Clamping device

Abstract

The disclosure provides a clamping device belonging to the clamping field. The clamping device comprises a support frame, a first clamping assembly and a second clamping assembly. The first clamping assembly comprises a first driving unit and two first clamping jaws. The first end of each of the two first clamping jaws is hinged to the support frame. The first driving unit is connected to the two first clamping jaws and the support frame respectively. The second clamping assembly comprises a second driving unit, two second clamping jaws and two blocking pieces. The first end of each of the two second clamping jaws is hinged to the support frame. The second end of each of the two blocking pieces is hinged to one of the two second clamping jaws. The two second clamping jaws and the two blocking pieces are connected. The disclosure can improve the stability of clamping.

Description

Technical Field

[0001] This disclosure pertains to the field of clamping, and particularly relates to a clamping device. Background Technology

[0002] In fields such as machining or production, it is often necessary to grasp workpieces or objects.

[0003] In related technologies, a clamping device is generally used to grasp the target object. The clamping device includes a support frame and two grippers hinged to the support frame. By controlling the two grippers to move closer together, the workpiece or object can be grasped.

[0004] However, since the target object and the gripper are only fixed by static friction, when the target object is cylindrical and heavy, it is easy for the target object to fall off the clamping device due to unstable gripping. Summary of the Invention

[0005] This disclosure provides a clamping device that can improve clamping stability. The technical solution is as follows:

[0006] This disclosure provides a clamping device, which includes a support frame, a first clamping assembly, and a second clamping assembly. The first clamping assembly includes a first driving unit and two first jaws. The two first jaws are arranged at intervals along a first direction. The first end of each of the two first jaws is hinged to the support frame, and the axis of the hinge is in a second direction, which is perpendicular to the first direction. The first driving unit is connected to the two first jaws and the support frame, respectively, and is used to drive the second ends of the two first jaws to move closer to each other. The second clamping assembly includes a second driving unit, two second jaws, and two blocking members. The two second jaws are arranged at intervals along the second direction. The two second grippers are arranged at intervals and located between the two first grippers in the first direction. The first end of each of the two second grippers is hinged to the support frame, and the axis of the hinge is in the first direction. Each of the two blocking members is hinged to the second end of one of the two second grippers, and the axis of the hinge is in the first direction. The second driving unit is connected to the support frame, the two second grippers, and the two blocking members respectively. The second driving unit is used to drive the second ends of the two second grippers to move closer to each other, and when the second ends of the two second grippers move closer to each other, drive the blocking member to rotate relative to the connected second gripper toward the space between the two second grippers.

[0007] In another implementation of this disclosure, the second drive unit includes a lifting drive component, an intermediate connecting frame, two sliding plates, and two first elastic members; one end of the lifting drive component is connected to the intermediate connecting frame, and the lifting drive component is telescopic along a third direction, which is perpendicular to the second direction and the first direction; the two sliding plates are located on both sides of the lifting drive component and arranged parallel to each other along the second direction, and each of the two sliding plates corresponds to one of the two second grippers, with each sliding plate connected to a corresponding second gripper; the intermediate connecting frame is movably connected to each of the two sliding plates, and the middle part of the intermediate connecting frame is connected to the other end of the lifting drive component; the two first elastic members correspond to each of the two sliding plates, and each of the two first elastic members is located within the corresponding sliding plate, with both ends of the first elastic member abutting against the intermediate connecting frame and the corresponding sliding plate, respectively, and the length direction of the first elastic member being the third direction.

[0008] In another implementation of this disclosure, the intermediate connecting frame includes a connecting base, two end plates, and two connecting plates. The connecting base is connected to the lifting drive component. In the second direction, the two end plates are located on opposite sides of the connecting base, and both end plates are connected to the connecting base. The two end plates correspond one-to-one with the two sliding plates. The side of each end plate away from the connecting base is located in the corresponding sliding plate and abuts against the first elastic member located in the sliding plate. The two connecting plates correspond one-to-one with the two end plates. Each connecting plate is located on the side of the corresponding end plate away from the connecting base. The opposite sides of the connecting plates in the third direction are connected to the corresponding end plate and the corresponding blocking member, respectively.

[0009] In another implementation of this disclosure, the blocking member includes a hinge rod, a hinge sleeve, and a stop bar; one end of the hinge rod is hinged to the connecting plate, and the length direction of the hinge axis is the first direction; the hinge sleeve is hinged to the second end of the second gripper corresponding to the blocking member, and the length direction of the hinge axis between the hinge sleeve and the connected second gripper is the first direction, and the hinge sleeve is slidably sleeved outside the hinge rod;

[0010] The blocking rod is connected to the end of the hinge rod away from the connecting plate, and the length direction of the blocking rod is perpendicular to the length direction of the hinge rod.

