the base 100. The guiding member 402 is installed inside the groove 103. The guiding member 403 is column / rod-shaped and is used to guide the buffer member 405 and the slide base 401.

[0046] The damping member 404 can be a sheet / block-shaped object with elastic buffering such as rubber, foam, silica gel, soft pad, etc. The damping member 404 is provided on the inner wall of the groove 103. The damping member 404 is used to prevent the slide base 401 from directly hitting the base 100 when the first clamping component 200 is sliding. Thus, the impact of the first clamping component 200 on the printing table is reduced by the slide base 401, and the impact of the slide base 401 on the base 100 is reduced by the damping member 404, thereby ensuring the safe implementation of the clamping operation.

[0047] The first implementation of the guiding member 403 and the buffer member 405: One end of the guiding member 403 is fixed to the inner wall of the groove 103, and the other end is suspended. A non-through mounting hole 401a is provided at the bottom of the sliding seat 401. A part of the buffer member 405 is sleeved on the guiding member 403, and a part is embedded inside the mounting hole 401a. The buffer member 405 presses the sliding seat 401 against the side base 100 close to the shock-absorbing member 404. The distance between the inner end of the mounting hole 401a and the end of the guiding member 403 is the sliding distance of the sliding seat 401. At this time, the guiding member 403 is used to guide the buffer member 405, and the buffer member 405 is used to buffer the sliding seat 401.

[0048] The second implementation of the guiding member 403 and the buffer member 405: The mounting hole 401a penetrates through the bottom of the sliding seat 401. Both ends of the guiding member 403 are fixedly installed on the inner wall of the groove 103. The sliding seat 401 is sleeved on the guiding member 403 through the mounting hole 401a. The guiding member 403 is used to assist and guide the sliding seat 401 to slide along the X direction.

[0049] The buffer member 405 is a spring. The buffer member 405 is sleeved on the guiding member. The buffer member 405 is located between the sliding seat 401 and the base 100. The buffer member 405 is squeezed as the sliding seat 401 slides, thereby releasing elastic force to buffer the sliding seat 401. After actual assembly, through the setting of the shock-absorbing member 401, it is ensured that the initial state of the buffer member 405 is a squeezed state, so that the buffer member 405 generates a pre-tightening force, and the sliding seat 401 is pressed tightly against the side base 101 close to the shock-absorbing member 404, facilitating subsequent clamping operations.

[0050] Combined with Figure 5 as shown in Figure 5 It shows a schematic diagram of the position structure of the limiting member in the clamping device in an embodiment of the present invention. A limiting member 407 can be provided on the guide rail, such as a bolt, a stop, a plate, a sheet, or a block, for preventing the first clamping member 202 from directly hitting the base 100 when moving along the X direction.

[0051] Referring again to Figure 3 , the second clamping assembly 300 further includes a second driving member 303 for driving the second clamping member 302 to clamp the second clamped member 301. A part of the second driving member 303 is fixedly connected to the base 100. The second driving member 303 can be hydraulically driven, can be motor-driven, or can be pneumatically driven. Those skilled in the art know that as long as it can achieve the driving mode for the second clamping member 302 to reciprocate radially, preferably, in this embodiment, the second driving member 303 is pneumatically driven, and the second driving member 303 is connected to the base 100 through a cylinder connecting member 306.

[0052] Combined with Figure 6 as shown in Figure 6It shows a schematic diagram of the movement of the second clamping member expanding in the clamping device in an embodiment of the present invention. The driving end of the second driving member 303 is provided with an execution part 304 corresponding to the second clamping member 302. The execution parts 304 are arranged at circumferential intervals around the central axis of the second driving member 303. The second driving member 303 can drive the execution part to reciprocate in the radial direction. The second clamping member 302 expands and contracts under the driving force of the radial reciprocating movement, and is used to clamp or unload the second clamped member 301. The execution part 304 is in the shape of a block / plate. A chute 307 is opened at the driving end of the second driving member 303. The execution part is embedded inside the chute 307. The execution part 304 can slide in the chute 307. The sliding of the execution part 304 inside the chute 307 is realized through the ventilation state of the second driving member 303. When the second driving member 303 is ventilated from one direction, the execution part 304 moves radially outward. At this time, the corresponding second clamping member 302 presents an outward expansion movement process, which is used to tension the clamping hole 305 to realize the function of clamping the dental model tray 301. When the second driving member 303 is ventilated from another direction, the execution part 304 moves radially inward. At this time, the corresponding second clamping member 302 presents an inward contraction movement process, which is used to realize the function of unloading the dental model tray 301.

