Clamping device, clamping method and assembling system comprising clamping device

Abstract

The invention discloses a clamping device, a clamping method and an assembling system comprising the clamping device. The clamping device comprises at least one clamping driver and at least two clamping jaws, and the tail ends of the clamping jaws are arranged to be chucks or the tail ends of the clamping jaws are connected with the chucks; the clamping head is provided with a clamping surface matched with a clamped surface on a clamped object, and the clamping driver is connected with the clamping jaws and drives the two clamping jaws to be folded or unfolded from two different directions along a connecting line path from the center of the clamping surface to the center of the clamped object, so that the clamped object is clamped or loosened by the clamping head. According to the clamping device, the clamping method and the assembling system comprising the clamping device, the clamping surface of the clamping head is always matched with the clamped surface of the clamped object regardless of the size of the clamped object, so that the surface of the clamped object is prevented from being damaged, and the quality of the clamped object is protected; and the adaptability is high, and the clamping efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of product assembly, and in particular to a clamping device, a clamping method and an assembly system comprising the same. Background Art

[0002] As a neutron moderator, graphite plays an important role in nuclear reactors. In the installation of nuclear reactors, graphite is a core component and is assembled layer by layer on the core bottom plate. The core holes of the upper and lower layers of graphite are interconnected to form molten salt channels for injecting molten salt. The traditional installation process of graphite components has the following difficulties and defects:

[0003] Due to the heavy weight of the core graphite components and the high precision required for the molten salt channels, the lack of precise positioning during the installation of the graphite components can easily lead to the offset of the molten salt channels between the layers of graphite.

[0004] Graphite is very brittle and easily damaged by bumps and collisions. Therefore, graphite components are usually placed in place by force control during installation. The lateral force caused by force control can cause displacement of previously installed graphite components and cause positioning problems, or increase the extrusion force between graphite components, thereby affecting the assembly quality of the graphite.

[0005] In the prior art, when clamping graphite, the graphite surface is easily damaged; according to the different sizes of graphite, the clamping jaws have to be replaced frequently, which has poor adaptability and poor clamping efficiency. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the above-mentioned defects in the prior art and to provide a clamping device, a clamping method and an assembly system including the same.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] A clamping device, comprising at least one clamping driver and at least two clamping jaws, wherein the ends of the clamping jaws are configured as clamping heads or the ends of the clamping jaws are connected to clamping heads;

[0009] The chuck has a clamping surface that matches the clamped surface on the clamped object. The clamping driver is connected to the clamping jaws and drives the two clamping jaws to close or open from two different directions and along the line path from the center of the clamping surface to the center of the clamped object, so that the chuck clamps or releases the clamped object.

[0010] In this solution, the clamping device drives the two clamping claws to close or open from two different directions along the line path connecting the center of the clamping surface to the center of the clamped object through the clamping driver, so that the clamping surface of the clamp head always matches the clamping surface of the clamped object regardless of the size of the clamped object, avoiding damage to the surface of the clamped object and protecting the quality of the clamped object. In addition, no matter whether the clamped object is large or small, the clamping device does not need to be replaced, which has strong adaptability and improves the clamping efficiency.

[0011] Preferably, the clamping jaw comprises a first rotating member, a second rotating member, a first connecting member, a second connecting member and a clamping head connecting member.

[0012] Two ends of the first rotating member are rotatably connected to the central axis of the clamping driver and one end of the first connecting member, respectively, and the length between the two connecting ends of the first rotating member is a first length L1;

[0013] Two ends of the second rotating member are rotatably connected to the other end of the first connecting member and a fixed point arranged outside the housing of the clamping driver, respectively, and the length between the two connecting ends of the second rotating member is a third length L3;

[0014] The first connecting member is also movably connected to the chuck through the chuck connecting member, and the length between the two connecting ends of the first connecting member and the first rotating member and the second rotating member is a fourth length L4;

[0015] Two ends of the second connecting member are respectively connected to the fixed point and the central axis of the clamping driver, and the length between the two connecting ends of the second connecting member is a second length L2;

[0016] The sizes of L1, L2, L3, and L4 satisfy the following conditions: among L1, L2, L3, and L4, L1 is the minimum value and L4 is the maximum value; and L1+L4≤ L2+L3.

[0017] In this solution, a crank-rocker mechanism of four-bar linkage is formed by the first rotating member, the second rotating member, the first connecting member and the second connecting member configured as above. The clamping driver drives the crank-rocker mechanism and the clamping head connecting member to swing, driving the two clamping jaws to close or open from two different directions respectively along the line path connecting the center of the clamping surface to the center of the clamped object; thus, the clamping jaws can clamp objects of different sizes in the form of a crank-rocker mechanism, and the structure is simple, and it is easy to clamp objects of different sizes by adjusting the length and shape of each component, and keep clamping along the line path connecting the center of the clamping surface to the center of the clamped object.

[0018] Preferably, the first connecting member and the chuck connecting member are integrally formed, the first rotating member is an annular rotating member sleeved on the central axis, and the annular rotating member is rotatably connected to the central axis and the first connecting member at different circumferential positions.

[0019] In this solution, the first connecting member and the clamping head connecting member are integrally formed to simplify the structure; the first rotating member adopts an annular structure, which has a large rotating surface around the central axis and a stable movement, which is conducive to the stability of the clamping operation.

[0020] Preferably, the rotational connection point between the first rotating member and the central axis is the first rotational connection point, the rotational connection point between the second rotating member and the first connecting member is the second rotational connection point, the length of the chuck connecting member between the chuck and the second rotational connection point is the fifth length L5, and the distance between the first rotational connection point and the center of the clamped object is the initial length L0;

[0021] The ratio of L0, L1, L2, L3, L4 and L5 is: L0:L1:L2:L3:L4:L5=2.44:1:1.83:1.67:2.43:5.57.

