Clamping device and automated processing apparatus

Abstract

The application provides a clamping device and an automatic processing equipment, wherein the clamping device comprises a support provided with a clamping opening; a plurality of clamping arms are arranged on the support and surround the clamping opening; the clamping arm comprises a plurality of sequentially arranged joint units and rotating shafts connecting adjacent two joint units; the first joint unit is rotationally connected with the support; the rest joint units are sequentially arranged from the first joint unit close to the support along the direction away from the support and extend into the clamping opening; a power member is connected with the first joint unit and is used for driving the first joint unit to rotate, so that the plurality of joint units can move in the clamping opening; a self-locking structure is arranged between each joint unit and the corresponding rotating shaft; the self-locking structure can switch between a locking state and an unlocking state, so that the joint unit can be locked or rotated relative to the rotating shaft. By adopting the above technical scheme, the applicability of the clamping device is improved, the transformation time of the automatic production equipment is reduced, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic processing equipment, and more particularly to a clamping device and automatic processing equipment. BACKGROUND

[0002] In the automatic processing equipment, the clamp is a commonly used device for clamping and conveying workpieces. Generally, two or more clamping jaws are used to clamp the edges of the workpieces with a certain clamping pressure. The clamping pressure of the clamping jaws generates corresponding friction force to overcome the gravity and impact force of the workpieces, so as to take and place the workpieces and convey them to the designated position.

[0003] However, in the automatic processing equipment, different shapes and sizes of workpieces need to be clamped and conveyed. Therefore, a clamp of corresponding specifications and shapes needs to be designed for each type of workpiece, i.e., non-standard customization is required. Accordingly, the structure of the automatic production equipment becomes complex, the production line changeover time is long, and the cost is high. SUMMARY

[0004] The present application aims to provide a clamping device and automatic processing equipment to solve the technical problems of complex structure, long production line changeover time, and high cost of non-standard customization of clamping devices in automatic production equipment for processing different workpieces.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0006] In a first aspect, a clamping device is provided, comprising:

[0007] a support, the support being provided with a clamping opening for accommodating a workpiece;

[0008] a plurality of clamping arms, the plurality of clamping arms being provided on the support and surrounding the clamping opening, the clamping arms comprising a plurality of sequentially arranged joint units and a rotating shaft connecting adjacent two joint units, a first joint unit being rotatably connected to the support, and the remaining joint units being sequentially arranged and extending into the clamping opening from the first joint unit close to the support in a direction away from the support;

[0009] a power member, the power member being connected to the first joint unit and being used to drive the first joint unit to rotate, so that the plurality of joint units can move within the clamping opening;

[0010] a self-locking structure, the self-locking structure being provided between each joint unit and the corresponding rotating shaft, the self-locking structure being capable of switching between a locked state and an unlocked state, so that the joint unit can be locked relative to the rotating shaft or rotated around the rotating shaft;

[0011] When the self-locking structure is switched to the unlocked state, the power member drives the plurality of joint units to move in the clamping opening and abut against the surface of the workpiece, and then the self-locking structure is switched to the locked state, so that the plurality of joint units are relatively fixed to clamp the workpiece.

[0012] By adopting the above technical solution, the clamping arm can deform to adapt to the shape of the workpiece, so that one or more joint units can abut against the workpiece to provide sufficient pressure and friction to clamp and transport the workpiece, thereby improving the applicability of the clamping arm, reducing the transformation time of the automatic production equipment, and reducing the cost.

[0013] In one embodiment, the self-locking structure includes a plurality of first tooth portions arranged on the rotating shaft, a plurality of second tooth portions arranged on the joint units, and a tooth portion driving member. The plurality of first tooth portions are arranged along the circumference of the rotating shaft. The plurality of second tooth portions are arranged on the side of the first tooth portions away from the rotating shaft along the circumference of the rotating shaft. The tooth portion driving member is used to drive the first tooth portions to engage or disengage the second tooth portions to switch the self-locking structure to the locked state or the unlocked state.

[0014] By adopting the above technical solution, the plurality of first tooth portions and the plurality of second tooth portions correspond one-to-one. When the first tooth portions and the second tooth portions engage, the force generated by the engagement between the two locks the joint units and the rotating shaft, i.e., the joint units are fixed relative to the rotating shaft. Thus, when the plurality of joint units abut against the surface of the workpiece to adapt to the shape of the workpiece, the one-to-one engagement of the first tooth portions and the second tooth portions maintains the state of the plurality of joint units abutting against the surface of the workpiece, thereby maintaining the state of clamping the workpiece.

[0015] In one embodiment, the self-locking structure includes a plurality of first tooth portions arranged on the rotating shaft, a plurality of second tooth portions arranged on the joint units, and a tooth portion driving member. The plurality of first tooth portions are arranged along the circumference of the rotating shaft. The plurality of second tooth portions are arranged along the circumference of the rotating shaft. The plurality of second tooth portions and the plurality of first tooth portions are arranged in a stacked manner along the axial direction of the rotating shaft. The tooth portion driving member is used to drive the first tooth portions to engage or disengage the second tooth portions to switch the self-locking structure to the locked state or the unlocked state.