[0011] In another implementation of this disclosure, the clamping device further includes a clamping assembly located between the two first jaws and the two second jaws, and connected to the second driving unit. The second driving unit is further configured to drive the clamping assembly to move along a third direction, which is perpendicular to both the first direction and the second direction. The clamping assembly is configured to abut against the top of the workpiece to be clamped when the two first jaws and the two second jaws are close to each other.

[0012] In another implementation of this disclosure, the clamping assembly includes a clamping member and a compression bladder, the clamping member being connected to the second driving unit; the compression bladder and the second driving unit are located on opposite sides of the clamping member, and the compression bladder is connected to the clamping member.

[0013] In another implementation of this disclosure, the clamping assembly further includes two clamping slide rods, which correspond one-to-one with the two first grippers. One end of each clamping slide rod is slidably located inside the clamping member, and the other end faces the corresponding first gripper.

[0014] In another implementation of this disclosure, the clamping assembly further includes a second elastic element located within the clamping assembly, and both ends of the second elastic element abut against one end of each of the two clamping slide rods.

[0015] In another implementation of this disclosure, both clamping slides and the clamping member are arc-shaped, and the two ends of the arc length of the arc structure formed by the two clamping slides and the clamping member are respectively directed toward the two first grippers.

[0016] In another implementation of this disclosure, the clamping device further includes a translational lifting assembly connected to the support frame. The translational lifting assembly is used to drive the support frame to move along the first direction or a third direction, wherein the third direction is perpendicular to the second direction and the first direction.

[0017] The beneficial effects of the technical solutions provided in this disclosure are:

[0018] The first clamping assembly includes two first jaws and a first drive unit. The two first jaws are spaced apart along a first direction and are hinged to the support frame. The first drive unit drives the bottoms of the first jaws to move closer together, thus allowing the two first jaws to rotate and clamp the workpiece on opposite sides in the first direction. The second clamping assembly includes two second jaws, a second drive unit, and two stops. The two second jaws are arranged perpendicular to the arrangement direction of the two first jaws. The second drive unit drives the bottoms of the two second jaws to move closer together, thus allowing the two second jaws to rotate and clamp the workpiece on opposite sides in a second direction. Simultaneously, the second drive unit can drive the stops to rotate relative to the connected second jaws toward the space between the two second jaws. This allows the stops to cover the bottom of the workpiece while it is being clamped, further improving the stability of the workpiece clamping.

[0019] As can be seen, the workpiece can be clamped on all four sides by the first and second grippers, and the bottom of the workpiece can be supported by the blocking parts, thereby improving the stability of the clamping. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a clamping device provided in an embodiment of this disclosure;

[0022] Figure 2 yes Figure 1 Cross-sectional view along the AA direction;

[0023] Figure 3 yes Figure 1 Enlarged view at point B in the middle;

[0024] Figure 4 for Figure 1 A schematic diagram of a structure with a translation and lifting component connected in the middle.

[0025] The symbols in the diagram represent the following meanings:

[0026] 1. Support frame; 11. Support frame; 111. First side plate; 112. Side rod; 12. Support connecting plate; 121. Third side plate; 122. Base plate;

[0027] 2. First clamping assembly; 21. First gripper; 211. First hinge pin; 212. Roller; 213. Pallet; 2130. Dovetail groove; 214. Connecting ear plate; 22. First drive unit; 221. Drive cylinder; 222. Hinge block; 223. Sliding block;

[0028] 3. Second clamping assembly; 31. Second gripper; 311. Clamping block; 33. Second drive unit; 331. Lifting drive component; 332. Intermediate connecting frame; 3321. Connecting seat; 3322. End plate; 3323. Connecting plate; 3320. Connecting block; 3324. Third elastic element; 3325. Intermediate slide bar; 3326. Intermediate connecting plate; 333. Slide plate; 3330. First slide groove; 3331. Second slide groove; 334. First elastic element; 35. Blocking element; 352. Hinge rod; 353. Hinge sleeve; 354. Stop bar;

[0029] 4. Clamping assembly; 41. Clamping component; 42. Compression bladder; 43. Clamping slide bar; 431. Clamping limit block; 44. Second elastic element;

[0030] 5. Translation and lifting assembly; 51. Lead screw; 52. Connecting sleeve; 53. Lifting cylinder; 55. Lifting rod. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0032] This disclosure provides a clamping device, such as... Figure 1 As shown, the clamping device includes a support frame 1, a first clamping assembly 2, and a second clamping assembly 3. The first clamping assembly 2 includes a first driving unit 22 and two first grippers 21. The two first grippers 21 are arranged at intervals along a first direction. The first end of each of the two first grippers 21 is hinged to the support frame 1, and the axis of the hinge is in a second direction, which is perpendicular to the first direction. The first driving unit 22 is connected to the two first grippers 21 and the support frame 1 respectively. The first driving unit 22 is used to drive the second ends of the two first grippers 21 to move closer to each other.