[0022] In this solution, L0, L1, L2, L3, L4, and L5 adopt the above-mentioned proportional relationship, which is the preferred ratio, ensuring that the two jaws can be closed or opened along the line path from the center of the clamping surface to the center of the clamped object. The clamping surface of the chuck always matches the clamping surface of the clamped object, and the matching consistency is high and more reliable, thereby avoiding damage to the surface of the clamped object and protecting the quality of the clamped object.

[0023] Preferably, the clamping drive comprises a motor and a planetary reducer connected to the output shaft of the motor, the planetary reducer is provided with a first output shaft and a second output shaft rotating around the first output shaft, and the first output shaft is coaxially arranged with the output shaft of the motor;

[0024] The first output shaft and the second output shaft are respectively connected to the clamping claws on both sides of the clamping driver.

[0025] In this solution, the clamping device uses the planetary reducer to make the rotation centers of the clamping jaws on both sides of the clamping driver (for example, the left clamping jaw and the right clamping jaw) coincide with each other, so that the clamping jaws on both sides can be closed or opened synchronously, avoiding the clamping jaws on both sides from being out of sync and unevenly stressed, thereby avoiding damage to the surface of the clamped object. In addition, one motor can drive the two clamping jaws to swing at the same time through the planetary reducer, simplifying the structure and saving costs.

[0026] Preferably, the first output shaft and the second output shaft are respectively connected in series with torque sensors, the output ends of the two torque sensors are respectively connected to the clamping jaws on both sides of the clamping driver, the torque sensors are used to detect the clamping force of the clamping jaws, and the torque sensors are electrically connected to the clamping driver.

[0027] In this solution, the two torque sensors set up as above are used to monitor the clamping force of the clamping jaws on both sides respectively, and the torque output by the clamping driver can be adjusted according to the clamping force feedback, so that the torque of the clamping jaws on both sides can be kept consistent and within the set clamping force range to avoid clamping the surface of the clamped object.

[0028] Preferably, the side surface of the clamped object is provided with a recessed structure extending in the vertical direction, the surface of the recessed structure is the clamped surface, and the clamping head is a rod-type clamping head having the clamping surface matching the surface of the recessed structure.

[0029] In this solution, when a concave structure is provided on the side of the clamped object, it is convenient to use the concave structure to clamp the clamped object, and the clamping is more stable. By matching the rod-type clamping head with the concave structure extending in the vertical direction, the clamping force surface is increased, the clamping is more stable, and it is not easy to damage the surface of the clamped object.

[0030] Preferably, the clamping claw is arranged at one end of the clamping device along the axial direction, and a positioning detector is arranged at the other end of the clamping device along the axial direction, and the positioning detector is arranged above the clamped object when the clamped object is clamped;

[0031] The positioning detector is used to cooperate with a signal processor on a guide element for guiding the clamped object to determine the relative position of the clamped object and the guide element;

[0032] And / or, the positioning detector is used to transmit a signal from at least one position to the top surface of the clamped object, and detect the position of the clamped object along the height direction based on the signal reflected by the clamped object.

[0033] In this solution, the clamping device can determine whether the clamped object is aligned with the guide element by cooperating with the signal processor on the guide element through the positioning detector to avoid skewed clamping. By arranging the positioning detector above the clamped object and transmitting a signal to the top surface of the clamped object, the height position of the clamped object can be detected based on the reflected signal to accurately determine the clamping height. When the signal is transmitted from multiple different positions for detection, the accuracy of position detection can be further improved.

[0034] Preferably, the clamping device also includes a proximity sensor, which is arranged on the side of the clamped object when the clamped object is clamped, and the proximity sensor is used to transmit a signal to the side of the clamped object from at least one position, and detect the horizontal position of the clamped object relative to the proximity sensor based on the signal reflected by the clamped object.

[0035] In this solution, the clamping device transmits a signal to the side of the clamped object through the proximity sensor, and can detect the horizontal position of the clamped object based on the reflected signal to accurately determine the horizontal position of the clamping. When the signal is transmitted from multiple different positions for detection, the accuracy of position detection can be further improved.

[0036] A clamping method, wherein the clamping method uses the clamping device as described above to clamp the clamped object, and the clamping method comprises the following steps:

[0037] Moving the clamping device close to the object to be clamped;

[0038] The clamping driver is activated to drive the two clamps to close or open from two different directions along a line path from the center of the clamping surface to the center of the clamped object.

[0039] In this solution, the clamping method uses the clamping device and the steps above to drive the two clamping jaws to close or open from two different directions along the line path from the center of the clamping surface to the center of the clamped object, so that the clamping surface of the clamp head always matches the clamping surface of the clamped object regardless of the size of the clamped object, avoiding damage to the surface of the clamped object and protecting the quality of the clamped object. In addition, no matter whether the clamped object is large or small, the clamping device does not need to be replaced, the adaptability is strong, and the clamping efficiency is improved.

[0040] Preferably, the clamping jaw comprises a first rotating member, a second rotating member, a first connecting member, a second connecting member and a clamping head connecting member.

[0041] Two ends of the first rotating member are rotatably connected to the central axis of the clamping driver and one end of the first connecting member respectively;

[0042] Two ends of the second rotating member are rotatably connected to the other end of the first connecting member and a fixed point arranged outside the housing of the clamping driver;

[0043] The first connecting member is also movably connected to the clamp through the clamp connecting member, and two ends of the second connecting member are respectively connected to the fixed point and the central axis of the clamping driver;

[0044] The method of the step of "driving the two clamps to close or open from two different directions and along a line path connecting the center of the clamping surface to the center of the clamped object" specifically includes:

[0045] The clamping driver is controlled to drive the first rotating member to rotate around the central axis of the clamping driver, driving the first connecting member and the second rotating member to swing around the fixed point, so that the two clamps can be closed or opened from two different directions and along the line path from the center of the clamping surface to the center of the clamped object.