[0016] By adopting the above technical solution, the plurality of first tooth portions and the plurality of second tooth portions correspond one-to-one. When the first tooth portions and the second tooth portions engage, the force generated by the engagement between the two locks the joint units and the rotating shaft, i.e., the joint units are fixed relative to the rotating shaft. Thus, when the plurality of joint units abut against the surface of the workpiece to adapt to the shape of the workpiece, the one-to-one engagement of the first tooth portions and the second tooth portions maintains the state of the plurality of joint units abutting against the surface of the workpiece, thereby maintaining the state of clamping the workpiece.

[0017] In one embodiment, the toothed driving member is a pneumatic control member.

[0018] By adopting the technical scheme, the pneumatic control member has high flexibility in control and fast control speed.

[0019] In one embodiment, the clamping arm further comprises a pre-tightening member connecting the plurality of joint units and communicating with the plurality of pneumatic control members, the pre-tightening member having elastic force to enable the plurality of joint units to restore the initial position.

[0020] By adopting the technical scheme, the pre-tightening member has pre-tightening force to drive the joint units to restore the initial position, which is beneficial to clamping the workpiece.

[0021] In one embodiment, the support comprises a plurality of support units, each of the support units being capable of rotating around its own axis, one of the support units in two adjacent support units being capable of opening or closing relative to the other support unit to expand or reduce the clamping opening.

[0022] By adopting the technical scheme, the applicability of the clamping device is improved.

[0023] In one embodiment, the self-locking structure is an interference fit structure, the self-locking structure being formed in the joint unit and the rotating shaft respectively, each of the joint units being interference fit with the corresponding rotating shaft and being capable of rotating around the corresponding rotating shaft.

[0024] By adopting the technical scheme, the force generated by the interference fit between the joint unit and the rotating shaft can realize self-adaptive clamping of the workpiece by the clamping arm, and the structure is simple.

[0025] In one embodiment, the power member comprises a plurality of power shafts and a driving structure, the plurality of power shafts being connected to the plurality of clamping arms one by one, the power shaft being connected to the first joint unit, and the driving structure being arranged on the support and being used to drive the power shaft to rotate.

[0026] The driving structure is a driving ring, the driving ring being provided with driving teeth along the circumferential direction of the driving ring, the power shaft being provided with a driving gear meshing with the driving teeth, and the driving ring being capable of moving the driving teeth to drive the driving gear to rotate.

[0027] Alternatively, the driving structure is a plurality of pull rings, the pull rings being connected to the power shafts one by one, and the pull rings being used to pull the power shafts to rotate.

[0028] By adopting the technical scheme, the power member is integrated on the clamping device, and the integration degree of the clamping device is improved.

[0029] In a second aspect, an automated machining device is provided, comprising the clamping device described above, and the clamping device is used to clamp a workpiece to be machined.

[0030] By adopting the technical solutions described above, the automated machining device of the embodiment has the advantages of the clamping device described above, and also has the advantage of strong applicability.

[0031] In an embodiment, the automated machining device comprises a plurality of the clamping devices, and the plurality of the clamping devices are coaxially arranged, and the plurality of the clamping devices are respectively used to clamp different parts of the workpiece in the axial direction.

[0032] By adopting the technical solutions described above, the stability of the workpiece clamping is improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0034] Figure 1 is a top view of the clamping device provided by the first embodiment of the present application;

[0035] Figure 2 is a top view of the clamping device provided by the first embodiment of the present application when clamping a workpiece;

[0036] Figure 3 is a top view of the clamping arm returning to the initial position provided by the first embodiment of the present application;

[0037] Figure 4 is a top view of the clamping arm clamping a workpiece provided by the first embodiment of the present application;

[0038] Figure 5 is a top view of one of the self-locking structures provided by the first embodiment of the present application in the locked state;

[0039] Figure 6 is a front view of another self-locking structure provided by the first embodiment of the present application in the locked state;

[0040] Figure 7 is a top view of the clamping opening of the clamping device provided by the first embodiment of the present application when the clamping opening is opened;

[0041] Figure 8 is a perspective view of the clamping device clamping a workpiece provided by the second embodiment of the present application;

[0042] Figure 9 is a top view of the clamping device provided in Embodiment Two of the present application;

[0043] Figure 10 is a sectional view of the clamping arm provided in Embodiment Two of the present application;

[0044] Figure 11 is a perspective view of the clamping arm provided in Embodiment Two of the present application;

[0045] Figure 12 is a perspective view of the clamping device provided in Embodiment Two of the present application, wherein the support comprises a plurality of support units;

[0046] Figure 13 is a top view of the clamping device provided in Embodiment Two of the present application, wherein the support comprises a plurality of support units.

[0047] The reference signs in the drawings are as follows:

[0048] 100, clamping device;

[0049] 10, workpiece;

[0050] 1, support; 2, clamping arm; 3, power member; 4, self-locking structure;

[0051] 11, clamping opening; 12, support unit; 21, joint unit; 22, rotating shaft; 23, friction ring; 24, limiting structure; 31, power shaft; 32, driving structure; 41, first tooth portion; 42, second tooth portion; 43, tooth portion driving member; 44, pre-tightening member. DETAILED DESCRIPTION

[0052] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clearly understood, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0053] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected or indirectly connected to the other element.