[0033] The second clamping assembly 3 includes a second drive unit 33, two second grippers 31, and two blocking members 35. The two second grippers 31 are spaced apart along a second direction and located between the two first grippers 21 in a first direction. The first end of each of the two second grippers 31 is hinged to the support frame 1, and the axis of the hinge is in the first direction. Each of the two blocking members 35 is hinged to the second end of one of the two second grippers 31, and the axis of the hinge is in the first direction. The second drive unit 33 is connected to the support frame 1, the two second grippers 31, and the two blocking members 35. The second drive unit 33 is used to drive the second ends of the two second grippers 31 to move closer to each other, and when the second ends of the two second grippers 31 move closer to each other, it drives the blocking members 35 to rotate relative to the connected second grippers 31 toward the space between the two second grippers 31.

[0034] When the clamping device provided in this embodiment of the present disclosure grips a workpiece, since the clamping device includes a support frame 1, the support frame 1 can provide an installation base for the first clamping assembly 2 and the second clamping assembly 3.

[0035] Since the first clamping assembly 2 includes two first grippers 21 and a first drive unit 22, the two first grippers 21 are arranged at intervals along a first direction and are both hinged to the support frame 1. The first drive unit 22 is used to drive the bottoms of the first grippers 21 to move closer to each other. In this way, the two first grippers 21 can be driven to rotate by the first drive unit 22 so that the bottoms of the first grippers 21 move closer to each other and clamp the opposite sides of the workpiece in the first direction. And since the second clamping assembly 3 includes two second grippers 31, a second drive unit 33 and two blocking members 35, and the two second grippers 31 are arranged along a direction perpendicular to the arrangement direction of the two first grippers 21, the second drive unit 33 drives the bottoms of the two second grippers 31 to move closer to each other. In this way, the two second grippers 31 can be driven to rotate by the second drive unit 33 so that the bottoms of the second grippers 31 move closer to each other and clamp the opposite sides of the workpiece in the second direction. At the same time, the second drive unit 33 can drive the blocking member 35 to rotate relative to the connected second gripper 31 toward the space between the two second grippers 31. In this way, while the second gripper 31 is clamping the workpiece, the blocking member 35 can cover the bottom of the workpiece to hold the bottom of the workpiece and further improve the stability of the workpiece clamping.

[0036] As can be seen, the workpiece can be clamped on its four sides by the first gripper 21 and the second gripper 31. At the same time, the bottom of the workpiece can be held by the blocking member 35, thereby improving the stability of the clamping.

[0037] As mentioned above, the two second grippers 31 are located between the two first grippers 21 in the first direction, which means that along the third direction, the projections of the two second grippers 31 on the support frame 1 are located between the projections of the two first grippers 21 on the support frame 1.

[0038] In this embodiment of the disclosure, the first direction is Figure 1 The direction 'a' in the middle is also... Figure 1 The middle horizontal direction, the second direction is Figure 1 In the diagram, direction b is also perpendicular to the plane of the paper, and the third direction is... Figure 1 The c direction in the middle is also... Figure 1 In the vertical direction.

[0039] Optionally, the support frame 1 includes a rectangular support frame 11 and a U-shaped support connecting plate 12. The middle part of the support frame 11 is hollow. The support frame 11 includes two oppositely arranged first side plates 111 and two oppositely arranged side rods 112. The two ends of each side rod 112 are respectively connected to the two first side plates 111. The two first side plates 111 are spaced apart along a second direction, and the two side rods 112 are spaced apart along a first direction. The length direction of the side rods 112 is the second direction.

[0040] The supporting plate 12 is located on one side of the supporting frame 11, and its opening faces the supporting frame 11. The supporting plate 12 includes two third side plates 121 and a base plate 122. The base plate 122 is connected between the two third side plates 121. The base plate 122 is opposite to the opening of the supporting plate 12. The two third side plates 121 are welded to the two side rods 112 of the supporting frame 11 respectively.

[0041] The support frame 1 is configured as a support frame 11 and a support connecting plate 12. The support frame 11 provides an installation base for the first clamping assembly 2 and the second clamping assembly 3. At the same time, the support connecting plate 12 provides an installation base for the second drive unit 33 and the like.

[0042] Optionally, the first gripper 21 includes a first hinge pin 211, a roller 212, and a clamping plate 213. The first hinge pin 211 is located inside the support frame 11, and its two ends are respectively connected to the two first side plates 111 of the support frame 11. The length direction of the first hinge pin 211 is the second direction. The roller 212 is located inside the support frame 11 and is rotatably fitted around the first hinge pin 211. The clamping plate 213 is located outside the support frame 11 and away from the supporting connecting plate 12. The clamping plate 213 is connected to the outer wall of the roller 212. In this way, the clamping plate 213 can rotate relative to the support frame 11 with the roller 212 about the first hinge pin 211.