[0046] In this scheme, the clamping method, through the above steps, makes the two clamping jaws swing toward the central axis of the clamping driver from two different directions respectively, so that the chuck can clamp the clamped object along the line path from the center of the clamping surface to the center of the clamped object, and no matter whether the clamped object is large or small, the clamping surface of the chuck always matches the clamping surface of the clamped object. Among them, by driving the first rotating member to rotate around the central axis of the clamping driver, the other components of the clamping jaw can be driven to rotate accordingly; by driving the second rotating member to rotate around the above fixed point, the first connecting member rotatably connected to the other end of the second rotating member is driven to swing inward, so that the chuck clamps or releases the clamped object.

[0047] Preferably, the clamping jaws on both sides of the clamping driver are respectively connected to torque sensors, the two torque sensors are respectively connected to output ends of the clamping driver, and the torque sensors are used to detect the clamping force of the clamping jaws; the clamping method further comprises:

[0048] It is determined whether the clamping force fed back by the torque sensor reaches a set clamping force value. If so, the clamping driver is stopped to complete the clamping.

[0049] In this scheme, the clamping method can monitor whether the clamping force of the clamping jaws on both sides reaches the set clamping force value through the above steps, and adjust the torque output by the clamping driver, so that the torque of the clamping jaws on both sides can be kept consistent and within the set clamping force range to avoid clamping the surface of the clamped object.

[0050] Preferably, the clamping driver is provided with a positioning detector axially above the clamped object when the clamped object is clamped; the clamping method further comprises:

[0051] Using the positioning detector to transmit a signal from at least one position to the top surface of the clamped object, and detecting the position of the clamped object in the height direction according to the signal reflected by the clamped object;

[0052] And / or, the positioning detector is used in cooperation with a signal processor provided on a guide element of the clamped object to determine the relative position of the clamped object and the guide element.

[0053] In this solution, the clamping method can determine whether the clamped object is aligned with the guide element by using a positioning detector in conjunction with a signal processor on the guide element to avoid skewed clamping. By using the positioning detector to transmit a signal to the top surface of the clamped object from above the clamped object, the height position of the clamped object can be detected based on the reflected signal to accurately determine the clamping height.

[0054] Preferably, the clamping device is provided with a proximity sensor at a relative position of the side of the clamped object, and the clamping method further comprises:

[0055] The proximity sensor is controlled to transmit a signal from at least one position to a side of the clamped object, and a horizontal position of the clamped object relative to the proximity sensor is detected according to the signal reflected by the clamped object.

[0056] In this solution, the clamping method controls the proximity sensor to transmit a signal to the side of the clamped object, and can detect the horizontal position of the clamped object according to the reflected signal to accurately determine the horizontal position of the clamping. When the signal is transmitted from multiple different positions for detection, the accuracy of position detection can be further improved.

[0057] An assembly system comprises the clamping device as described above, and / or utilizes the clamping method as described above to clamp an object to be assembled.

[0058] In this solution, the assembly system uses the clamping device and / or the clamping method to ensure that the clamping surface of the clamping head always matches the clamping surface of the clamped object regardless of the size of the clamped object, thereby avoiding damage to the surface of the clamped object and protecting the quality of the clamped object. In addition, no matter whether the clamped object is large or small, the clamping device does not need to be replaced, which has strong adaptability and improves the clamping efficiency.

[0059] The positive and progressive effect of the present invention is that the clamping device, the clamping method and the assembly system including the same drive the two clamping claws to close or open from two different directions along the line path connecting the center of the clamping surface to the center of the clamped object through the clamping driver, so that no matter the size of the clamped object, the clamping surface of the clamp head always matches the clamped surface of the clamped object, avoiding damage to the surface of the clamped object and protecting the quality of the clamped object. In addition, no matter whether the clamped object is large or small, the clamping device does not need to be replaced, the adaptability is strong, and the clamping efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 This is a schematic diagram of the structure of the clamping device of Example 1 of the present invention, wherein a schematic diagram of the internal structure within a portion of the outer shell is shown.

[0061] Figure 2This is a schematic diagram of the structure of the clamping device of Example 1 of the present invention when clamping.

[0062] Figure 3 This is a schematic diagram of the clamping jaw structure of Example 1 of the present invention.

[0063] Figure 4 This is a clamping principle diagram of the clamping device of Example 1 of the present invention.

[0064] Figure 5 This is a clamping principle diagram of Example 1 of the present invention, in which the dotted line represents a thinner clamped object, and the solid line represents a thicker clamped object.

[0065] Figure 6 This is a structural principle diagram of the reducer of Example 1 of the present invention.

[0066] Figure 7 The bottom structure schematic diagram of the clamping device of Example 1 of the present invention is shown in FIG. In the figure, half of the outer frame at the bottom of the clamping jaw is removed.

[0067] Figure 8 The figure is a schematic diagram of the internal structure of the clamping device of Example 1 of the present invention, wherein half of the clamping claws are removed.

[0068] Fig. 9 for Figure 8 Left view of .

[0069] Fig.10 for Fig. 9 Cross-sectional view along the AA direction.

[0070] Fig.11 This is a schematic structural diagram of the alignment of the clamped object and the guide element according to Example 1 of the present invention.

[0071] Fig.12 This is a schematic diagram of the installation structure of the proximity sensor on the clamping device of Example 1 of the present invention.

[0072] Fig.13 Schematic diagram of the operating steps of the clamping method of Example 2 of the present invention.

[0073] Fig.14 This is a schematic diagram of the specific steps and operation flow of the clamping method of Example 2 of the present invention.