[0054] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0055] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited. The specific implementation of the present application is described in more detail below in combination with specific embodiments:

[0056] As shown in Figures 1 to 3 The clamping device 100 provided by the embodiment of the present application is used to be configured in an automatic production equipment, and the clamping device 100 is used to clamp and transport a workpiece 10 to a target position. In the related art, the automatic production equipment needs to replace the clamping device 100 and adapt to clamping workpieces 10 of different shapes and sizes according to different production lines. Replacing the clamping device 100 will cause problems such as long production line transformation time and high cost. The clamping device 100 provided by the embodiment can adapt to clamping workpieces 10 of different shapes and sizes, so that the automatic production equipment configured with the clamping device 100 of the embodiment can adapt to different production line requirements without changing the clamping device 100, thereby reducing the production line transformation time and saving the cost. The following will be described through specific embodiments:

[0057] Embodiment one:

[0058] Please refer to Figures 3 to 5 The clamping device 100 of the embodiment includes a support 1, a plurality of clamping arms 2, a power member 3, and a self-locking structure 4.

[0059] The support 1 is provided with a clamping opening 11 for accommodating the workpiece 10. Here, it can be understood that the workpiece 10 moving device is used to move the workpiece 10 to the clamping opening 11, or the clamping device 100 itself is moved to the workpiece 10, and the support 1 is sleeved on the workpiece 10, so that the workpiece 10 enters the clamping opening 11. Specifically, the projection size of the clamping opening 11 in the moving direction of the workpiece 10 is greater than the projection size of the workpiece 10 in the moving direction, so that the workpiece 10 can smoothly enter the clamping opening 11.

[0060] A plurality of clamping arms 2 are arranged on the support 1 and surround the clamping opening 11, the clamping arms 2 comprise a plurality of sequentially arranged joint units 21 and rotating shafts 22 connecting adjacent two joint units 21, the first joint unit 21 is rotationally connected with the support 1, and the rest of the joint units 21 are sequentially arranged from the first joint unit 21 close to the support 1 to the clamping opening 11 in a direction away from the support 1 and extend into the clamping opening 11; here, it can be understood that the plurality of clamping arms 2 are used to abut on the workpiece 10, and since the clamping arms 2 are arranged around the clamping opening 11, the plurality of clamping arms 2 can respectively exert a plurality of directions of pressure on the workpiece 10 when abutting on the workpiece 10, so that the workpiece 10 in the clamping opening 11 can be clamped and kept fixed relative to the clamping arms 2 under the action of the friction between the clamping arms 2 and the workpiece 10; specifically, the clamping arms 2 can deform to adapt to the shape of the workpiece 10, the clamping arms 2 comprise a plurality of joint units 21 and a plurality of rotating shafts 22, the plurality of joint units 21 are sequentially arranged from the support 1 in a direction away from the support 1, and the plurality of joint units 21 sequentially extend into the clamping opening 11, adjacent two joint units 21 are rotationally connected through the rotating shaft 22, and the joint unit 21 can rotate around the rotating shaft 22 connected therewith;

[0061] The power member 3 is connected with the first joint unit 21 and is used to drive the first joint unit 21 to rotate, so that the plurality of joint units 21 can move in the clamping opening 11; here, it can be understood that the power member 3 is used to provide power for the movement of the joint units 21; specifically, the power member 3 is connected with the first joint unit 21, and the power member 3 is used to drive the first joint unit 21 to rotate, the next joint unit 21 is driven to rotate into the clamping opening 11 by the first joint unit 21, and the plurality of joint units 21 are driven to move into the clamping opening 11,

[0062] The self-locking structure 4 is arranged between each joint unit 21 and the corresponding rotating shaft 22, and the self-locking structure 4 can switch between a locked state and an unlocked state, so that the joint unit 21 can be locked relative to the rotating shaft 22 or rotated around the rotating shaft 22;

[0063] When the self-locking structure 4 is switched to the unlocked state, the power member 3 drives the plurality of link units 21 to move in the clamping opening 11 and abut against the surface of the workpiece 10, and then switches the self-locking structure 4 to the locked state to fix the plurality of link units 21 relative to each other to clamp the workpiece 10. It can be understood that, when the self-locking structure 4 is switched to the unlocked state, the link units 21 abut against the surface of the workpiece 10, the workpiece 10 exerts a reaction force on the link units 21, and the reaction force exerted by the workpiece 10 and the rotating force exerted by the power member 3 enable the plurality of link units 21 to abut against the surface of the workpiece 10, i.e., the entire clamping arm 2 can deform to adapt to the shape of the workpiece 10. At this time, the self-locking structure 4 is switched to the locked state to fix the plurality of link units 21 relative to each other, and the self-locking force between the plurality of link units 21 can ensure that the clamping arm 2 clamps the workpiece 10.

[0064] By adopting the technical solution, the clamping arm 2 can deform to adapt to the shape of the workpiece 10, so that one or more link units 21 can abut against the workpiece 10 to provide sufficient pressure and friction to clamp and transport the workpiece 10, thereby improving the applicability of the clamping arm 2, reducing the transformation time of the automatic production equipment, and reducing the cost.

