Three-jaw self-centering clamping device

Abstract

The invention discloses a three-jaw self-centering clamping device, comprising: three-jaw, which is three long clamping jaws; a main clamping assembly, which comprises two first main clamping arms and a second main clamping arm arranged crosswise, the two first main clamping arms each comprise a first fixing portion and a driving arm fixedly connected to the long clamping jaw, the longitudinal axis of the driving arm forms an angle of 120° with the first fixing portion, and the crossing angle of the two driving arms facing the third long clamping jaw is also 120°; the arc end of the second main clamping arm is fixedly connected to the middle of the third long clamping jaw, and is located below the crossing position of the two driving arms; the second driving mechanism can simultaneously drive the two driving arms and the second main clamping arm to move, so that the three long clamping jaws move synchronously toward or away from the center of the circle, and at the same time, slave clamping assemblies are respectively arranged at the upper and lower ends of the three long clamping jaws, and a rotating platform is also arranged. The device can realize the actions of grasping, clamping, rotating and removing long shaft parts.

Description

Technical Field

[0001] The present invention belongs to the field of powder sintered filter element production, and more specifically, relates to a three-jaw self-centering clamping device, which is applied in an automated production line for powder metallurgy filter element manufacturing. Background Art

[0002] After the powder (metal powder, ceramic powder, etc.) sintered filter element is manufactured, it is necessary to inspect the filter element. At present, the detection device is a rectangular slot structure, and the manufactured filter element needs to be manually removed and fixed in the rectangular slot of the detection device. However, the upstream production line has achieved automation upgrades. In contrast, the current detection method still relies on manual operation, which is not only inefficient, but also seriously affects the production efficiency of the upstream production line, and cannot be incorporated into the automated production line. There is an urgent need for a device that can automate the detection method to meet the assembly line operation of the production line, so that it can be better than manual operation in terms of efficiency and accuracy. Summary of the invention

[0003] The invention provides a three-jaw self-centering clamping device, which can realize the grasping, clamping and rotating movements of long-axis parts.

[0004] In order to achieve these purposes and other advantages of the present invention, the present invention provides a three-jaw self-centering clamping device, comprising:

[0005] Three jaws, which are three long jaws with arc-shaped cross-sections and located on the same circumference, and the three long jaws are arranged at equal intervals;

[0006] A main clamping assembly, comprising two first main clamping arms and a second main clamping arm which are arranged crosswise, wherein the two first main clamping arms each comprise: a first fixing portion, one end of which is fixedly connected to the middle portion of a long clamping jaw; a driving arm, one end of which is fixedly connected to the other end of the first fixing portion, the extended longitudinal axis of the driving arm forms an angle of 120° with the first fixing portion, and the crossing angle of the driving arms of the two first main clamping arms facing the third long clamping jaw is also 120°; the arcuate end of the second main clamping arm is fixedly connected to the middle portion of the third long clamping jaw, and is located below the crossing position of the two driving arms; wherein the two driving arms and the second main clamping arms are driven simultaneously so that the three long clamping jaws move synchronously toward or away from the center of a circle.

[0007] Preferably, the three-jaw self-centering clamping device further comprises:

[0008] A slave clamping assembly, comprising two first slave clamping arms and a second slave clamping arm arranged crosswise, wherein the two first slave clamping arms each comprise: a second fixing portion, one end of which is fixedly connected to the end portion of an elongated clamping jaw; a guide arm, one end of which is fixedly connected to the other end of the second fixing portion, and the extending longitudinal axis of the guide arm forms an angle of 120° with the second fixing portion, and the intersection angle of the guide arms of the two first slave clamping arms facing the third elongated clamping jaw is also 120°; the arc-shaped end of the second slave clamping arm is fixedly connected to the end portion of the third elongated clamping jaw, and is located below the intersection of the two guide arms;

[0009] Among them, the other end of the guide arm of the two first slave clamping arms and the other end of the second slave clamping arm are both slidably connected to a guide assembly; the slave clamping assembly is provided with two groups, which are respectively arranged at the upper end head and the lower end head of the long clamping jaw, that is, above and below the main clamping assembly.

[0010] Preferably, the three-jaw self-centering clamping device further comprises:

[0011] A rotating platform connected to the first driving mechanism and rotated under the drive of the first driving mechanism;

[0012] The gear assembly is provided with two groups, which are symmetrically arranged on one side of the tail of the driving arms of the two first main clamping arms, wherein a first rack is arranged on one side of the driving arm close to the gear assembly, and the first rack is meshed and connected with the gear assembly;

[0013] There are two guide wheels, one for each gear assembly, so that the driving arm is located between the guide wheels and the gear assembly;

[0014] The second driving mechanism comprises a driving module, the driving module is arranged in a manner capable of reciprocating linear motion, a second rack is arranged on both sides of the driving module, the two sets of gear assemblies are respectively meshed and connected with the second rack of the driving module, and the other end of the second main clamping arm is fixedly connected with the upper surface of the driving module, so that the driving module can simultaneously drive the two driving arms and the second main clamping arm to move;

[0015] The gear assembly, the guide wheel, the second driving mechanism and the guide assembly are all fixedly arranged on the rotating platform.