[0053] The side of the execution part 304 away from the second driving member 303 is connected to the second clamping member 302, so that the execution part 304 can drive the second clamping member 301 to move. The execution part 304 is used to connect the second driving member 303 and the second clamping member 302. A clamping groove 304a is provided on one side of the execution part 304. A clamping block 302a is provided at one end of the second clamping member 302. The second clamping member 302 is positioned on the execution part 304 through the clamping block 302a and the clamping groove 304a, and then the second clamping member is fixedly installed on the execution part by bolts. If only the bolt installation method is used, the installation position of the chuck will be deviated because there will be a certain error in the bolt connection itself. For example, after the bolts are installed, the centers of the circles where the three circumferentially distributed second clamping members 302 are located are not on the same center line (the central axis of the second driving member), resulting in the non-fitting of the second clamping surface M and the inner wall surface of the clamping hole 305. Combining the positioning of the second clamping member by the clamping block 302a and the clamping groove 304a first and then using the bolt fixation installation method can solve the problem of the deviation of the installation position of the second clamping member 302 caused by using only bolts for fixation, and at the same time is convenient for the processing of the second clamping member 302. As known to those skilled in the art, a structure in which the execution part 304 and the second clamping member 302 are integrated can also be adopted.

[0054] The first clamping surface M is configured to clamp the outer surface of the first clamped member 201, and the second clamping surface L is configured to clamp the inner surface of the second clamped member 301. The clamping principles of the first clamping assembly 200 and the second clamping assembly 300 are different, which are reflected by the first clamping surface M and the second clamping surface L. The first clamping surface M is the inner surface of two first clamping members 201, which is used to cooperate with the outer surface of the first clamped member 201. The second clamping surface L is the outer surface of the second clamping member 302, which is used to cooperate with the inner surface of the second clamped member 301. The first clamping member 200 adopts a clamping method from the outside to the inside through the first clamping surface M, that is, the inner side of the first clamping member 202 clamps the outer side of the first clamped member 201. The second clamping member 302 adopts a clamping method from the inside to the outside through the second clamping surface L, that is, the outer side of the second clamping member 302 clamps the inner wall of the second clamped member 301. Thus, different clamped members can be matched. Specifically, the second clamping surface L is an inclined surface, and the inner wall surface of the clamping hole 305 on the dental mold tray 301 is an inclined surface matching the second clamping surface L. The second clamping surface L is configured as an inclined surface, so that the second clamping member 302 does not require a large tension force, and only needs to fit the second clamping surface L with the inner wall surface of the clamping hole 305 to complete the clamping.

[0055] Combined Figure 7 as shown Figure 7 shows a front view of the second clamping member in the clamping device in an embodiment of the present invention. Assuming that the angle between the inclined surface of the second clamping member 302 and the vertical axis is θ, then the tension force of the second driving member needs to satisfy Formula 1:

[0056]

[0057] where F is the tension force of the second driving member, G is the gravity of the second clamped member, and f is the friction coefficient, where 0 < θ ≤ 15°.