[0065] In one embodiment, the self-locking structure 4 includes a plurality of first tooth portions 41 arranged on the rotating shaft 22, a plurality of second tooth portions 42 arranged on the link units 21, and a tooth portion driving member 43. The plurality of first tooth portions 41 are arranged along the circumference of the rotating shaft 22, the plurality of second tooth portions 42 are arranged on the side of the first tooth portions 41 away from the rotating shaft 22 along the circumference of the rotating shaft 22, and the tooth portion driving member 43 is used to drive the first tooth portions 41 to engage or disengage the second tooth portions 42 to switch the self-locking structure 4 to the locked state or the unlocked state.

[0066] It can be understood that, when the first tooth portions 41 and the second tooth portions 42 engage, the locked state of the self-locking structure 4 is achieved, and the force generated between the first tooth portions 41 and the second tooth portions 42 due to the engagement can fix the rotating shaft 22 and the link units 21 relative to each other. When the first tooth portions 41 and the second tooth portions 42 disengage, the unlocked state of the self-locking structure 4 is achieved, so that the rotating shaft 22 and the link units 21 can rotate relative to each other.

[0067] It needs to be further explained that the tooth portion driving member 43 can be selected as an air bag. The air bag can expand and contract by air supply or air exhaust. The plurality of first tooth portions 41 are arranged on the surface of the air bag along the circumference of the air bag. When the air bag expands, the plurality of first tooth portions 41 are driven to move along the radial direction until the plurality of first tooth portions 41 engage the second tooth portions 42. When the air bag contracts, the plurality of first tooth portions 41 are driven to disengage the second tooth portions 42.

[0068] By adopting the above technical scheme, the plurality of first tooth portions 41 and the plurality of second tooth portions 42 are one-to-one corresponding, when the first tooth portion 41 and the second tooth portion 42 are engaged, the action force generated between the two due to engagement locks the joint unit 21 and the rotating shaft 22, that is, the joint unit 21 is fixed relative to the rotating shaft 22, so that when the plurality of joint units 21 adapt to the shape of the workpiece 10 and abut against the surface of the workpiece 10, through one-to-one engagement of the first tooth portion 41 and the second tooth portion 42, the state of keeping the plurality of joint units 21 abutting against the surface of the workpiece 10 is realized, and the state of keeping clamping the workpiece 10 is further realized.

[0069] For reference Figure 6 In one embodiment, the self-locking structure 4 includes a plurality of first tooth portions 41 arranged on the rotating shaft 22, a plurality of second tooth portions 42 arranged on the joint unit 21, and a tooth portion driving member 43, the plurality of first tooth portions 41 are arranged along the circumference of the rotating shaft 22, the plurality of second tooth portions 42 are arranged along the circumference of the rotating shaft 22, the plurality of second tooth portions 42 and the plurality of first tooth portions 41 are arranged in a stacked manner along the axial direction of the rotating shaft 22, and the tooth portion driving member 43 is used to drive the first tooth portion 41 to engage or disengage the second tooth portion 42 to realize switching of the locking state or the unlocking state of the self-locking structure 4.

[0070] Here, it can be understood that when the first tooth portion 41 and the second tooth portion 42 are engaged, the locking state of the self-locking structure 4 is realized, and the action force generated between the first tooth portion 41 and the second tooth portion 42 due to engagement can make the rotating shaft 22 and the joint unit 21 relatively fixed; and when the first tooth portion 41 and the second tooth portion 42 are disengaged, the unlocking state of the self-locking structure 4 is realized, so that the rotating shaft 22 and the joint unit 21 can relatively rotate.

[0071] It needs to be further explained that the tooth portion driving member 43 can be selected as an air bag, the air bag can realize expansion and contraction of the air bag through air supply or air exhaust, the plurality of first tooth portions 41 are arranged on the surface of the air bag along the circumference of the air bag, when the air bag expands, the plurality of first tooth portions 41 are driven to move along the axial direction until the plurality of first tooth portions 41 engage with the second tooth portion 42; and when the air bag contracts, the plurality of first tooth portions 41 are driven to move along the axial direction and disengage from the second tooth portion 42.

[0072] By adopting the above technical scheme, the plurality of first tooth portions 41 and the plurality of second tooth portions 42 are one-to-one corresponding, when the first tooth portion 41 and the second tooth portion 42 are engaged, the action force generated between the two due to engagement locks the joint unit 21 and the rotating shaft 22, that is, the joint unit 21 is fixed relative to the rotating shaft 22, so that when the plurality of joint units 21 adapt to the shape of the workpiece 10 and abut against the surface of the workpiece 10, through one-to-one engagement of the first tooth portion 41 and the second tooth portion 42, the state of keeping the plurality of joint units 21 abutting against the surface of the workpiece 10 is realized, and the state of keeping clamping the workpiece 10 is further realized.

[0073] In one embodiment, the tooth driving member 43 is a pneumatic control member.