[0043] In this embodiment, since the workpiece being clamped is cylindrical, the clamping plate 213 is an arc-shaped plate to improve clamping stability. The center of the arc surface of each clamping plate 213 is located between two clamping plates 213. In this way, the clamping plate 213 with the arc shape can have more contact space with the cylindrical workpiece, thereby preventing the workpiece from wobbling around and improving clamping stability.

[0044] Optionally, the first gripper 21 further includes a connecting lug 214. The connecting lug 214 is located in the support frame 11 and between the two rollers 212. The two connecting lugs 214 are arranged symmetrically, and the axis of symmetry is in the second direction. The connecting lug 214 is T-shaped, and one side of the connecting lug 214 is connected to the first side plate 111 of the support frame 11. The side of the connecting lug 214 away from the other connecting lug 214 is an arc-shaped surface, and the arc-shaped surface of the connecting lug 214 fits against the outer periphery of the roller 212. This allows the roller 212 to maintain stable rotation.

[0045] Optionally, the first drive unit 22 includes two drive cylinders 221, two hinge blocks 222, and two sliding blocks 223. The two drive cylinders 221 correspond one-to-one with the two first grippers 21. The two drive cylinders 221 are located on the side of the support frame 11 away from the support connecting plate 12. Each drive cylinder 221 is located between the outer arc surface of the clamping plate 213 in the corresponding first gripper 21 and the support frame 11. One end of each drive cylinder 221 is hinged to the support frame 11. The two hinge blocks 222 correspond one-to-one with the two drive cylinders 221, and each hinge block 222 is hinged to the other end of the corresponding drive cylinder 221.

[0046] Two sliding blocks 223 correspond one-to-one with two hinge blocks 222 and one-to-one with two first grippers 21. Each sliding block 223 is connected to the corresponding hinge block 222, and the sliding block 223 is slidably located in the clamping plate 213 of the corresponding first gripper 21.

[0047] In this way, when performing the gripping operation, the two drive cylinders 221 are activated, the drive cylinders 221 extend, and the two clamping plates 213 begin to retract towards the middle, thereby realizing the clamping operation of the cylindrical part.

[0048] In this embodiment, to improve the limiting effect of the sliding block 223, the sliding block 223 is dovetail-shaped. Correspondingly, the outer arc surface of the card plate 213 has a dovetail groove 2130. The length direction of the dovetail groove 2130 extends along the second direction.

[0049] The hinge block 222 is hinged to the drive cylinder 221 via a hinge pin. The drive cylinder 221 is also hinged to the side wall of the support frame 11 via a hinge pin.

[0050] Figure 2 yes Figure 1 A cross-sectional view along the AA direction, combined with Figure 2 Optionally, the second gripper 31 is an arc-shaped clamping plate, and the center of the arc surface of the clamping plate is located between the two second grippers 31. The second drive unit 33 is connected to the outer arc surface of the two second grippers 31, and the second drive unit 33 can extend and retract along a third direction, which is a direction perpendicular to the first direction and the second direction.

[0051] Because the second drive unit 33 can extend and retract along a third direction, and the clamping plates are arc-shaped, when the second drive unit 33 moves downward, it applies a downward force to the clamping plates, causing the two clamping plates to move closer together. This allows the workpiece to be tightly clamped from both sides by the two clamping plates, further ensuring the stability of the cylindrical workpiece clamping.

[0052] In other examples, the second gripper 31 can also be driven by the second drive unit 33 in other ways. For example, the second drive unit 33 can still be driven in the same way as the first drive unit 22. However, in this embodiment, the second drive unit 33 is driven in the above way because the second drive unit 33 can drive other structures while driving the two second grippers 31. This will be described in detail below.

[0053] Optionally, the second drive unit 33 includes a lifting drive component 331, an intermediate connecting frame 332, two sliding plates 333, and two first elastic members 334. One end of the lifting drive component 331 is connected to the intermediate connecting frame 332, and the lifting drive component 331 can extend and retract along a third direction. The two sliding plates 333 are located on both sides of the lifting drive component 331 and arranged in parallel along a second direction. The two sliding plates 333 correspond one-to-one with the two second grippers 31, and each of the two sliding plates 333 is connected to the corresponding second gripper 31.

[0054] The intermediate connecting frame 332 is movably connected to the two sliding plates 333, and the middle part of the intermediate connecting frame 332 is connected to the other end of the lifting drive component 331. Two first elastic members 334 correspond one-to-one with the two sliding plates 333, and each of the two first elastic members 334 is located within its corresponding sliding plate 333. The two ends of the first elastic member 334 abut against the intermediate connecting frame 332 and the corresponding sliding plate 333, respectively, and the length direction of the first elastic member 334 is the third direction.