[0058] The operation method of the clamping device in an embodiment is described below. As Figure 8 shown, first, it is connected to the base 100 through the robotic arm 102. When it is necessary to clamp the dental mold 201, the first clamping assembly 200 works. When it is necessary to clamp the dental mold tray 301, the second clamping assembly 300 works; move the first clamping member 202 to the printing table. When the first clamping member 202 touches the printing table, buffer and shock absorption are performed on the printing table, the first clamping member 202 and the base 100 through the slide 401, the guide rail 402, the guide member 403, the shock absorption member 404 and the buffer member 405 to avoid wear caused by impact; as Figure 9 shown, when the positioning member 204 and the positioning detection unit 205 locate and detect the dental mold 201, drive the first clamping member 202 to contract inward through the first driving unit 203 to clamp the dental mold 201, and then the robotic arm 102 moves to place the clamped dental mold 201 on the dental mold tray 301; asFigure 10 and 11 As shown in 11 , the robotic arm 102 moves the second clamping member 302 to the clamping hole 305 of the dental mold tray 301 through the conversion base 100, inserts the second clamping member 302 into the inside of the clamping hole 305, and the second driving member 303 drives the second clamping member 301 to expand, so that the outer wall surface of the second driving member 303 is tensioned against the inner wall surface of the clamping hole 305 to clamp the dental mold tray 301. Subsequently, the robotic arm 102 moves to place the clamped dental mold tray 301 on the conveyor line to enter the next process.

[0059] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0060] The above embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A clamping device, characterized in that: include: base; a first clamping assembly for clamping a first clamped member, the first clamping assembly being disposed on one side of the base and being movably connected relative to the base, the first clamping assembly comprising at least two first clamping members, each of the first clamping members having a first clamping surface; and a second clamping assembly for clamping a second clamped member by expansion, the second clamping assembly being disposed on the other side of the base and connected to the base, the second clamping assembly comprising at least two second clamping members, the second clamping members having a second clamping surface different from the first clamping surface, the second clamping surface being configured as an inclined surface; The first clamped part is a dental cast, and the second clamped part is a tray loaded with the dental cast; a mounting part connected to an external robotic arm is provided on the base, and the mounting part is used to mount the entire clamping device on the moving end of the robotic arm through the base, and the robotic arm is used to rotate or turn or move the base so that the first clamping assembly and the second clamping assembly are used alternately to clamp the dental cast or tray.

2. The clamping device according to claim 1, characterized in that The first clamping assembly further includes a first driving unit for driving the first clamping member to clamp the first clamped member, and the first driving unit is movably connected relative to the base.

3. The clamping device according to claim 2, characterized in that A positioning member is provided on the first driving unit, and the positioning member is used to contact the contact portion of the first clamped member so that the first clamping member can position both sides of the first clamped member. The positioning member is located on the side of the first clamping member facing the first clamping surface, and the positioning member and the first clamping member are located in the same plane.

4. The clamping device according to claim 3, characterized in that A positioning detection portion for detecting the first clamped member is provided on a side of the positioning member facing the first clamped member.

5. The clamping device according to claim 2, characterized in that: The first clamping assembly is slidably connected to the base via a sliding assembly provided on the base. The sliding assembly includes a slide for carrying the first driving unit and a guide rail for sliding the slide. The guide rail is provided on the base.

6. The clamping device according to claim 5, characterized in that A guide member is provided between the slide and the base, a shock absorbing member for the slide is provided on the base, and a buffer member for the slide and the base is sleeved on the guide member.

7. The clamping device according to any one of claims 1 to 6, characterized in that: The second clamping assembly further includes a second driving member for driving the second clamping member to clamp the second clamped member, and a portion of the second driving member is fixedly connected to the base.

8. The clamping device according to claim 7, characterized in that: The driving end of the second driving member is provided with an execution part corresponding to the second clamping member. The execution parts are arranged at circumferential intervals around the central axis of the second driving member. The second driving member can drive the execution parts to reciprocate in the radial direction.

9. The clamping device according to claim 8, characterized in that: The side of the execution part away from the second driving part is connected to the second clamping part, so that the execution part can drive the second clamping part to move.

10. The clamping device according to any one of claims 1 to 6, characterized in that: The first clamping surface is configured to clamp an outer surface of a first clamped member, and the second clamping surface is configured to clamp an inner surface of a second clamped member.

Images