[0074] Here, it can be understood that the pneumatic control member includes but is not limited to an air bag; specifically, the air bag is coaxially arranged on the rotating shaft 22, and the air bag can be configured to expand and contract along the radial direction of the rotating shaft 22, or the air bag is configured to expand and contract along the axial direction of the rotating shaft 22, so that the engagement and disengagement of the first tooth portion 41 and the second tooth portion 42 in different positions is realized.

[0075] By adopting the above technical solution, the pneumatic control member has high flexibility and fast control speed.

[0076] In one embodiment, the clamping arm 2 further comprises a pre-tightening member 44 connected to the plurality of joint units 21 and communicating with the plurality of pneumatic control members, the pre-tightening member 44 has elastic force to enable the plurality of joint units 21 to restore the initial position.

[0077] Here, it can be understood that the pre-tightening member 44 can be selected as a hollow pipe made of high-strength elastic member, and the pre-tightening member 44 can communicate with the plurality of pneumatic control members for air supply or exhaust, so that the pneumatic control member expands or contracts, and at the same time, the pre-tightening member 44 is used to drive the joint unit 21 to restore the initial position, that is, when the plurality of joint units 21 are driven to abut against the surface of the workpiece 10, the pre-tightening member 44 deforms, and thus the elastic force of the pre-tightening member 44 drives the plurality of joint units 21 to exert pressure on the surface of the workpiece 10; when the plurality of joint units 21 are no longer clamping the workpiece 10 and are separated from the surface of the workpiece 10, the pre-tightening member 44 restores to the original state, thereby driving the plurality of joint units 21 to restore the initial position, waiting for the next clamping of the workpiece 10.

[0078] By adopting the above technical solution, the pre-tightening member 44 has pre-tightening force, which is used to drive the joint unit 21 to restore the initial position, and is beneficial to clamping the workpiece 10.

[0079] Please refer to Figure 7 In one embodiment, the support 1 comprises a plurality of support units 12, each of which can rotate about its own axis, and one of the two adjacent support units 12 can be opened or closed relative to the other support unit 12 to expand or reduce the clamping opening 11.

[0080] Here, it can be understood that the support 1 is used to form the clamping opening 11, and the shape of the support 1 can be changed to expand or reduce the clamping opening 11; specifically, the support 1 comprises a plurality of support units 12, and the support unit 12 can rotate about its own axis.

[0081] It needs to be further explained that the plurality of clamping arms 2 are respectively arranged on the plurality of support units 12, that is, at least one clamping arm 2 is arranged on each support unit 12, so that the support unit 12 can drive the clamping arm 2 to open synchronously when the support unit 12 is opened, which is beneficial to the cooperation of the clamping arm 2 and the large-size workpiece 10, and further realizes the clamping of the large-size workpiece 10 by the clamping arm 2.

[0082] By adopting the above technical scheme, the applicability of the clamping device 100 is improved.

[0083] Embodiment two:

[0084] As Figures 8 to 10 shown,

[0085] The self-locking structure 4 of the clamping device 100 of the embodiment is an interference fit structure, and the self-locking structure 4 is formed on the joint unit 21 and the rotating shaft 22. Each joint unit 21 is interference fit with the corresponding rotating shaft 22 and can rotate around the corresponding rotating shaft 22.

[0086] Here, it can be understood that the plurality of clamping arms 2 are used to abut against the workpiece 10, and since the clamping arms 2 are arranged around the clamping opening 11, the plurality of clamping arms 2 can respectively exert a plurality of directions of pressure on the workpiece 10 when abutting against the workpiece 10, so that the workpiece 10 located in the clamping opening 11 can be clamped and kept fixed relative to the clamping arms 2 under the action of the friction force between the clamping arms 2 and the workpiece 10; specifically, the clamping arms 2 can deform to adapt to the shape of the workpiece 10, the clamping arms 2 include a plurality of joint units 21 and a plurality of rotating shafts 22, the plurality of joint units 21 are arranged in sequence from the support 1 in a direction away from the support 1, the plurality of joint units 21 extend into the clamping opening 11 in sequence, and two adjacent joint units 21 are rotationally connected through the rotating shaft 22, the joint unit 21 can rotate around the rotating shaft 22 connected thereto, and the rotating shaft 22 connected to each joint unit 21 is in interference fit, so that when the joint unit 21 is kept stationary relative to the rotating shaft 22 when the joint unit 21 is subjected to a friction force smaller than the friction force generated by the interference fit, and the joint unit 21 rotates relative to the rotating shaft 22 when the joint unit 21 is subjected to a friction force greater than the friction force generated by the interference fit, that is, the joint unit 21 can rotate around the rotating shaft 22; the power member 3 is connected to the first joint unit 21 and is used to drive the first joint unit 21 to rotate, so that the plurality of joint units 21 can rotate within the clamping opening 11 and abut against the workpiece 10 to adapt to the shape of the workpiece 10. Here, it can be understood that the power member 3 is used to provide power for the rotation of the joint units 21; specifically, the power member 3 is connected to the first joint unit 21, the power member 3 is used to drive the first joint unit 21 to rotate, the next joint unit 21 is driven to rotate into the clamping opening 11 by the first joint unit 21, and the plurality of joint units 21 are sequentially driven to rotate into the clamping opening 11 under the interference fit with the rotating shaft 22, when the joint unit 21 abuts against the surface of the workpiece 10, the workpiece 10 will exert a reaction force on the joint unit 21, and the reaction force exerted by the workpiece 10, the interference fit force between the joint unit 21 and the rotating shaft 22, and the rotating force exerted by the power member 3 enable the plurality of joint units 21 to abut against the surface of the workpiece 10 to adapt to the surface of the workpiece 10, that is, the entire clamping arm 2 can deform to adapt to the shape of the workpiece 10 while ensuring that the clamping arm 2 can clamp the workpiece 10.