[0055] In the above implementation, after the lifting drive 331 extends along the third direction, the intermediate connecting frame 332 moves downward. After the intermediate connecting frame 332 moves downward, it will squeeze the first elastic member 334. After the first elastic member 334 is compressed, it will generate a downward elastic force on the slide plate 333 and the second gripper 31. Thus, by utilizing the elastic force of the first elastic member 334, the two second grippers 31 will move closer to the middle. In this way, the workpiece can be tightly wrapped from the other two sides through the second grippers 31.

[0056] In other examples, the second drive unit 33 may also be of other structures, such as an electric telescopic rod that corresponds one-to-one with the two second grippers 31. The extension of the electric telescopic rod generates a downward force on the second grippers 31, so that the two second grippers 31 can move closer together.

[0057] Optionally, the intermediate connecting frame 332 includes a connecting base 3321, two end plates 3322 and two connecting plates 3323, with the connecting base 3321 connected to the lifting drive component 331.

[0058] In the second direction, two end plates 3322 are located on opposite sides of the connecting seat 3321, and both end plates 3322 are connected to the connecting seat 3321. Each end plate 3322 corresponds to one of the two sliding plates 333. The side of each end plate 3322 away from the connecting seat 3321 is located within the corresponding sliding plate 333 and abuts against the first elastic member 334 located within the sliding plate 333. Two connecting plates 3323 correspond to the two end plates 3322, and each connecting plate 3323 is located on the side of the corresponding end plate 3322 away from the connecting seat 3321. The opposite sides of the connecting plates 3323 in the third direction are connected to the corresponding end plate 3322 and the corresponding blocking member 35, respectively.

[0059] In the above implementation, the connecting base 3321 is used to connect with the lifting drive component 331, and also provides a mounting base for the two end plates 3322. The two end plates 3322 are used to correspond to the two sliding plates 333, so as to slide and connect with the sliding plates 333.

[0060] In this embodiment, to ensure that the end plate 3322 can only move along a third direction within the slide plate 333, the slide plate 333 has a first groove 3330. The length direction of the first groove 3330 is the third direction, and the cross-section of the first groove 3330 is T-shaped. Correspondingly, the structure of the end plate 3322 within the first groove 3330 is a T-shaped block. The T-shaped block is located within the first groove 3330, thus limiting the movement of the end plate 3322 by cooperating with the T-shaped first groove 3330.

[0061] Simultaneously, the slide plate 333 also has a second slide groove 3331. In a second direction, the second slide groove 3331 is located on the side of the first slide groove 3330 away from the end plate 3322, and the second slide groove 3331 is connected to the first slide groove 3330. The length direction of the second slide groove 3331 is also a third direction. The connecting plate 3323 is partially located in the second slide groove 3331 and is welded to the end plate 3322 located in the first slide groove 3330.

[0062] In other examples, the intermediate connecting frame 332 can be other structures, such as a rod with its two ends slidably connected to two sliding plates 333, and its sidewall connected to the driving end of the lifting drive 331. In this embodiment, the intermediate connecting frame 332 is configured as a connecting seat 3321 because it can be connected to the clamping assembly 4 described below, so that the clamping assembly 4 can clamp the upper part of the workpiece.

[0063] Optionally, the blocking member 35 includes a hinge rod 352, a hinge sleeve 353, and a stop rod 354. One end of the hinge rod 352 is hinged to the connecting plate 3323, and the length direction of the hinge axis is a first direction. The hinge sleeve 353 is hinged to the second end of the second gripper 31 corresponding to the blocking member 35, and the length direction of the hinge axis between the hinge sleeve 353 and the connected second gripper 31 is the first direction. The hinge sleeve 353 is slidably sleeved on the outside of the hinge rod 352. The stop rod 354 is connected to the end of the hinge rod 352 away from the connecting plate 3323, and the length direction of the stop rod 354 is perpendicular to the length direction of the hinge rod 352.

[0064] In the above implementation, when the lifting drive component 331 in the second drive unit 33 extends, the intermediate connecting frame 332 moves downward, and the connecting plate 3323 moves downward along with the corresponding end plate 3322, thereby causing the two hinge rods 352 to deflect upward and the blocking rod 354 to catch the bottom sides of the workpiece upward, thereby ensuring that the workpiece will not fall, reducing the possibility of the workpiece falling, and reducing safety hazards.

[0065] In this embodiment, to facilitate the hinge connection between the second gripper 31 and the hinge sleeve 353 in the corresponding blocking member 35, a clamping block 311 is fixedly connected to the bottom of the second gripper 31, and the hinge sleeve 353 is inserted into the clamping block 311. The hinge sleeve 353 and the clamping block 311 are hinged together by a pin. Similarly, a connecting block 3320 is also fixedly connected to the side of the connecting plate 3323 facing the blocking member 35, and one end of the hinge rod 352 is inserted into the connecting block 3320. The hinge rod 352 and the connecting block 3320 are also hinged together by a pin.