[0074] Description of reference numerals:

[0075] Clamping device 1;

[0076] Housing 10;

[0077] Clamping drive 2;

[0078] Motor 21;

[0079] Planetary reducer 22;

[0080] A first output shaft 221;

[0081] A second output shaft 222;

[0082] External gear 223;

[0083] Outer frame 23;

[0084] Torque sensor 3;

[0085] Gripper 4;

[0086] Chuck 41;

[0087] Clamping surface 410;

[0088] The clamp body 42;

[0089] A first connecting member 421;

[0090] Clamp connector 422;

[0091] A second rotating member 43;

[0092] A first movable connector 44;

[0093] Fixed point 45;

[0094] A second movable joint 46;

[0095] A third movable connector 47;

[0096] A first rotating member 48;

[0097] A first annular rotating member 481;

[0098] Internal gear 4811;

[0099] annular groove 4812;

[0100] A second annular rotating member 482;

[0101] A second connecting member 49;

[0102] Initial length L0;

[0103] A first length L1;

[0104] A second length L2;

[0105] A third length L3;

[0106] fourth length L4;

[0107] fifth length L5;

[0108] Clamped object 5;

[0109] A clamped surface 51;

[0110] Recessed structure 52;

[0111] Positioning detector 6;

[0112] Outgoing laser 61;

[0113] Reflecting laser light 62;

[0114] Guide element 7;

[0115] Reflection head 71;

[0116] Signal processor 8;

[0117] Proximity sensor 9;

[0118] Sensor bracket 11. DETAILED DESCRIPTION

[0119] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0120] Embodiment 1;

[0121] This embodiment provides a clamping device 1 for use in the assembly of a nuclear reactor, wherein the clamped object 5 is a cylindrical graphite rod. The clamping device 1 clamps the graphite rod, moves to the mounting platform, and mounts the graphite rod on the core bottom plate. Graphite is a common neutron moderator and plays an important role in nuclear reactors. However, the clamped object 5 is not limited to graphite. Depending on the application of nuclear reactors or other different fields, the clamped object 5 may also be other items besides graphite.

[0122] like Figure 1-Figure 12 As shown, the clamping device 1 includes at least one clamping driver 2 and at least two clamping jaws 4, the end of the clamping jaw 4 is set as a chuck 41 or the end of the clamping jaw 4 is connected to the chuck 41; the chuck 41 has a clamping surface 410 matching the clamped surface 51 on the clamped object 5, the clamping driver 2 is connected to the clamping jaw 4, and drives the two clamping jaws 4 to close or open from two different directions and along the line path from the center of the clamping surface 410 to the center of the clamped object 5, so that the chuck 41 clamps or releases the clamped object 5.

[0123] Specifically, in this embodiment, the structure of the clamping device 1 has only one clamping driver 2, and one clamping driver 2 is connected to two clamping jaws 4, and the two clamping jaws 4 are a left clamping jaw 4 and a right clamping jaw 4, respectively on the left and right sides of the clamping driver 2. The end of the clamping jaw 4 is movably connected with a clamping head 41, and the clamping surface 410 of the clamping head 41 matches the clamping surface 51 of the clamped object 5. One clamping driver 2 simultaneously drives the two clamping jaws 4 to close or open from the left and right directions along the line path connecting the center of the clamping surface 410 to the center of the clamped object 5.

[0124] The clamping device 1 drives the two clamping claws 4 to close or open from two different directions along the line path connecting the center of the clamping surface 410 to the center of the clamped object 5 through the clamping driver 2, so that the clamping surface 410 of the clamp head 41 always matches the clamping surface 51 of the clamped object regardless of the size of the clamped object 5, thereby avoiding damage to the surface of the clamped object 5 and protecting the quality of the clamped object 5. In addition, no matter whether the clamped object 5 is large or small, the clamping device 1 does not need to be replaced, so the adaptability is strong and the clamping efficiency is improved.

[0125] In this embodiment, the structural principle of realizing the folding or opening of the two clamping jaws 4 from two different directions and along the line path connecting the center of the clamping surface 410 to the center of the clamped object 5 is as follows: Figure 4 As shown in the figure, the clamping function is realized through a set of connecting rod mechanism. Its specific structure is as follows Figure 5 As shown, the clamping jaw 4 includes a first rotating member 48, a second rotating member 43, a first connecting member 421, a second connecting member 49 and a chuck connecting member 422. The two ends of the first rotating member 48 are rotatably connected to the central axis of the clamping driver 2 and one end of the first connecting member 421, respectively. The length between the two connecting ends of the first rotating member 48 is a first length L1. The two ends of the second rotating member 43 are rotatably connected to the other end of the first connecting member 421 and a fixed point 45 provided on the outer side of the housing of the clamping driver 2, respectively. The length between the two connecting ends of the second rotating member 43 is a third length L3. The first connecting member 421 is also movably connected to the chuck 41 through the chuck connecting member 422. The length between the first connecting member 421 and the two connecting ends of the first rotating member 48 and the second rotating member 43 is a fourth length L4. The two ends of the second connecting member 49 are connected to the fixed point 45 and the central axis of the clamping driver 2, respectively. The length between the two connecting ends of the second connecting member 49 is a second length L2.

[0126] Among them, the sizes of L1, L2, L3, and L4 meet the following conditions: among L1, L2, L3, and L4, L1 is the minimum value and L4 is the maximum value; and L1+L4 ≤ L2+L3.