[0087] By adopting the technical solution described above, the force generated by the interference fit between the joint unit 21 and the rotating shaft 22 can realize self-adaptive clamping of the workpiece 10 by the clamping arm 2, and the structure is simple.

[0088] In one embodiment, the interference fit between the joint unit 21 and the corresponding rotating shaft 22 generates a friction force, and the friction forces of the plurality of joint units 21 sequentially decrease from the support 1 in a direction away from the support 1.

[0089] Here, it can be understood that when the clamping device 100 clamps the workpiece 10 located in the clamping opening 11, the power element 3 drives the plurality of first joint units 21 to rotate towards the center of the clamping opening 11, and drives the remaining joint units 21 to approach the workpiece 10 until the workpiece 10 is tightly surrounded. Even if the power of the power element 3 is removed, the plurality of joint units 21 are self-locked under the friction of the rotating shaft 22, so that the positions of the joint units 21 and the workpiece 10 are relatively fixed, so that the workpiece 10 and the support 1 are relatively fixed, and the position is stable. Therefore, the clamping device 100 can deliver the workpiece 10 to the next station, and then the power element 3 reverses the action to drive the clamping arm 2 away from the workpiece 10, so that the workpiece 10 is separated from the clamping device 100.

[0090] It needs to be further explained that the friction force generated by the interference fit between each joint unit 21 and the rotating shaft 22 provides the pressure of each joint unit 21 on the workpiece 10, and the friction force is also required to drive the next joint unit 21. Therefore, the friction force generated by the interference fit of the previous joint unit 21 needs to be greater than that of the next joint unit 21. In order to ensure that the plurality of joint units 21 provide the same pressure to the workpiece 10, the friction force of the plurality of joint units 21 needs to be reduced in turn from the support 1 in the direction away from the support 1. In this way, the plurality of joint units 21 can ensure the deformation adaptability.

[0091] By adopting the above technical scheme, it is ensured that the plurality of joint units 21 can provide substantially the same pressure to the workpiece 10, thereby improving the stability during clamping, and at the same time ensuring the deformation ability of the plurality of joint units 21 to adapt to the shape of the workpiece 10.

[0092] In an embodiment, the size of the plurality of joint units 21 in the axial direction thereof is reduced in turn from the support 1 in the direction away from the support 1.

[0093] Here, it can be understood that in order to reduce the weight of the end of the clamping arm 2 away from the support 1, the size of the plurality of joint units 21 is arranged to be reduced in turn in the direction away from the support 1. In addition, by reducing the size of the joint units 21 in the axial direction in turn, the size of the next joint unit 21 in the axial direction can be smaller than that of the previous joint unit 21 in the axial direction, so as to facilitate the connection of the adjacent two joint units 21 through the rotating shaft 22.

[0094] By adopting the above technical scheme, the weight of the clamping arm 2 as a whole is reduced, and at the same time, the adjacent two joint units 21 are easily connected through the rotating shaft 22.

[0095] In an embodiment, the clamping arm 2 further comprises a friction ring 23 sleeved on the rotating shaft 22 and abutting against the joint units 21.

[0096] Here, it can be understood that the friction ring 23 is used to provide friction, and different friction rings 23 can have different friction by adjusting the friction coefficient of the friction ring 23, and in this embodiment, the friction between the rotating shaft 22 and the link unit 21 is adjusted by replacing the friction ring 23.

[0097] By adopting the above technical scheme, the friction between the rotating shaft 22 and the link unit 21 can be adjusted, and the effectiveness of clamping the workpiece 10 can be improved.

[0098] Please refer to Figure 11 In one embodiment, each link unit 21 is provided with a limiting structure 24, and the limiting structure 24 is used to limit the amplitude of the rotation of the link unit 21 around the rotating shaft 22.

[0099] Here, it can be understood that the limiting structure 24 is used to limit the rotation of the link unit 21, that is, the link unit 21 can only rotate within a predetermined rotation amplitude, so as to avoid the rotation amplitude of the link unit 21 being too large under the reaction force of the workpiece 10, which causes the link unit 21 to fail to provide sufficient pressure to the workpiece 10, thereby causing the clamping arm 2 to fail to clamp the workpiece 10; in addition, when the link unit 21 rotates around the rotating shaft 22 by a predetermined amplitude and abuts against the limiting structure 24, at this time, the limiting structure 24 can support the link unit 21, so that the link unit 21 maintains the current rotation angle, and the limiting structure 24 provides sufficient support force to the link unit 21, so that the link unit 21 can provide sufficient pressure to the workpiece 10.