[0016] Preferably, in the three-jaw self-centering clamping device, the second driving mechanism specifically comprises:

[0017] Second servo motor;

[0018] A transmission belt, a driving wheel of which is fixedly connected to the output shaft of the second servo motor;

[0019] A ball screw, one end of which is fixedly connected to the driven wheel of the transmission belt;

[0020] The driving module is fixedly connected to a nut provided on the ball screw, wherein the extension direction of the second rack is the same as the longitudinal axial direction of the ball screw;

[0021] The gear assembly includes a coaxially arranged driving gear located at the bottom and a driven gear located at the top, the driving gear is meshed and connected with the second rack, the driven gear is meshed and connected with the first rack on the driving arm, and the driven gear and the guide wheel are located on the same horizontal plane, and the driving arm is located between the guide wheel and the driven gear.

[0022] Preferably, in the three-jaw self-centering clamping device, the first fixing portion specifically comprises:

[0023] A first straight rod portion, one end of which is fixedly connected to the driving arm;

[0024] A first arc-shaped portion, the arc of which is adapted to the arc-shaped outer surface of the elongated clamping jaw and is fixedly connected to the elongated clamping jaw, and one end of the first arc-shaped portion is fixedly connected to the other end of the first straight rod portion;

[0025] The driving arm includes a rack portion with a first rack and a second straight rod portion without a rack which are connected as an integral whole. The thickness of the rack portion is greater than the thickness of the second straight rod portion, and the connection position between the rack portion and the second straight rod portion is inclined so that when the two first main clamping arms on both sides are cross-arranged, the rack portions on both sides are at the same height.

[0026] Preferably, in the three-jaw self-centering clamping device, the second fixing part specifically comprises:

[0027] A third straight rod portion, one end of which is fixedly connected to the guide arm;

[0028] A second arc-shaped portion, which is adapted to the arc-shaped outer surface of the elongated clamping jaw and is fixedly connected to the elongated clamping jaw, and one end of the second arc-shaped portion is fixedly connected to the other end of the third straight rod portion;

[0029] The guide arm includes a guide portion and a fourth straight rod portion which are connected as an integral whole, the thickness of the guide portion is greater than the thickness of the fourth straight rod portion, and the connection position of the guide portion and the fourth straight rod portion is inclined, so that when the two first slave clamping arms on both sides are cross-arranged, the guide portions on both sides are located at the same height; wherein the two guide portions on both sides are located at the same height and are both slidably connected to one of the guide components.

[0030] Preferably, the three-jaw self-centering clamping device also includes a guide block, whose upper surface is fixedly connected to the lower surface of the second fixed part, and the guide block includes a first guide part, a second guide part and a third guide part which are connected in sequence, the inner side surface of the second guide part is arc-shaped and is adapted to the arc-shaped outer surface of the long clamping jaw, the third guide part is a bending part and the inner side surface of the third guide part is fitted with the side of the long clamping jaw, and the first guide part is a straight rod connecting part.

[0031] Preferably, in the three-jaw self-centering clamping device, the rotating platform specifically comprises:

[0032] A square frame, one side of which is open, and the other side opposite to it is fixedly connected to the first driving mechanism, wherein the three claws are located on the open side of the square frame;

[0033] A first fixed plate, which is horizontally arranged between the top plate and the bottom plate of the square frame, wherein the second servo motor is arranged above the first fixed plate, the ball screw and the drive module are arranged on the bottom plate of the square frame, and the conveyor belt is arranged vertically and located on a side of the first fixed plate away from the three claws;

[0034] a second fixing plate, which is horizontally arranged between the first fixing plate and the bottom plate;

[0035] Among them, the guide wheel is rotatably set on the first rotating shaft, one end of the first rotating shaft is fixedly set on the first fixed plate, and the other end is fixedly set on the second fixed plate; the driving gear and the driven gear are both rotatably set on the second rotating shaft, the upper end of the second rotating shaft is fixedly set on the first fixed plate, and the second rotating shaft passes through the second fixed plate, so that the driven gear is located between the first fixed plate and the second fixed plate, the driving gear is located below the second fixed plate, and the driving gear and the second rack are located at the same height.