[0127] The first rotating member 48, the second rotating member 43, the first connecting member 421 and the second connecting member 49 configured as above form a crank-rocker mechanism of four-bar linkage. By adjusting the shape and size of each component, the swinging mode of the crank-rocker mechanism can be adjusted. Under the driving force of the clamping driver 2, the crank-rocker mechanism and the clamping head connecting member 422 realize swinging, driving the two clamping jaws 4 to close or open from two different directions respectively along the line path from the center of the clamping surface 410 to the center of the clamped object 5; thus, the clamping jaws 4 realize clamping in the form of a crank-rocker mechanism, and the structure is simple, and it is easy to clamp the clamped objects 5 of different sizes by adjusting the length and shape of each component, and keep clamping along the line path from the center of the clamping surface 410 to the center of the clamped object 5.

[0128] In Application Figure 4 In different embodiments, the specific structure of the clamping jaw 4 and the shapes and sizes of the various components may be different. Figure 3 As shown, in a preferred implementation of this embodiment, the first connecting member 421 and the clamping head connecting member 422 are integrally formed to form a block-shaped clamping jaw body 42. Figure 7-10 As shown, the first rotating member 48 is composed of two annular rotating members, namely a first annular rotating member 481 and a second annular rotating member 482, which are sequentially mounted at the output end of the clamping driver 2. The first annular rotating member 481 has a circle of internal gear 4811 at one end close to the clamping driver 2, and the internal gear 4811 is meshedly connected with the external gear 223 on the second output shaft 222 of the clamping driver 2; the center of the first annular rotating member 481 is sleeved on the central axis of the clamping driver 2 (i.e., the first output shaft 221 of the clamping driver) through a rolling bearing (not shown in the figure), so that the first annular rotating member 481 can rotate around the central axis. The first annular rotating member 481 has an annular groove 4812, and the first connecting member 421 of the left clamping jaw is connected to the side wall of the annular groove 4812 through its first movable joint 44. The second annular rotating member 482 is arranged on the first output shaft 221 of the clamping driver, and the first connecting member 421 of the right clamping jaw is connected to the second annular rotating member 482 through its first movable joint 44. The second rotating member 43 is an arc-shaped connecting rod, and one end of the second rotating member 43 is rotatably connected to the third movable joint 47 of the clamping jaw body 42. The output end of the clamping driver 2 is also provided with an outer frame 23 covering the two annular rotating members, and the outer frame 23 is composed of an upper and lower halves. The upper and lower frames are respectively provided with a fixed point 45 at a position located outside the housing of the clamping driver, and the other end of the second rotating member 43 is rotatably connected to the fixed point 45 through its second movable joint 46.

[0129] In the above-mentioned structure of the present embodiment, the first connecting member 421 and the clamping head connecting member 422 are integrally formed, which simplifies the structure; the first rotating member 48 adopts an annular structure, which has a large rotating surface around the central axis and a stable movement, which is conducive to the stability of the clamping operation. In addition, one clamping driver 2 can drive two clamping jaws 4 to swing at the same time, which simplifies the structure and saves the cost of the clamping device 1.

[0130] In other embodiments, there are many structural forms for realizing the folding or opening of the two clamping jaws 4 from two different directions and along the connecting path from the center of the clamping surface 410 to the center of the clamped object 5. For example, two independent clamping drivers 2 can be used to drive the left and right clamping jaws 4 to achieve clamping or opening, and then the driving speed and steps of the two clamping drivers 2 can be coordinated by the control system. However, such a mechanism is relatively complex and is not as simple as the structure of the present embodiment in which one clamping driver 2 drives the two clamping jaws 4 to swing at the same time, and the clamping movement is reliable. In other embodiments, when two clamping drivers 2 are used to drive the left and right clamping jaws respectively, the first rotating members 48 of the left and right clamping jaws can be connected to the output ends of the two clamping drivers 2 respectively, and the first connecting members 421 of the left and right clamping jaws can also be directly connected to the central axis of the clamping driver 2 through other structural forms and rotate around the central axis. In other embodiments, according to the different shapes of the clamped object, the clamp head 41 can also have the same or different shapes to match it, and the clamp head 41 can also not be a separate structural member, but can be a clamping structure directly formed by a certain end of the clamping jaw body 42.

[0131] Furthermore, if Figure 4 As shown, the rotation connection point between the first rotating member 48 and the central axis is the first rotation connection point (i.e. Figure 4 O in the figure), the rotation connection point between the second rotating member 43 and the first connecting member 421 is the second rotation connection point (that is, the position of the third movable connecting head 47), the length of the chuck connecting member 422 between the chuck 41 and the second rotation connection point is the fifth length L5, and the distance between the first rotation connection point and the center of the clamped object is the initial length L0; the ratio relationship of L0, L1, L2, L3, L4, and L5 is: L0: L1: L2: L3: L4: L5 = 2.44: 1: 1.83: 1.67: 2.43: 5.57.

[0132] In other embodiments, the ratio of these lengths can also be adjusted according to the need for matching, but the ratio adopted in this embodiment is the preferred ratio, ensuring that the two jaws 4 can be closed or opened along the line path from the center of the clamping surface 410 to the center of the clamped object 5, and the clamping surface 410 of the chuck 41 is always matched with the clamped surface 51 of the clamped object, and the matching consistency is high and more reliable, thereby avoiding damage to the surface of the clamped object 5 and protecting the quality of the clamped object 5.

[0133] like Figure 6 As shown, the clamping driver 2 includes a motor 21 and a planetary reducer 22 connected to the output shaft of the motor 21. The motor 21, the planetary reducer 22 and the torque sensor 3 for testing the clamping torque are all installed in the housing 10. The planetary reducer 22 is provided with a first output shaft 221 and a second output shaft 222 rotating around the first output shaft 221. The first output shaft 221 is the main output shaft, which is coaxially arranged with the output shaft of the motor 21; the first output shaft 221 is connected to the left clamping jaw 4, and the second output shaft 222 is connected to the right clamping jaw 4. The double-output shaft reducer amplifies the torque of the servo motor 21 and outputs it through the first output shaft 221 and the second output shaft 222 respectively, wherein the speed ratio of the first output shaft 221 and the second output shaft 222 is 1:10. In the planetary gear structure, the annular outer gear 223 meshes with the inner gear 4811, and the gear ratio is 10:1. The inner gear 4811 is connected to the right clamping jaw 4.