[0100] Specifically, the limiting structure 24 includes but is not limited to a limiting column, and the limiting column is fixedly arranged on the circumference of the rotating shaft 22, so that when the link unit 21 rotates around the rotating shaft 22 by a predetermined amplitude, the link unit 21 can abut against the limiting column, so that the link unit 21 can stay at the current rotation angle.

[0101] By adopting the above technical scheme, the effectiveness of the clamping arm 2 clamping the workpiece 10 is ensured.

[0102] In one embodiment, the support 1 is a circular ring type support 1, a track type support 1 or a rectangular ring support 1, the rotating shaft 22 is parallel to the axial direction of the support 1, and the plurality of link units 21 are located in the same plane.

[0103] Here, it can be understood that the support 1 is used to form the clamping opening 11, and different shapes of the support 1 can form different shapes of the clamping opening 11, so that the maximum size of the shape of the workpiece 10 can be selected; the rotating shaft 22 is parallel to the axial direction of the support 1, so that the rotation track of the plurality of link units 21 is parallel to the plane perpendicular to the axial direction of the support 1, and the plurality of link units 21 are located in the same plane, which is perpendicular to the axial direction of the support 1, so that the plurality of link units 21 can exert pressure on the workpiece 10 in the same plane, which is beneficial to the stability of the workpiece 10 when clamped.

[0104] By adopting the technical scheme, the stability of the clamping arms 2 when clamping the workpiece 10 is improved.

[0105] In one embodiment, the plurality of clamping arms 2 are evenly spaced along the circumference of the support 1.

[0106] Here, it can be understood that the plurality of clamping arms 2 are evenly distributed along the circumference of the support 1, so that the clamping arms 2 can uniformly apply pressure to the workpiece 10 from multiple directions, thereby improving the stability of clamping the workpiece 10.

[0107] Please refer to Figure 12 and Figure 13 In one embodiment, the support 1 includes a plurality of support units 12, and adjacent two support units 12 are rotationally connected, and one of the adjacent two support units 12 can be opened or closed relative to the other support unit 12 to expand or reduce the clamping opening 11.

[0108] Here, it can be understood that the support 1 is used to form the clamping opening 11, and the shape of the support 1 can be changed to expand or reduce the clamping opening 11; specifically, the support 1 includes a plurality of support units 12, and adjacent two support units 12 are rotationally connected, and one of the adjacent two support units 12 can be opened relative to the other support unit 12 of the adjacent two support units 12, at this time, the clamping opening 11 between the plurality of support units 12 is expanded; on the contrary, one of the adjacent two support units 12 can be closed relative to the other support unit 12 of the adjacent two support units 12, at this time, the clamping opening 11 between the plurality of support units 12 is reduced.

[0109] It needs to be further explained that the plurality of clamping arms 2 are respectively arranged on the plurality of support units 12, that is, at least one clamping arm 2 is arranged on each support unit 12, so that the support unit 12 can drive the clamping arm 2 to open synchronously when the support unit 12 is opened, which is beneficial to the cooperation between the clamping arm 2 and the large-size workpiece 10, and further realizes the clamping of the large-size workpiece 10 by the clamping arm 2.

[0110] By adopting the technical scheme, the applicability of the clamping device 100 is further improved.

[0111] Please refer to Figures 8 to 10 In one embodiment, the power member 3 includes a plurality of power shafts 31 and a driving structure 32, the plurality of power shafts 31 are connected one by one with the plurality of clamping arms 2, the power shaft 31 is connected with the first joint unit 21, and the driving structure 32 is arranged on the support 1 and is used to drive the power shaft 31 to rotate;

[0112] The driving structure 32 is a driving ring, and driving teeth are arranged on the driving ring along the circumferential direction of the driving ring. The power shaft 31 is provided with a driving gear meshing with the driving teeth, and the driving ring can drive the driving teeth to move to drive the driving gear to rotate.

[0113] Alternatively, the driving structure 32 is a plurality of pull rings, and the pull rings are connected to the power shaft 31 one by one. The pull rings are used to pull the power shaft 31 to rotate.

[0114] By adopting the above technical solution, the power member 3 is integrated on the clamping device 100, and the integration degree of the clamping device 100 is improved.

[0115] In a second aspect, an automatic processing equipment is provided, which comprises the clamping device 100 described above, and the clamping device 100 is used to clamp the workpiece 10.

[0116] Here, it can be understood that the automatic processing equipment can further comprise a workpiece 10 moving device, which is used to move the workpiece 10 into the clamping opening 11 of the clamping device 100; or the clamping device 100 is installed on the moving device, and the moving device moves the clamping device 100 to the workpiece 10, and then moves the workpiece 10 to the next station.

[0117] By adopting the above technical solution, on the basis of the advantages of the clamping device 100 in the above embodiment, the automatic processing equipment of the present embodiment has the advantage of strong applicability.

[0118] In one embodiment, the automatic processing equipment comprises a plurality of clamping devices 100, and the plurality of clamping devices 100 are coaxially arranged, and the plurality of clamping devices 100 are respectively used to clamp different parts of the workpiece 10 in the axial direction.