[0036] Preferably, in the three-jaw self-centering clamping device, the guide assembly is a cylindrical guide rail, the guide assembly connected to the second slave clamping arm arranged above is fixed above the top plate of the square frame, and the guide assembly connected to the second slave clamping arm arranged below is fixed below the bottom plate of the square frame; a flexible lining is provided on the inner side surfaces of the three long clamping jaws.

[0037] Preferably, in the three-jaw self-centering clamping device, the first driving mechanism includes: a first servo motor; a gear rotating component, which is meshingly connected to the output shaft gear of the first servo motor; and a connecting fixed plate, one side of which is fixedly connected to the gear rotating component and the other side of which is fixedly connected to the other side of the square frame.

[0038] The present invention has at least the following beneficial effects:

[0039] First, the three jaws provided in the present invention are three long jaws with arc-shaped cross sections and located on the same circumference, and the three long jaws are arranged at equal intervals, and when the three long jaws are driven to move centripetally at the same time, they can clamp long-axis parts, such as long-axis filter elements. Since the main clamping assembly provided includes two first main clamping arms and a second main clamping arm arranged crosswise, and the two first main clamping arms each include: a first fixing portion and a driving arm, when provided, the extended longitudinal axis of the driving arm forms an angle of 120° with the first fixing portion, and the crossing angle of the driving arms of the two first main clamping arms facing the third long jaw is also 120°, and the arc-shaped end of the second main clamping arm is located below the crossing position of the two driving arms. In this way, when the two driving arms and the second main clamping arms are driven simultaneously, and the running direction of the two driving arms is 120° with the moving direction of the second main clamping arm, it can be ensured that the three long jaws synchronously move centripetally or move away from the center of the circle.

[0040] Second, the present invention also provides a slave clamping assembly, which has two groups, respectively provided at the upper end and lower end of the long clamping jaws. The structure of the slave clamping assembly is similar to that of the main clamping assembly, but the difference is that when the main clamping assembly drives the three long clamping jaws to move, the guide arms of the two first slave clamping arms and the second slave clamping arm both slide along the guide assembly, thereby ensuring the movement accuracy of the three long clamping jaws in the movement direction. The extended long clamping jaw can firmly grasp the long shaft parts with the assistance of the upper and lower groups of slave clamping assemblies.

[0041] Third, the gear assembly, guide wheel and second driving mechanism provided in the present invention can simultaneously drive the two driving arms and the second main clamping arm to move, so that the three long clamping jaws can move centripetally at the same time, so that the three clamping jaws have a self-centering function, and apply clamping force in three directions at the same time. The three long clamping jaws share a driving mechanism, which can accurately control the clamping force and ensure that the clamped parts are not easily deformed.

[0042] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the side three-dimensional structure of the three-jaw self-centering clamping device of the present invention;

[0044] Figure 2 It is a schematic diagram of the internal three-dimensional structure of the three-jaw self-centering clamping device of the present invention;

[0045] Figure 3 It is a top view schematic diagram of the main clamping assembly in the three-jaw self-centering clamping device of the present invention;

[0046] Figure 4 It is a top view schematic diagram of a clamping assembly in the three-jaw self-centering clamping device of the present invention;

[0047] Figure 5 It is a side structural schematic diagram of the three-jaw self-centering clamping device of the present invention;

[0048] Figure 6 It is a schematic diagram of the three-dimensional structure of the first main clamping arm in the three-jaw self-centering clamping device of the present invention;

[0049] Figure 7 It is a schematic diagram of the three-dimensional structure of the guide block in the three-jaw self-centering clamping device of the present invention. DETAILED DESCRIPTION

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0051] It should be understood that terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense. For example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The orientations or positional relationships indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0053] like Figure 1 to Figure 7As shown, the embodiment of the present invention provides a three-jaw self-centering clamping device, comprising: three jaws, which are three long jaws 1 with arc-shaped cross-sections and located on the same circumference, and the three long jaws 1 are arranged at equal intervals; a main clamping assembly 2, which includes two first main clamping arms 210 and a second main clamping arm 220 arranged crosswise, and the two first main clamping arms 210 each include: a first fixing portion, one end of which is fixedly connected to the middle part of a long jaw 1; a driving arm, one end of which is fixedly connected to the other end of the first fixing portion Then, the extended longitudinal axis of the driving arm forms an angle of 120° with the first fixed part, and the crossing angle of the driving arms of the two first main clamping arms 210 facing the third long clamping jaw 1 is also 120°; the arc-shaped end of the second main clamping arm 220 is fixedly connected to the middle part of the third long clamping jaw 1, and is located below the crossing position of the two driving arms; wherein, the two driving arms and the second main clamping arm 220 are driven simultaneously, so that the three long clamping jaws 1 move toward or away from the center of the circle synchronously.

