Clamping device

Abstract

The utility model discloses a clamping device which comprises a shell and two finger sliding blocks arranged on the shell, and is characterized in that one side of each finger sliding block is connected with a connecting mechanism on the shell in a sliding manner through a guide rail sliding block; the connecting mechanism comprises a fixed part and a movable part, the fixed part and the movable part are arranged in a spaced mode, guide rail sliding grooves are formed in the opposite faces of the fixed part and the movable part respectively, and the two sides of the guide rail sliding block slide along the two guide rail sliding grooves respectively; the fixed part is fixedly connected with the shell, the movable part is connected with the shell through a fastener and an adjusting part, the adjusting part penetrates through the shell and abuts against the surface of the side, away from the fixed part, of the movable part, and the fastener is used for limiting the movable part on the shell. According to the utility model, the finger rigidity is improved, the assembly convenience is improved, and the application range is also widened.

Description

Technical Field

[0001] The utility model relates to a clamping device, in particular to a high-rigidity clamping device. Background Art

[0002] When the existing parallel grippers grip an object, the gripping force decreases rapidly along the finger height direction. This problem limits the shape of the customer's fingers and the shape of the clamped object, thereby affecting the application range of the grippers.

[0003] Some existing parallel grippers use rolling guides to solve the problem of clamping force attenuation along the height. However, the torque provided by the existing guides is small and is only suitable for small clamping forces. When the clamping force increases, the volume and weight of the existing guides will increase to an unacceptable level. In addition, the stiffness of the existing guides is determined by tolerance during manufacturing and cannot be changed after manufacturing. Different versions of components will be derived under different scene requirements, causing confusion in production materials and increasing manufacturing costs.

[0004] Therefore, how to solve the above technical problems is the direction that technical personnel in this field need to work hard on. Summary of the invention

[0005] The utility model aims to provide a clamping device. By using the structure, the clamping force can be ensured while the supporting rigidity of the clamping device can be effectively ensured, the cost can be reduced, and the scope of application can be improved.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a clamping device, including a shell and two finger sliders installed on the shell,

[0007] One side of the finger slider is slidably connected to the connecting mechanism on the housing via a guide slider;

[0008] The connecting mechanism includes a fixed component and a movable component, the fixed component and the movable component are spaced apart, and guide rail grooves are respectively provided on the opposite surfaces of the fixed component and the movable component, and the two sides of the guide rail slider slide along the two guide rail grooves respectively;

[0009] The fixed component is fixedly connected to the shell, and the movable component is connected to the shell via a fastener and an adjusting component. The adjusting component penetrates the shell and abuts against a side surface of the movable component away from the fixed component. The fastener is used to limit the movable component on the shell.

[0010] In the above technical solution, both sides of the guide rail slider are respectively provided with connecting slide grooves facing the guide rail slide groove;

[0011] A plurality of rolling bodies are provided between the guide rail slot and the connecting slot, one end of the rolling body abuts against the connecting slot on one side, and the other end abuts against the guide rail slot, the plurality of rolling bodies are arranged at intervals along the extension direction of the connecting slot, and the two sides of the rolling bodies are respectively in contact with the guide rail slot connecting slot.

[0012] In the above technical solution, the cross-sections of the guide rail slide groove and the connecting slide groove are both V-shaped structures.

[0013] In the above technical solution, a rolling body retainer is respectively provided between the fixed component and the guide rail slider and between the movable component and the guide rail slider. The rolling body retainer is provided with a plurality of positioning holes, and the middle part of the rolling body is movably arranged in the positioning hole.

[0014] In the above technical solution, the shell is provided with two grooves, and the openings of the two grooves are arranged on the inner side of the shell opposite to each other, or the openings of the two grooves are arranged on the outer side of the shell opposite to each other;

[0015] The connecting mechanism is arranged in the groove, and the fixed component and the movable component are respectively arranged at two bottom corners of the groove; or the movable component is arranged at one bottom corner of the groove, and a guide rail is provided on the side wall of the groove opposite to the movable component to form the fixed component.

[0016] In the above technical solution, the housing is provided with a plurality of screw holes connected to the grooves, the middle portion of each adjusting member is threadedly connected to one of the screw holes, the bottom of the adjusting member abuts against the movable member, and pushes the movable member to be arranged close to the fixed member, so that the movable member and the fixed member slide and clamp the guide rail slider;

[0017] And / or, the fastener includes a screw and a connecting nut, one end of the screw is connected to a side of the movable component away from the fixed component, and the other end passes through the housing and is tightened and fixed by the connecting nut.

[0018] In the above technical solution, the adjusting member comprises a wedge block, the wedge block abuts against a surface of one side of the movable part away from the fixed part, and the other side of the wedge block abuts against a side wall of the groove beside the movable part.

[0019] In the above technical solution, a driving mechanism for simultaneously driving the two finger sliders to move closer to each other or away from each other is also provided in the housing.

[0020] In the above technical solution, the driving mechanism includes a motor assembly and a forward and reverse screw assembly, the two ends of the forward and reverse screw assembly are respectively connected to the housing for rotation, the forward and reverse screw assembly is arranged between the connecting mechanisms on both sides, and the forward and reverse screw assembly is arranged parallel to the guide rail slider;

[0021] The motor assembly is disposed in the housing, and the motor assembly is configured to drive the forward and reverse screw assembly to rotate;

[0022] A nut is installed on each of the finger sliders, and the nuts on both sides of the middle of the forward and reverse screw components are respectively screwed and connected;

[0023] When the forward and reverse lead screw assemblies rotate, the nuts on both sides are driven to move closer to or farther away from each other, and the two finger sliders are driven to move closer to or farther away from each other at the same time.