[0134] The clamping device 1 uses the planetary reducer 22 and adjusts the speed ratio of the first output shaft 221 and the second output shaft 222, as well as the size of each gear, so that the rotation centers of the clamping jaws 4 (left clamping jaw 4 and right clamping jaw 4) on both sides of the clamping driver 2 coincide with each other, and can be closed or opened synchronously, so as to avoid the clamping jaws 4 on both sides being out of sync and unevenly stressed, thereby avoiding surface damage to the clamped object 5. Moreover, one motor 21 can simultaneously drive the two clamping jaws 4 to swing through the planetary reducer 22, thereby simplifying the structure and saving costs.

[0135] In other embodiments, the speed ratio of the two output shafts and the tooth ratio of the internal and external gears 223 can be adjusted accordingly according to the actual needs of the matching effect. For example, when the speed ratio of the two output shafts is changed, the tooth ratio of the internal and external gears 223 can be adjusted accordingly to achieve the coincidence of the rotation centers of the left and right clamps 4, so that the left and right clamps 4 can be clamped or opened synchronously.

[0136] The first output shaft 221 and the second output shaft 222 are respectively connected in series with the torque sensors 3, the output ends of the two torque sensors 3 are respectively connected to the clamping jaws 4 on both sides of the clamping driver 2, the torque sensors 3 are used to detect the clamping force of the clamping jaws 4, and the torque sensors 3 are electrically connected to the clamping driver 2. The clamping forces of the clamping jaws 4 on both sides are respectively monitored by the two torque sensors 3 set as above, and the torque output by the clamping driver 2 can be adjusted according to the clamping force fed back, so that the torque of the clamping jaws 4 on both sides can be kept consistent and within the set clamping force range, thereby avoiding the surface of the clamped object 5 from being clamped.

[0137] In this embodiment, the clamped object 5 is a graphite rod with a hexagonal cross-section. The side of the graphite is provided with a concave structure 52 extending in the vertical direction. The surface of the concave structure 52 is the clamped surface 51. The clamping head 41 is a rod-type clamping head. The rod-type clamping head has a clamping surface 410 that matches the surface of the concave structure 52. This clamping method is suitable for the case where the side of the clamped object is provided with a concave structure 52, which is convenient for clamping the clamped object 5 using the concave structure 52, and the clamping is more stable. By matching the rod-type clamping head with the concave structure 52 extending in the vertical direction, the clamping force surface is increased, the clamping is more stable, and it is not easy to damage the surface of the clamped object 5.

[0138] In other embodiments, the clamped object has different shapes and structures, and the design of the chuck 41 can also be adjusted accordingly according to the shape of the clamped object. When there is no recessed structure 52, the chuck 41 can also be designed to be in a shape that encloses the surface of the clamped object.

[0139] Among them, Figure 2 and Fig.11 As shown, the clamping claw 4 is arranged at one end of the clamping device 1 along the axial direction, and the other end of the clamping device 1 along the axial direction is provided with a positioning detector 6, which is specifically a laser sensor that can emit and receive laser signals. The laser sensor is arranged above the clamped object 5 when the clamped object 5 is clamped, and is installed on the sensor bracket 11. The positioning detector 6 cooperates with the signal processor 8 on the guide element 7 that guides the clamped object 5 to determine the relative position of the clamped object 5 and the guide element 7. In this embodiment, the signal processor 8 is specifically a laser reflection element, which is arranged on the reflection head 71 at the top of the guide element 7, and can reflect the outgoing laser 61 emitted by the laser sensor, and the reflected laser 62 returns to the laser sensor to be identified.

[0140] The positioning detector 6 can also serve as a detection mechanism for whether the top is close to the target position. The positioning detector 6 can transmit signals to the top surface of the clamped object 5 from one or more different positions, and detect the position of the clamped object 5 along the height direction based on the signal reflected by the clamped object 5.

[0141] The clamping device 1 can determine whether the clamped object 5 is aligned with the guide element 7 by cooperating with the signal processor 8 on the guide element 7 through the positioning detector 6, so as to avoid the clamping being skewed. By arranging the positioning detector 6 above the clamped object 5 and transmitting a signal to the top surface of the clamped object 5, the height position of the clamped object 5 can be detected according to the reflected signal to accurately determine the clamping height. When the signal is transmitted from multiple different positions for detection, the accuracy of the position detection can be further improved.

[0142] Among them, Figure 2 and Fig.12As shown, the clamping device 1 further includes a proximity sensor 9, which is disposed on the side of the clamped object 5 when the clamped object 5 is clamped. The proximity sensor 9 is used to transmit a signal to the side of the clamped object 5 from at least one position, and detect the horizontal position of the clamped object 5 relative to the proximity sensor 9 based on the signal reflected by the clamped object 5. The clamping device 1 transmits a signal to the side of the clamped object 5 through the proximity sensor 9, and can detect the horizontal position of the clamped object 5 based on the reflected signal to accurately determine the clamped horizontal position. When the signal is transmitted from multiple different positions for detection, the accuracy of position detection can be further improved.

[0143] Embodiment 2;

[0144] like Fig.13 As shown, this embodiment provides a clamping method, which uses the clamping device 1 of embodiment 1 to clamp the clamped object 5, and the clamping method includes the following steps:

[0145] S1, moving the clamping device 1 close to the object 5 to be clamped;

[0146] S2, start the clamping driver 2 to drive the two clamping heads 41 to close or open from two different directions along the line path from the center of the clamping surface 410 to the center of the clamped object 5.