[0066] Combination Figure 1 and Figure 2Optionally, the clamping device further includes a clamping assembly 4, which is located between the two first grippers 21 and the two second grippers 31, and is connected to a second drive unit 33. The second drive unit 33 is also used to drive the clamping assembly 4 to move along a third direction, which is perpendicular to both the first and second directions. The clamping assembly 4 is used to abut the top of the workpiece to be clamped when the two first grippers 21 and the two second grippers 31 are close to each other.

[0067] In the above implementation, after the two clamping plates 213 are clamped, in order to further ensure the clamping effect, the lifting drive component 331 in the second drive unit 33, after extending, will drive the intermediate connecting frame 332 and others to move downward. The clamping component 4 will then move downward along with it, and the clamping component 4 will move to the upper side of the workpiece and contact the upper side of the workpiece, maintaining a tight fit, thereby further preventing the cylindrical part from wobbling.

[0068] Optionally, the clamping assembly 4 includes a clamping member 41 and a compression bladder 42, with the clamping member 41 connected to the second drive unit 33. The compression bladder 42 and the second drive unit 33 are located on opposite sides of the clamping member 41, and the compression bladder 42 is connected to the clamping member 41.

[0069] In the above implementation, the clamping member 41 is connected to the second driving unit 33 to move along a third direction under the drive of the second driving unit 33. The compression bladder 42 is used to contact the workpiece so that the clamping assembly 4 can gently conform to the workpiece and avoid damage to the workpiece.

[0070] In this embodiment, the compression bladder 42 is a rubber compression bladder filled with gas. In other examples, the compression bladder 42 may also be other structures, such as a sponge, a rubber pad, etc.

[0071] The clamping assembly 4 also includes two clamping slide rods 43, which correspond one-to-one with the two first grippers 21. One end of the clamping slide rod 43 is slidably located inside the clamping member 41, and the other end faces the corresponding first gripper 21.

[0072] In the above implementation, the arrangement of the clamping slide bar 43 can further increase the clamping area with the workpiece, thereby improving the clamping effect. At the same time, when the first grippers 21 approach each other to clamp the workpiece, each clamping slide bar 43 can also squeeze the second elastic element 44 and retract into the clamping element 41 under the push of the first grippers 21 without interfering with the clamping of the two first grippers 21.

[0073] Optionally, the clamping assembly 4 further includes a second elastic element 44, which is located inside the clamping assembly 41, and both ends of the second elastic element 44 abut against one end of each of the two clamping slide rods 43.

[0074] When the first grippers 21 approach each other to clamp the workpiece, each clamping slide bar 43 can be pushed by the first grippers 21 to squeeze the second elastic element 44 and retract into the clamping element 41 without interfering with the clamping of the two first grippers 21. When the first grippers 21 move away from each other, the clamping slide bar 43 can be reset by the action of the second elastic element 44.

[0075] Figure 3 yes Figure 1 Enlarged view at point B, combined with Figure 3 In this embodiment, both clamping slide rods 43 and clamping member 41 are arc-shaped, and the two ends of the arc length of the arc structure formed by the two clamping slide rods 43 and clamping member 41 are respectively directed towards the two first grippers 21. This allows for good contact with the outer wall of the cylindrical workpiece. Each clamping slide rod 43 has a clamping limiting block 431 at one end facing the second elastic member 44. The clamping limiting block 431 is located inside the clamping member 41 and is locked in the clamping member 41, and slides in contact with the inner wall of the clamping member 41. This not only limits the clamping slide rod 43 to be within the clamping member 41 by the clamping limiting block 431, but also limits the movement of the clamping slide rod 43, so that the clamping slide rod 43 can only slide along the extension direction of the inner wall of the clamping member 41.

[0076] See you again Figure 1 Optionally, in this embodiment, the connecting seat 3321 is a rectangular box structure. The intermediate connecting frame 332 further includes a third elastic element 3324, an intermediate slide rod 3325, and an intermediate connecting plate 3326. One end of the intermediate slide rod 3325 is located inside the connecting seat 3321, and the other end is located outside the connecting seat 3321 and connected to the intermediate connecting plate 3326. The length direction of the intermediate slide rod 3325 is the third direction. The third elastic element 3324 is located inside the connecting seat 3321, and both ends of the third elastic element 3324 are clamped between the intermediate slide rod 3325 and the connecting seat 3321. The intermediate connecting plate 3326 is located between the two connecting lugs 214. The side of the intermediate connecting plate 3326 away from the intermediate slide rod 3325 is connected to the clamping member 41.

[0077] In the above implementation, a third elastic element 3324 and an intermediate slide rod 3325 are provided inside the connecting seat 3321. When the connecting seat 3321 moves downward under the drive of the lifting drive 331, it can squeeze the third elastic element 3324. The elastic force of the third elastic element 3324 presses down on the intermediate slide rod 3325, causing the intermediate slide rod 3325 to move downward slowly, and driving the intermediate connecting plate 3326 to move downward together. In this way, the intermediate connecting plate 3326 can carry the clamping element 41 downward. In other words, the above structure can slowly drive the intermediate connecting plate 3326 downward after the connecting seat 3321 moves downward, preventing damage to the workpiece from rapid descent.