[0054] In the above embodiment, the three jaws provided in the present invention are three long jaws 1 with arc-shaped cross-sections and located on the same circumference, that is, extended jaws, and the three long jaws 1 are arranged at equal intervals, and when the three long jaws 1 are driven to move centripetally at the same time, they can clamp long-axis parts, such as long-axis filter elements. Since the main clamping assembly 2 provided includes two first main clamping arms 210 and a second main clamping arm 220 arranged crosswise, and the two first main clamping arms 210 each include: a first fixing portion and a driving arm, the two first fixing portions are fixedly connected to a long jaw 1 respectively, so that the arc-shaped end of the second main clamping arm 220 is fixedly connected to the remaining third long jaw 1, and the curvature of the arc-shaped end is adapted to the curvature of the long jaw 1. In order to ensure that the three long clamping jaws 1 can move centripetally, the specific setting is to make the extended longitudinal axis of the driving arm 120° with the first fixing part. When the first fixing part is fixed on the long clamping jaw 1, it is also necessary to ensure that the movement direction of the driving arm is consistent with the movement direction of the long clamping jaw 1. The crossing angle of the driving arms of the two first main clamping arms 210 facing the third long clamping jaw 1 is also 120°. It is also necessary to make the arc end of the second main clamping arm 220 located below the crossing position of the two driving arms. In this way, when the two driving arms and the second main clamping arm 220 are driven at the same time, the running direction of the two driving arms is 120° with the movement direction of the second main clamping arm 220, so that the three long clamping jaws 1 can be synchronously moved centripetally or away from the center of the circle, that is, the movement of grabbing and unloading is realized. It should be noted that the specific length of the long clamping jaw 1 is not specifically limited in this embodiment, and can be specifically limited according to the length of the long shaft parts to be clamped. The arc length of the cross section of the long clamping jaw 1 is not specifically limited in this embodiment and can be specifically limited according to actual conditions. The main clamping assembly 2 is arranged at the middle position of the long clamping jaw 1 in the length direction as much as possible.

[0055] In one specific embodiment, the three-jaw self-centering clamping device further includes:

[0056] The slave clamping assembly 3 comprises two first slave clamping arms 310 and a second slave clamping arm 330 which are arranged crosswise, and the two first slave clamping arms 310 each comprise: a second fixing portion, one end of which is fixedly connected to the end of a long clamping jaw 1; a guide arm, one end of which is fixedly connected to the other end of the second fixing portion, and the extended longitudinal axis of the guide arm forms an angle of 120° with the second fixing portion, and the intersection angle of the guide arms of the two first slave clamping arms 310 facing the third long clamping jaw 1 is also 120°; the arc-shaped end of the second slave clamping arm 330 is fixedly connected to the end of the third long clamping jaw 1, and is located below the intersection of the two guide arms;

[0057] Among them, the other end of the guide arm of the two first slave clamping arms 310 and the other end of the second slave clamping arm 330 are both slidably connected to a guide component 5. Preferably, the guide component 5 is a cylindrical guide rail; the slave clamping component 3 is provided with two groups, which are respectively arranged at the upper end and lower end of the long clamping jaw 1, that is, above and below the main clamping component 2.

[0058] In the above embodiment, this embodiment further provides a slave clamping assembly 3, which is provided with two groups, respectively provided at the upper end and the lower end of the long clamping jaw 1. The structure of the slave clamping assembly 3 is similar to that of the main clamping assembly 2, except that when the main clamping assembly 2 drives the three long clamping jaws 1 to move, the guide arms of the two first slave clamping arms 310 and the second slave clamping arm 330 both slide along the guide assembly 5, thereby ensuring the movement accuracy of the three long clamping jaws 1 in the movement direction. The extended long clamping jaw 1 can firmly grasp the long shaft parts with the assistance of the upper and lower groups of slave clamping assemblies 3, and also avoids the problem that the long clamping jaw 1 is only affected by the main clamping assembly 2, so that the two ends of the long clamping jaw 1 are less stressed and the grasping of the long shaft parts is unstable.