[0119] Here, it can be understood that when clamping a workpiece 10 with a large size in the axial direction, stability needs to be increased at both ends of the workpiece 10, and therefore a plurality of clamping devices 100 are arranged to clamp different parts of the workpiece 10 in the axial direction.

[0120] It needs to be further explained that the automatic processing equipment of the present embodiment can realize the multiplexing of the clamping devices 100 in multiple stations in the same equipment, which is conducive to the clamping and feeding of the automatic processing equipment, reduces the reciprocating running time of the clamping device 100, and at the same time can reduce the time and cost of product model change preparation of the automatic processing equipment.

[0121] The automatic processing equipment of the present embodiment can adaptively change the position and shape of the clamping arm 2 in the clamping device 100 according to the size and shape of the workpiece 10, profile clamps the workpiece 10, and keeps the workpiece 10 in the clamped position, and accurately positions.

[0122] The present application can be applied to workpiece 10 clamping and transfer links of various automation equipment, and the same equipment with different workpiece 10 shapes and sizes can realize work station order sending between work stations by using the same clamp, which can greatly reduce the equipment feeding and discharging time cycle.

[0123] By adopting the above technical scheme, the stability of the workpiece 10 clamping is improved.

[0124] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A clamping device, characterized in that The utility model relates to a clamping device for workpiece, comprising: a support provided with a clamping opening for accommodating a workpiece; a plurality of clamping arms provided on the support and surrounding the clamping opening, the clamping arms comprising a plurality of sequentially arranged joint units and rotating shafts connecting adjacent two joint units, a first joint unit being rotationally connected with the support, and the rest joint units being sequentially arranged from the first joint unit close to the support along a direction away from the support and extending into the clamping opening; a power member connected with the first joint unit and used for driving the first joint unit to rotate, so that the plurality of joint units can move in the clamping opening; a self-locking structure provided between each joint unit and the corresponding rotating shaft, the self-locking structure being capable of switching between a locked state and an unlocked state, so that the joint unit can be locked relative to the rotating shaft or rotated around the rotating shaft; wherein, when the self-locking structure is switched to the unlocked state, the power member drives the plurality of joint units to move in the clamping opening and adaptively abut against the surface of the workpiece, and then the self-locking structure is switched to the locked state, so that the plurality of joint units are relatively fixed to clamp the workpiece; the self-locking structure comprises a plurality of first tooth portions provided on the rotating shaft, a plurality of second tooth portions provided on the joint unit, and a tooth portion driving member, the plurality of first tooth portions being arranged along the circumference of the rotating shaft, the plurality of second tooth portions being arranged along the circumference of the rotating shaft on the side of the first tooth portions away from the rotating shaft, and the tooth portion driving member being used for driving the first tooth portions to engage or disengage the second tooth portions to realize the self-locking structure switching between the locked state and the unlocked state; or, the self-locking structure comprises a plurality of first tooth portions provided on the rotating shaft, a plurality of second tooth portions provided on the joint unit, and a tooth portion driving member, the plurality of first tooth portions being arranged along the circumference of the rotating shaft, the plurality of second tooth portions being arranged along the circumference of the rotating shaft, and the plurality of second tooth portions being arranged in a stacked manner along the axial direction of the rotating shaft with the plurality of first tooth portions, and the tooth portion driving member being used for driving the first tooth portions to engage or disengage the second tooth portions to realize the self-locking structure switching between the locked state and the unlocked state; the tooth portion driving member is a pneumatic control member; the clamping arm further comprises a pre-tightening member connecting the plurality of joint units and communicating the plurality of pneumatic control members, the pre-tightening member having an elastic force to enable the plurality of joint units to restore to an initial position.

2. The clamping device of claim 1, wherein the support comprises a plurality of support units, each support unit being capable of rotating around its own axis, and one support unit in adjacent two support units being capable of opening or closing relative to the other support unit to expand or reduce the clamping opening.

3. The clamping device of claim 1, wherein the self-locking structure is an interference fit structure, and the self-locking structure is respectively formed in the joint unit and the rotating shaft, each joint unit being interference fit with the corresponding rotating shaft and being capable of rotating around the corresponding rotating shaft.

4. The holding device of claim 1, wherein The power member comprises a plurality of power shafts and a driving structure, the plurality of power shafts are connected with the plurality of clamping arms one by one, the power shafts are connected with the first joint unit, and the driving structure is arranged on the support and used for driving the power shafts to rotate; The driving structure is a driving ring, driving teeth are arranged on the driving ring along the circumferential direction of the driving ring, driving gears are arranged on the power shafts and engaged with the driving teeth, and the driving ring can drive the driving teeth to move to drive the driving gears to rotate. Alternatively, the driving structure is a plurality of pull rings, the pull rings are connected with the power shafts one by one, and the pull rings are used for pulling the power shafts to rotate.

5. An automated processing apparatus, characterized by, The clamping device comprises the clamping device according to any one of claims 1 to 4, and the clamping device is used for clamping a workpiece to be processed.

6. The automated processing apparatus of claim 5, wherein, The automatic processing equipment comprises a plurality of clamping devices, the plurality of clamping devices are coaxially arranged, and the plurality of clamping devices are respectively used for clamping different parts of the workpiece in the axial direction.

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