[0078] To enhance the cushioning effect, the number of third elastic elements 3324 can be multiple. For example, in this embodiment of the present disclosure, the number of third elastic elements 3324 is three. The three third elastic elements 3324 are arranged at intervals along the second direction within the connecting seat 3321.

[0079] Figure 4 for Figure 1 A structural diagram showing the middle section connected to the translation and lifting components, combined with... Figure 4 Optionally, the clamping device further includes a translation and lifting assembly 5, which is connected to the base plate 122 of the support plate 12 of the support frame 1.

[0080] The translation and lifting assembly 5 includes a lead screw 51, a connecting sleeve 52, a lifting cylinder 53, and a lifting rod 55. The lead screw 51 is located on the side of the supporting plate 12 away from the supporting frame 11. The length direction of the lead screw 51 is a first direction. One end of the lead screw 51 is connected to a drive motor. The connecting sleeve 52 is threaded onto the lead screw 51. After the lead screw 51 rotates, the connecting sleeve 52 moves along the length direction of the lead screw 51. The fixed end of the lifting cylinder 53 is connected to the connecting sleeve 52. The telescopic end of the lifting cylinder 53 is connected to one end of the lifting rod 55. The other end of the lifting rod 55 is connected to the base plate 122 of the supporting plate 12. The telescopic method of the lifting cylinder 53 is a third direction. The length direction of the lifting rod 55 is a third direction.

[0081] After the lifting cylinder 53 extends, the lifting rod 55 will move down along with the support plate 12, and then move down along with the first clamping assembly 2 and the second clamping assembly 3 to clamp the workpiece. After clamping, the rotation of the lead screw 51 will cause the support frame 1, the first clamping assembly 2 and the second clamping assembly 3 to move along the length of the lead screw 51 with the workpiece to transfer the clamped workpiece.

[0082] The following is a brief description of the working process of the clamping device provided in the embodiments of this disclosure:

[0083] First, the drive screw 51 rotates, causing the connecting sleeve 52 to move. The connecting sleeve 52 then moves the lifting cylinder 53 and the lifting rod 55, positioning the support frame 1 above the workpiece for easy gripping. During gripping, the lifting cylinder 53 extends, causing the first clamping assembly 2 and the second clamping assembly 3 to descend synchronously to the workpiece.

[0084] Then, start the drive cylinder 221. The two drive cylinders 221 extend, causing the two clamping plates 213 to begin to retract towards the middle, thereby clamping the workpiece.

[0085] Next, the lifting drive component 331 extends, the connecting seat 3321 moves downward, pressing the third elastic component 3324. The third elastic component 3324 presses down the intermediate slide rod 3325, which slowly moves downward, causing the intermediate connecting plate 3326 to move downward as well. The intermediate connecting plate 3326 then moves downward along with the clamping component 41. The clamping component 41 moves downward along with the compression bladder 42, which then contacts and adheres to the upper side of the workpiece.

[0086] Simultaneously, after the lifting drive component 331 extends, the intermediate connecting frame 332, upon moving downwards, will compress the first elastic element 334. The compression of the first elastic element 334 will generate a downward elastic force on the slide plate 333 and the clamping plate, thereby using the elastic force of the first elastic element 334 to cause the two clamping plates to move closer together. At the same time, after the intermediate connecting frame 332 moves downwards, the connecting plate 3323 follows the corresponding end plate 3322 downwards, causing the two hinge rods 352 to deflect upwards, and the blocking rod 354 to catch the bottom sides of the workpiece upwards, thus clamping the workpiece.