[0059] In one specific embodiment, the three-jaw self-centering clamping device further includes:

[0060] A rotating platform 4, which is connected to the first driving structure 7 and rotates under the drive of the first driving structure 7;

[0061] Gear assemblies, which are provided with two groups and are symmetrically arranged on one side of the tail of the driving arms of the two first main clamping arms 210, wherein a first rack 215 is provided on one side of the driving arm close to the gear assembly, and the first rack 215 is meshedly connected with the gear assembly;

[0062] There are two guide wheels 8, each set of gear assemblies is provided with a corresponding guide wheel 8, so that the driving arm is located between the guide wheels 8 and the gear assemblies;

[0063] The second driving mechanism 6 comprises a driving module 630, the driving module 630 is arranged in a manner capable of reciprocating linear motion, a second rack 631 is arranged on both sides of the driving module 630, the two sets of gear assemblies are respectively meshed and connected with the second rack 631 of the driving module 630, and the other end of the second main clamping arm 220 is fixedly connected with the upper surface of the driving module 630, so that the driving module 630 drives the two driving arms and the second main clamping arm 220 to move simultaneously;

[0064] The gear assembly, the guide wheel 8 , the second driving mechanism 6 and the guide assembly 5 are all fixedly disposed on the rotating platform 4 .

[0065] In the above embodiment, since the gear assembly, the guide wheel 8, the second drive mechanism 6 and the guide assembly 5 are all fixedly arranged on the rotating platform 4, when the rotating platform 4 rotates, the three long clamping jaws 1 also rotate with the rotating platform 4, realizing the grabbing, unloading and rotating movement of the long clamping jaws 1. In the automated production process of sintered filter elements, the three-jaw self-centering clamping device described in this embodiment is installed at the front section of the manipulator, which generally realizes the movement of grabbing, rotating, transporting and testing the filter element, greatly reducing manpower, and meeting the assembly line operation of the production line, which is superior to manual operation in terms of efficiency and accuracy.

[0066] Since a first rack 215, i.e., a linear rack, is provided on one side of the driving arm close to the gear assembly, the first rack 215 is meshingly connected with the gear assembly, and each group of gear assemblies is also provided with a corresponding guide wheel, so that the driving arm is located between the guide wheel and the gear assembly. When the gear assembly rotates, the driving arm moves through the meshing transmission between the gear assembly and the first rack 215, and the setting of the guide wheel 8 ensures that the driving arm moves in a straight line. In addition, there are two groups of gear assemblies and guide wheels 8 symmetrically arranged, and the two groups of gear assemblies are respectively meshed and connected with the second rack 631 of the driving module 630. When the driving module 630 moves forward, it can simultaneously drive the gear assembly to rotate. The two groups of gear assemblies rotate simultaneously to drive the two driving arms to synchronously make a straight line motion obliquely backward, that is, 120 degrees to the forward movement direction, thereby realizing the centripetal movement of the three clamps; when the driving module 630 moves backward, it can simultaneously drive the gear assembly to rotate. The two groups of gear assemblies rotate simultaneously to drive the two driving arms to synchronously make a straight line motion obliquely forward, that is, 120 degrees to the backward movement direction, thereby realizing the movement of the three clamps away from the center of the circle. It should also be noted that since the other end of the second main clamping arm 220 is fixedly connected to the upper surface of the driving module 630, the second main clamping arm 220 directly performs linear motion under the action of the driving module 630, and the linear motion of the two driving arms is achieved through a gear assembly. Therefore, when making specific settings, it is necessary to calculate and design the size of the gear assembly and the first rack 215 and the second rack 631 in advance so that the linear movement distance of the driving arm is equal to the linear movement distance of the second main clamping arm 220.

[0067] In one specific embodiment, the three-jaw self-centering clamping device, the second driving mechanism 6 specifically includes:

[0068] A second servo motor 610;

[0069] A transmission belt 640, a driving wheel of which is fixedly connected to the output shaft of the second servo motor 610;

[0070] A ball screw 620, one end of which is fixedly connected to the driven wheel of the transmission belt 640;

[0071] The driving module 630 is fixedly connected to a nut disposed on the ball screw 620, wherein the extension direction of the second rack 631 is the same as the longitudinal axis of the ball screw 620;

[0072] The gear assembly includes a coaxially arranged driving gear 11 located at the bottom and a driven gear 9 located at the top, the driving gear 11 is meshed and connected with the second rack 631, the driven gear 9 is meshed and connected with the first rack 215 on the driving arm, and the driven gear 9 and the guide wheel 8 are located on the same horizontal plane, and the driving arm is located between the guide wheel 8 and the driven gear 9.

[0073] In the above embodiment, in order to realize the reciprocating linear motion of the driving module 630, a ball screw 620 is used. In order to realize the rotation of the ball screw 620, the driving device used is a second servo motor 610 and a transmission belt 640. The gear assembly is set as a driven gear 9 and a driving gear 11 arranged up and down, in order to facilitate the staggered arrangement of the two crossed first main clamping arms 210 and the second main clamping arms 220, and also to facilitate the driving module 630 to drive the two driving arms and the second main clamping arms 220 at the same time.