[0147] The clamping method utilizes the clamping device 1 and the steps above to drive the two clamping jaws 4 to close or open from two different directions along the line path from the center of the clamping surface 410 to the center of the clamped object 5, so that the clamping surface 410 of the clamp head 41 always matches the clamped surface 51 of the clamped object regardless of the size of the clamped object 5, thereby avoiding damage to the surface of the clamped object 5 and protecting the quality of the clamped object 5. Whether the clamped object 5 is large or small, the clamping device 1 does not need to be replaced, and has strong adaptability, thereby improving the clamping efficiency.

[0148] The method of "driving the two clamps 41 to close or open from two different directions and along the line path from the center of the clamping surface 410 to the center of the clamped object 5" in step S2 specifically includes:

[0149] The clamping driver 2 is controlled to drive the first rotating member to rotate around the central axis of the clamping driver 2, driving the clamping jaw body 42 and the second rotating member 43 movably connected to the clamping jaw body 42 to swing around the second movable joint 46, so that the two clamps 41 can be closed or opened from two different directions and along the line path from the center of the clamping surface 410 to the center of the clamped object 5.

[0150] Through the above steps, the clamping method enables the two clamping jaws 4 to swing toward the central axis of the clamping driver 2 from two different directions, respectively, so that the clamping head 41 can clamp the clamped object 5 along the line path from the center of the clamping surface 410 to the center of the clamped object 5. Regardless of whether the clamped object 5 is large or small, the clamping surface 410 of the clamping head 41 always matches the clamped surface 51 of the clamped object. Among them, by driving the first rotating member to rotate around the central axis of the clamping driver 2, the clamping jaw body 42 can be driven to rotate accordingly; by driving one end of the second rotating member 43 to rotate around the above fixed point 45, the clamping jaw body 42 movably connected to the other end of the second rotating member 43 is driven to swing inward, so that the clamping head 41 clamps or releases the clamped object 5.

[0151] The clamping method may further include: determining whether the clamping force fed back by the torque sensor 3 reaches a set clamping force value, and if so, stopping the clamping driver 2 to complete the clamping.

[0152] Through the above steps, the clamping method can monitor whether the clamping force of the clamping jaws 4 on both sides reaches the set clamping force value, and adjust the torque output by the clamping driver 2, so that the torque of the clamping jaws 4 on both sides can be kept consistent and within the set clamping force range to avoid clamping the surface of the clamped object 5.

[0153] Furthermore, the clamping method also includes: using a positioning detector 6 to transmit a signal from at least one position to the top surface of the clamped object 5, and detecting the position of the clamped object 5 along the height direction based on the signal reflected by the clamped object 5; and / or using the positioning detector 6 to cooperate with a signal processor 8 provided on the guide element 7 of the clamped object 5 to determine the relative position of the clamped object 5 and the guide element 7.

[0154] The clamping method can determine whether the clamped object 5 is aligned with the guide element 7 by using the positioning detector 6 in cooperation with the signal processor 8 on the guide element 7, thereby avoiding skewed clamping. By using the positioning detector 6 to transmit a signal to the top surface of the clamped object 5 above the clamped object 5, the height position of the clamped object 5 can be detected based on the reflected signal to accurately determine the clamping height.

[0155] Furthermore, the clamping method may also include: controlling the proximity sensor 9 to transmit a signal from at least one position to the side of the clamped object 5 , and detecting the horizontal position of the clamped object 5 relative to the proximity sensor 9 based on the signal reflected by the clamped object 5 .

[0156] The clamping method controls the proximity sensor 9 to transmit a signal to the side of the clamped object 5, and can detect the horizontal position of the clamped object 5 according to the reflected signal to accurately determine the clamped horizontal position. When the signal is transmitted from multiple different positions for detection, the accuracy of position detection can be further improved.

[0157] Fig.14 A specific example of applying this clamping method is shown.

[0158] Embodiment 3;

[0159] This embodiment provides an assembly system, which includes a clamping device 1 as in embodiment 1, and / or a clamping method as in embodiment 2 to clamp a clamped object 5 to be assembled. The assembly system uses the clamping device 1 and / or the clamping method to ensure that the clamped object 5 is large or small, and the clamping surface 410 of the clamp 41 always matches the clamped surface 51 of the clamped object, thereby avoiding damage to the surface of the clamped object 5 and protecting the quality of the clamped object 5. Whether the clamped object 5 is large or small, the clamping device 1 does not need to be replaced, and the system has strong adaptability and improves the clamping efficiency.

[0160] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A clamping device, characterized in that: The clamping device comprises at least one clamping driver and at least two clamping jaws, wherein the ends of the clamping jaws are configured as clamping heads or the ends of the clamping jaws are connected to clamping heads; The chuck has a clamping surface that matches the clamped surface on the clamped object. The clamping driver is connected to the clamping jaws and drives the two clamping jaws to close or open from two different directions and along the line path from the center of the clamping surface to the center of the clamped object, so that the chuck clamps or releases the clamped object.

2. The clamping device according to claim 1, characterized in that: The clamping jaw comprises a first rotating member, a second rotating member, a first connecting member, a second connecting member and a clamping head connecting member. Two ends of the first rotating member are rotatably connected to the central axis of the clamping driver and one end of the first connecting member, respectively, and the length between the two connecting ends of the first rotating member is a first length L1; Two ends of the second rotating member are rotatably connected to the other end of the first connecting member and a fixed point arranged outside the housing of the clamping driver, respectively, and the length between the two connecting ends of the second rotating member is a third length L3; The first connecting member is also movably connected to the chuck through the chuck connecting member, and the length between the two connecting ends of the first connecting member and the first rotating member and the second rotating member is a fourth length L4; Two ends of the second connecting member are respectively connected to the fixed point and the central axis of the clamping driver, and the length between the two connecting ends of the second connecting member is a second length L2; The sizes of L1, L2, L3, and L4 satisfy the following conditions: among L1, L2, L3, and L4, L1 is the minimum value and L4 is the maximum value; and L1+L4 ≤ L2+L3.