[0087] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A clamping device, characterized in that The clamping device includes a support frame (1), a first clamping assembly (2), and a second clamping assembly (3); The first clamping assembly (2) includes a first driving unit (22) and two first grippers (21). The two first grippers (21) are arranged at intervals along a first direction. The first end of each of the two first grippers (21) is hinged to the support frame (1), and the axis of the hinge axis is a second direction, which is perpendicular to the first direction. The first driving unit (22) is connected to the two first grippers (21) and the support frame (1) respectively. The first driving unit (22) is used to drive the second ends of the two first grippers (21) to move closer to each other. The second clamping assembly (3) includes a second drive unit (33), two second grippers (31) and two blocking members (35). The two second grippers (31) are arranged at intervals along the second direction and are located between the two first grippers (21) in the first direction. The first end of each of the two second grippers (31) is hinged to the support frame (1) and the axis of the hinge is in the first direction. Each of the two blocking members (35) is hinged to the second end of one of the two second grippers (31) and the axis of the hinge is in the first direction. The second drive unit (33) is connected to the support frame (1), the two second grippers (31), and the two blocking members (35) respectively. The second drive unit (33) is used to drive the second ends of the two second grippers (31) to move closer to each other, and when the second ends of the two second grippers (31) move closer to each other, it drives the blocking member (35) to rotate relative to the connected second grippers (31) toward the space between the two second grippers (31). The second drive unit (33) includes a lifting drive member (331), an intermediate connecting frame (332), two sliding plates (333), and two first elastic members (334). One end of the lifting drive member (331) is connected to the intermediate connecting frame (332). The lifting drive member (331) can extend and retract along a third direction. The third direction is perpendicular to the second direction and the first direction. The two sliding plates (333) extend and retract along the third direction. The second direction is located on both sides of the lifting drive (331) and arranged in parallel. The two slide plates (333) correspond one-to-one with the two second grippers (31). Each slide plate (333) is connected to the corresponding second gripper (31). The intermediate connecting frame (332) is movably connected to the two slide plates (333) respectively. The middle part of the intermediate connecting frame (332) is connected to the other end of the lifting drive (331). The two first elastic members (334) correspond one-to-one with the two slide plates (333). Each first elastic member (334) is located inside the corresponding slide plate (333). The two ends of the first elastic member (334) abut against the intermediate connecting frame (332) and the corresponding slide plate (333) respectively. The length direction of the first elastic member (334) is the third direction.

2. The clamping device according to claim 1, characterized in that, The intermediate connecting frame (332) includes a connecting base (3321), two end plates (3322) and two connecting plates (3323). The connecting seat (3321) is connected to the lifting drive component (331); In the second direction, the two end plates (3322) are located on opposite sides of the connecting seat (3321), and both end plates (3322) are connected to the connecting seat (3321). The two end plates (3322) correspond one-to-one with the two sliding plates (333). The side of each end plate (3322) away from the connecting seat (3321) is located in the corresponding sliding plate (333) and abuts against the first elastic member (334) located in the sliding plate (333). The two connecting plates (3323) correspond one-to-one with the two end plates (3322). Each connecting plate (3323) is located on the side of the corresponding end plate (3322) away from the connecting seat (3321). The two opposite sides of the connecting plate (3323) in the third direction are connected to the corresponding end plate (3322) and the corresponding blocking member (35) respectively.

3. The clamping device according to claim 2, characterized in that, The blocking member (35) includes a hinge rod (352), a hinge sleeve (353), and a stop bar (354). One end of the hinge rod (352) is hinged to the connecting plate (3323), and the length direction of the hinge shaft is the first direction; The hinge sleeve (353) is hinged to the second end of the second gripper (31) corresponding to the blocking member (35), and the length direction of the hinge axis of the hinge sleeve (353) and the connected second gripper (31) is the first direction. The hinge sleeve (353) is slidably sleeved on the outside of the hinge rod (352). The blocking rod (354) is connected to the end of the hinge rod (352) away from the connecting plate (3323), and the length direction of the blocking rod (354) is perpendicular to the length direction of the hinge rod (352).

4. The clamping device according to any one of claims 1-3, characterized in that, The clamping device further includes a clamping assembly (4), which is located between the two first jaws (21) and the two second jaws (31) and is connected to the second driving unit (33). The second driving unit (33) is also used to drive the clamping assembly (4) to move along a third direction, which is perpendicular to both the first direction and the second direction. The clamping assembly (4) is used to fit against the top of the workpiece to be clamped when the two first jaws (21) and the two second jaws (31) are close to each other.

5. The clamping device according to claim 4, characterized in that, The clamping assembly (4) includes a clamping member (41) and a compression bladder (42), wherein the clamping member (41) is connected to the second drive unit (33); The compression bladder (42) and the second drive unit (33) are located on opposite sides of the clamping member (41), and the compression bladder (42) is connected to the clamping member (41).

6. The clamping device according to claim 5, characterized in that, The clamping assembly (4) further includes two clamping slides (43), which correspond one-to-one with the two first grippers (21). One end of the clamping slide (43) is slidably located inside the clamping member (41), and the other end faces the corresponding first gripper (21).

7. The clamping device according to claim 6, characterized in that, The clamping assembly (4) further includes a second elastic element (44), which is located inside the clamping assembly (41), and the two ends of the second elastic element (44) abut against one end of each of the two clamping slide rods (43).

8. The clamping device according to claim 6, characterized in that, Both of the two clamping slides (43) and the clamping member (41) are arc-shaped, and the two ends of the arc length of the arc structure formed by the two clamping slides (43) and the clamping member (41) are respectively directed toward the two first grippers (21).

9. The clamping device according to any one of claims 1-3 and 5-8, characterized in that, The clamping device further includes a translation and lifting assembly (5), which is connected to the support frame (1). The translation and lifting assembly (5) is used to drive the support frame (1) to move along the first direction or a third direction, wherein the third direction is perpendicular to the second direction and the first direction.

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