[0074] In one specific embodiment, the three-jaw self-centering clamping device, the first fixing part specifically includes:

[0075] A first straight rod portion 211, one end of which is fixedly connected to the driving arm;

[0076] A first arc-shaped portion 212, whose arc is adapted to the arc-shaped outer surface of the long clamping jaw 1 and is fixedly connected to the long clamping jaw 1, and one end of the first arc-shaped portion 212 is fixedly connected to the other end of the first straight rod portion 211;

[0077] The driving arm includes a rack portion 214 with a first rack 215 and a second straight rod portion 213 without a rack, which are connected as one body. The thickness of the rack portion 214 is greater than the thickness of the second straight rod portion 213, and the connection position between the rack portion 214 and the second straight rod portion 213 is inclined so that when the two first main clamping arms 210 on both sides are cross-arranged, the rack portions 214 on both sides are at the same height.

[0078] In the above embodiment, in order to facilitate the first fixing portion to be firmly fixed on the elongated clamping jaw 1, the first fixing portion is configured as a first straight rod portion 211 and a first arcuate portion 212, and the first arcuate portion 212 can fit the arcuate outer surface of the elongated clamping jaw 1. In order to facilitate the first racks 215 on the driving arms on both sides to be located at the same height, the driving arms are configured as a rack portion 214 and a second straight rod portion 213 connected as one body, and the thickness of the rack portion 214 is configured to be greater than the thickness of the second straight rod portion 213, so that the two first main clamping arms 210 are arranged crosswise, and the rack portions 214 arranged on both sides are arranged at the same height.

[0079] In one specific embodiment, the three-jaw self-centering clamping device, the second fixing part specifically includes:

[0080] A third straight rod portion 312, one end of which is fixedly connected to the guide arm;

[0081] A second arc portion 311, which is adapted to the arc-shaped outer surface of the long clamping jaw 1 and is fixedly connected to the long clamping jaw 1, and one end of the second arc portion 311 is fixedly connected to the other end of the third straight rod portion 312;

[0082] The guide arm includes a guide portion 314 and a fourth straight rod portion 313 which are connected as one body, the thickness of the guide portion 314 is greater than the thickness of the fourth straight rod portion 313, and the connection position of the guide portion 314 and the fourth straight rod portion 313 is inclined, so that when the two first slave clamping arms 310 on both sides are cross-arranged, the guide portions 314 on both sides are located at the same height; wherein the two guide portions 314 on both sides are located at the same height and are both slidably connected to the guide assembly 5.

[0083] In one specific embodiment, the three-jaw self-centering clamping device also includes a guide block 320, two of which are symmetrically arranged, and are respectively fixedly connected to the upper surface of the second fixed portion arranged at the upper end, and are fixedly connected to the lower surface of the second fixed portion arranged at the lower end. Each of the guide blocks 320 includes a first guide portion 321, a second guide portion 322 and a third guide portion 323 connected in sequence, the inner side surface of the second guide portion 322 is arc-shaped and is adapted to the arc-shaped outer surface of the long clamping jaw 1, the third guide portion 323 is a bending portion and makes the inner side surface of the third guide portion 323 fit with the side of the long clamping jaw 1, and the first guide portion 321 is a straight rod connecting portion.

[0084] In the above specific embodiment, a guide block 320 is fixedly provided at the upper end and the lower end respectively. Since the third guide portion 323 is a bending portion and the inner side surface of the third guide portion 323 is fitted with the side of the long clamping jaw 1, when the long axis parts bend outward, the bending portion can play a role of blocking and supporting the bent parts. Therefore, the filter element body can also be grasped normally when it is bent.

[0085] In one specific embodiment, the three-jaw self-centering clamping device, the rotating platform 4 specifically includes:

[0086] A square frame 410, one side of which is open, and the other side opposite thereto is fixedly connected to the first driving structure 7, wherein the three claws are located on the open side of the square frame 410;

[0087] A first fixing plate 420 is horizontally arranged between the top plate and the bottom plate of the square frame 410, wherein the second servo motor 610 is arranged above the first fixing plate 420, the ball screw 620 and the driving module 630 are arranged on the bottom plate of the square frame 410, and the conveyor belt 640 is vertically arranged and located on a side of the first fixing plate 420 away from the three claws;

[0088] A second fixing plate 430, which is horizontally disposed between the first fixing plate 420 and the bottom plate;

[0089] Among them, the guide wheel 8 is rotatably set on the first rotating shaft, one end of the first rotating shaft is fixedly set on the first fixed plate 420, and the other end is fixedly set on the second fixed plate 430; the driving gear 11 and the driven gear 8 are both rotatably set on the second rotating shaft, the upper end of the second rotating shaft is fixedly set on the first fixed plate 420, and the second rotating shaft passes through the second fixed plate 430, so that the driven gear 9 is located between the first fixed plate 420 and the second fixed plate 430, the driving gear 11 is located below the second fixed plate 430, and the driving gear 11 and the second rack 631 are at the same height.