3. The clamping device according to claim 2, characterized in that: The first connecting member and the chuck connecting member are integrally formed, the first rotating member is an annular rotating member sleeved on the central axis, and the annular rotating member is rotatably connected to the central axis and the first connecting member at different circumferential positions.

4. The clamping device according to claim 2, characterized in that: The rotation connection point between the first rotating member and the central axis is the first rotation connection point, the rotation connection point between the second rotating member and the first connecting member is the second rotation connection point, the length of the chuck connecting member between the chuck and the second rotation connection point is the fifth length L5, and the distance between the first rotation connection point and the center of the clamped object is the initial length L0; The ratio relationship of L0, L1, L2, L3, L4, and L5 is: L0:L1:L2:L3:L4:L5=2.44: 1：1.83：1.67：2.43：5.57。 5. The clamping device according to any one of claims 2 to 4, characterized in that: The clamping drive comprises a motor and a planetary reducer connected to the output shaft of the motor, the planetary reducer is provided with a first output shaft and a second output shaft rotating around the first output shaft, and the first output shaft is coaxially arranged with the output shaft of the motor; The first output shaft and the second output shaft are respectively connected to the clamping claws on both sides of the clamping driver.

6. The clamping device according to claim 5, characterized in that: The first output shaft and the second output shaft are respectively connected in series with torque sensors, and the output ends of the two torque sensors are respectively connected to the clamping jaws on both sides of the clamping driver. The torque sensors are used to detect the clamping force of the clamping jaws, and the torque sensors are electrically connected to the clamping driver.

7. The clamping device according to claim 1, characterized in that: The side surface of the clamped object is provided with a concave structure extending in the vertical direction, the surface of the concave structure is the clamped surface, and the clamping head is a rod-type clamping head having the clamping surface matching the surface of the concave structure.

8. The clamping device according to claim 1, characterized in that: The clamping claw is arranged at one end of the clamping device along the axial direction, and the other end of the clamping device along the axial direction is provided with a positioning detector, and the positioning detector is arranged above the clamped object when the clamped object is clamped; The positioning detector is used to cooperate with a signal processor on a guide element for guiding the clamped object to determine the relative position of the clamped object and the guide element; And / or, the positioning detector is used to transmit a signal from at least one position to the top surface of the clamped object, and detect the position of the clamped object along the height direction based on the signal reflected by the clamped object.

9. The clamping device according to claim 1, characterized in that: The clamping device also includes a proximity sensor, which is arranged on the side of the clamped object when the clamped object is clamped. The proximity sensor is used to transmit a signal to the side of the clamped object from at least one position, and detect the horizontal position of the clamped object relative to the proximity sensor based on the signal reflected by the clamped object.

10. A clamping method, characterized in that: The clamping method uses a clamping device as described in any one of claims 1 to 9 to clamp an object, and the clamping method comprises the following steps: Moving the clamping device close to the object to be clamped; The clamping driver is activated to drive the two clamps to close or open from two different directions along a line path from the center of the clamping surface to the center of the clamped object.

11. The clamping method according to claim 10, characterized in that: The clamping jaw comprises a first rotating member, a second rotating member, a first connecting member, a second connecting member and a clamping head connecting member. Two ends of the first rotating member are rotatably connected to the central axis of the clamping driver and one end of the first connecting member respectively; Two ends of the second rotating member are rotatably connected to the other end of the first connecting member and a fixed point arranged outside the housing of the clamping driver; The first connecting member is also movably connected to the clamp through the clamp connecting member, and two ends of the second connecting member are respectively connected to the fixed point and the central axis of the clamping driver; The method of the step of "driving the two clamps to close or open from two different directions and along a line path connecting the center of the clamping surface to the center of the clamped object" specifically includes: The clamping driver is controlled to drive the first rotating member to rotate around the central axis of the clamping driver, driving the first connecting member and the second rotating member to swing around the fixed point, so that the two clamps can be closed or opened from two different directions and along the line path from the center of the clamping surface to the center of the clamped object.

12. The clamping method according to claim 10, characterized in that: The clamping jaws on both sides of the clamping driver are respectively connected to torque sensors, and the two torque sensors are respectively connected to the output ends of the clamping driver, and the torque sensors are used to detect the clamping force of the clamping jaws; the clamping method also includes: It is determined whether the clamping force fed back by the torque sensor reaches a set clamping force value. If so, the clamping driver is stopped to complete the clamping.

13. The clamping method according to claim 10, characterized in that: The clamping driver is provided with a positioning detector axially above the clamped object when the clamped object is clamped; the clamping method further comprises: Using the positioning detector to transmit a signal from at least one position to the top surface of the clamped object, and detecting the position of the clamped object in the height direction according to the signal reflected by the clamped object; And / or, the positioning detector is used in cooperation with a signal processor provided on a guide element of the clamped object to determine the relative position of the clamped object and the guide element.

14. The clamping method according to claim 10, characterized in that: The clamping device is provided with a proximity sensor at a relative position of the side of the clamped object, and the clamping method further comprises: The proximity sensor is controlled to transmit a signal from at least one position to a side of the clamped object, and a horizontal position of the clamped object relative to the proximity sensor is detected according to the signal reflected by the clamped object.

15. An assembly system, characterized in that: The assembly system comprises a clamping device as claimed in any one of claims 1 to 8 for clamping an object to be assembled.

Images