[0090] Furthermore, the guide assembly 5 connected to the second slave clamping arm 330 arranged above is fixed above the top plate of the square frame 410, and the guide assembly 5 connected to the second slave clamping arm 330 arranged below is fixed below the bottom plate of the square frame 410; a flexible lining 10 is arranged on the inner side surface of the three long clamping jaws 1, for example, such as polytetrafluoroethylene, rubber, etc., to ensure that the surface of the part is not damaged each time it is clamped.

[0091] In the above embodiment, the first fixing plate 420 and the second fixing plate 430 are provided for conveniently fixing the gear assembly, the guide wheel 8, and the second driving mechanism 6. In the specific setting, in order to facilitate the setting of the conveyor belt 640, a space capable of accommodating the conveyor belt 640 is provided protruding outwardly on one side of the square frame 410 corresponding to the opening.

[0092] In one specific embodiment, the three-jaw self-centering clamping device, the first driving structure 7 includes: a first servo motor 710; a gear rotating component 730, which is meshed with the output shaft gear of the first servo motor 710; a connecting fixed plate 720, one side of which is fixedly connected to the gear rotating component 730, and the other side of which is fixedly connected to the other side of the square frame 410.

[0093] In summary, the three-jaw self-centering clamping device provided in the embodiment of the present invention can realize the grasping, clamping, rotating and removing actions of long shaft parts.

[0094] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0095] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. Three-jaw self-centering clamping device, characterized in that: include: Three jaws, which are three long jaws with arc-shaped cross-sections and located on the same circumference, and the three long jaws are arranged at equal intervals; A main clamping assembly, comprising two first main clamping arms and a second main clamping arm arranged crosswise, wherein the two first main clamping arms each comprise: a first fixing portion, one end of which is fixedly connected to the middle portion of a long clamping jaw; a driving arm, one end of which is fixedly connected to the other end of the first fixing portion, the extended longitudinal axis of the driving arm forms an angle of 120° with the first fixing portion, and the crossing angle of the driving arms of the two first main clamping arms facing the third long clamping jaw is also 120°; the arc-shaped end of the second main clamping arm is fixedly connected to the middle portion of the third long clamping jaw, and is located below the crossing position of the two driving arms; wherein the two driving arms and the second main clamping arms are driven simultaneously, so that the three long clamping jaws move synchronously toward or away from the center of a circle; A slave clamping assembly, comprising two first slave clamping arms and a second slave clamping arm arranged crosswise, wherein the two first slave clamping arms each comprise: a second fixing portion, one end of which is fixedly connected to the end portion of an elongated clamping jaw; a guide arm, one end of which is fixedly connected to the other end of the second fixing portion, and the extending longitudinal axis of the guide arm forms an angle of 120° with the second fixing portion, and the intersection angle of the guide arms of the two first slave clamping arms facing the third elongated clamping jaw is also 120°; the arc-shaped end of the second slave clamping arm is fixedly connected to the end portion of the third elongated clamping jaw, and is located below the intersection of the two guide arms; Wherein, the other end of the guide arm of the two first slave clamping arms and the other end of the second slave clamping arm are both slidably connected to a guide assembly; the slave clamping assembly is provided with two groups, which are respectively arranged at the upper end head and the lower end head of the long clamping jaw, that is, above and below the main clamping assembly; The first fixing portion specifically includes: A first straight rod portion, one end of which is fixedly connected to the driving arm; A first arc-shaped portion, the arc of which is adapted to the arc-shaped outer surface of the elongated clamping jaw and is fixedly connected to the elongated clamping jaw, and one end of the first arc-shaped portion is fixedly connected to the other end of the first straight rod portion; The driving arm comprises a rack portion provided with a first rack and a second straight rod portion not provided with a rack which are connected in one piece, the thickness of the rack portion is greater than the thickness of the second straight rod portion, and the connection position of the rack portion and the second straight rod portion is inclined, so that when the two first main clamping arms located on both sides are cross-arranged, the rack portions on both sides are located at the same height; The second fixing portion specifically includes: A third straight rod portion, one end of which is fixedly connected to the guide arm; A second arc-shaped portion, which is adapted to the arc-shaped outer surface of the elongated clamping jaw and is fixedly connected to the elongated clamping jaw, and one end of the second arc-shaped portion is fixedly connected to the other end of the third straight rod portion; The guide arm comprises a guide portion and a fourth straight rod portion connected as one body, the guide portion has a thickness greater than that of the fourth straight rod portion, and the connection position between the guide portion and the fourth straight rod portion is inclined, so that when the two first slave clamping arms located on both sides are cross-arranged, the guide portions on both sides are located at the same height; wherein the two guide portions on both sides are located at the same height and are both slidably connected to one of the guide components; It also includes guide blocks, two of which are symmetrically arranged and fixedly connected to the upper surface of the second fixing part arranged at the upper end and the lower surface of the second fixing part arranged at the lower end respectively. Each of the guide blocks includes a first guide part, a second guide part and a third guide part which are connected in sequence. The inner side surface of the second guide part is arc-shaped and is adapted to the arc-shaped outer surface of the long clamping jaw. The third guide part is a bending part and the inner side surface of the third guide part is fitted with the side of the long clamping jaw. The first guide part is a straight rod connecting part.

2. The three-jaw self-centering clamping device according to claim 1, characterized in that: Also includes: A rotating platform connected to the first driving mechanism and rotated under the drive of the first driving mechanism; The gear assembly is provided with two groups, which are symmetrically arranged on one side of the tail of the driving arms of the two first main clamping arms, wherein a first rack is arranged on one side of the driving arm close to the gear assembly, and the first rack is meshed and connected with the gear assembly; There are two guide wheels, one for each gear assembly, so that the driving arm is located between the guide wheels and the gear assembly; The second driving mechanism comprises a driving module, the driving module is arranged in a manner capable of reciprocating linear motion, a second rack is arranged on both sides of the driving module, the two sets of gear assemblies are respectively meshed and connected with the second rack of the driving module, and the other end of the second main clamping arm is fixedly connected with the upper surface of the driving module, so that the driving module can simultaneously drive the two driving arms and the second main clamping arm to move; The gear assembly, the guide wheel, the second driving mechanism and the guide assembly are all fixedly arranged on the rotating platform.

3. The three-jaw self-centering clamping device according to claim 2, characterized in that: The second driving mechanism specifically comprises: Second servo motor; A transmission belt, a driving wheel of which is fixedly connected to the output shaft of the second servo motor; A ball screw, one end of which is fixedly connected to the driven wheel of the transmission belt; The driving module is fixedly connected to a nut provided on the ball screw, wherein the extension direction of the second rack is the same as the longitudinal axial direction of the ball screw; The gear assembly includes a coaxially arranged driving gear located at the bottom and a driven gear located at the top, the driving gear is meshed and connected with the second rack, the driven gear is meshed and connected with the first rack on the driving arm, and the driven gear and the guide wheel are located on the same horizontal plane, and the driving arm is located between the guide wheel and the driven gear.

4. The three-jaw self-centering clamping device according to claim 3, characterized in that: The rotating platform specifically comprises: A square frame, one side of which is open, and the other side opposite to it is fixedly connected to the first driving mechanism, wherein the three claws are located on the open side of the square frame; A first fixed plate, which is horizontally arranged between the top plate and the bottom plate of the square frame, wherein the second servo motor is arranged above the first fixed plate, the ball screw and the drive module are arranged on the bottom plate of the square frame, and the conveyor belt is arranged vertically and located on a side of the first fixed plate away from the three claws; a second fixing plate, which is horizontally arranged between the first fixing plate and the bottom plate; Among them, the guide wheel is rotatably set on the first rotating shaft, one end of the first rotating shaft is fixedly set on the first fixed plate, and the other end is fixedly set on the second fixed plate; the driving gear and the driven gear are both rotatably set on the second rotating shaft, the upper end of the second rotating shaft is fixedly set on the first fixed plate, and the second rotating shaft passes through the second fixed plate, so that the driven gear is located between the first fixed plate and the second fixed plate, the driving gear is located below the second fixed plate, and the driving gear and the second rack are located at the same height.

5. The three-jaw self-centering clamping device according to claim 4, characterized in that: The guide assembly is a cylindrical guide rail. The guide assembly connected to the second slave clamping arm arranged above is fixed above the top plate of the square frame, and the guide assembly connected to the second slave clamping arm arranged below is fixed below the bottom plate of the square frame. A flexible lining is arranged on the inner side surfaces of the three long clamping jaws.

6. The three-jaw self-centering clamping device according to claim 4, characterized in that: The first driving mechanism includes: a first servo motor; a gear rotating component, which is meshed with the output shaft gear of the first servo motor; and a connecting fixed plate, one side of which is fixedly connected to the gear rotating component and the other side of the square frame.

Images