[0024] In the above technical solution, a rack is provided at the inner end of the guide rail slider, and the driving mechanism includes a motor assembly and a gear. The motor assembly and the gear are arranged in a housing between the guide rail sliders on both sides, and the two sides of the gear are respectively engaged with the racks on the guide rail sliders on both sides, and the motor assembly is configured to drive the gear to rotate.

[0025] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0026] 1. In the utility model, a fixed part and a movable part are used to limit the sliding position of the guide rail slider, and an adjusting part is pressed against the movable part, and the adjusting part is used to adjust the assembly gap between the fixed part, the movable part and the guide rail slider, which can be applied to different scene requirements, improve the convenience of assembly, and ensure the stability and smoothness of the movement of the finger slider;

[0027] 2. In the utility model, the torque applied to the finger slider is directly transmitted to the height direction of the shell through the adjusting member and the movable member, and the rigidity and characteristics of the shell itself are utilized to improve the support rigidity of the finger slider without increasing the weight and size. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the first embodiment of the utility model (fasteners are not shown);

[0029] Figure 2 This is a schematic diagram of the structure of the first embodiment of the present utility model (one side vertical plate is not shown, and the fasteners are not shown);

[0030] Figure 3 It is a schematic diagram of the structure of the first embodiment of the utility model (some mechanisms are not shown);

[0031] Figure 4 It is a schematic diagram of the structure of the connection between the fixed component, the movable component and the guide rail slider in the first embodiment of the utility model (the fasteners are not shown);

[0032] Figure 5 It is a side view of the finger slider in the first embodiment of the present utility model;

[0033] Figure 6 yes Figure 5 A partial enlarged view of the installation location of the middle guide rail slider;

[0034] Figure 7 yes Figure 5 Schematic diagram of the cross-sectional structure of AA;

[0035] Figure 8 It is a schematic structural diagram of the rolling element retainer in the first embodiment of the utility model;

[0036] Fig. 9 It is a partial structural schematic diagram of the connection between the adjusting member and the fastener and the movable member in the first embodiment of the utility model;

[0037] Fig.10 It is a schematic diagram of the structure of the second embodiment of the present utility model;

[0038] Fig.11 It is a schematic diagram of the three-dimensional structure in the second embodiment of the utility model;

[0039] Fig.12 It is a schematic diagram of the three-dimensional structure in the third embodiment of the present utility model;

[0040] Fig.13 It is a schematic cross-sectional view of the structure in the third embodiment of the present utility model.

[0041] Among them: 1. Shell; 2. Finger slider; 3. Guide slider; 4. Fixed part; 5. Movable part; 6. Adjustment part; 7. Fixed slide; 8. Movable slide; 9. Connecting slide; 10. Rolling body; 11. Rolling body retainer; 12. Positioning hole; 13. Groove; 14. Screw hole; 15. Motor assembly; 16. Forward and reverse screw assembly; 17. Nut; 18. Rack; 19. Gear; 40. Vertical plate; 41. First pulley; 42. Second pulley; 43. Belt; 51. Fastener; 52. Screw; 53. Connecting nut; 54. Through hole. DETAILED DESCRIPTION

[0042] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0043] Example 1: See Figures 1 to 9As shown, a clamping device includes a shell 1 and two finger sliders 2 installed on the shell 1. The shell 1 is also provided with a driving mechanism for simultaneously driving the two finger sliders 2 to move closer to each other or away from each other.

[0044] One side of the finger slider 2 is slidably connected to the connecting mechanism on the housing 1 via the guide slider 3;

[0045] The connecting mechanism includes a fixed component 4 and a movable component 5, the fixed component 4 and the movable component 5 are arranged at an interval, and guide rail grooves are respectively provided on the opposite surfaces of the fixed component 4 and the movable component 5, and the two sides of the guide rail slider 3 slide along the two guide rail grooves respectively; in this embodiment, the fixed component 4 is fixed to the shell 1 by fasteners. In other preferred embodiments of the present application, the fixed component 4 is integrally formed with the shell 1, and specifically, the fixed component 4 is protruded from the side wall of the shell 1.

[0046] The guide rail slot arranged on the fixed component 4 is a fixed slot 7, and the guide rail slot arranged on the movable component 5 is a movable slot 8. Both sides of the guide rail slider 3 slide along the fixed slot 7 and the movable slot 8 respectively.

[0047] The movable component 5 is connected to the housing 1 via a fastener 51 and an adjusting component 6 . The adjusting component 6 penetrates the housing 1 and abuts against a surface of the movable component 5 on a side away from the fixed component 4 . The fastener 51 is used to limit the movable component 5 on the housing 1 .

[0048] In this embodiment, if Figures 1 to 7As shown, a vertical plate 40 is provided on each side of the shell, and a fixed component and a movable component are installed on the inner side of each vertical plate. The fixed component is arranged below the movable component (of course, the fixed component can also be arranged above the movable component), and the top of the finger slider has a finger installation position for installing fingers, and the clamping or releasing of the product is achieved by the two finger sliders approaching or moving away from each other. Among them, the fixed component is fixedly connected to the vertical plate, and the adjusting component is screwed to the vertical plate, so that the bottom of the guide rail slider is slidably connected to the top of the fixed component, and the top of the guide rail slider is slidably connected to the bottom of the movable component. By rotating the adjusting component, the distance between the bottom of the adjusting component and the top of the fixed component is adjusted, thereby achieving the assembly gap between the movable component and the guide rail slider, and the assembly gap between the fixed component and the guide rail slider, so that the sliding gap of the guide rail slider is micron-level, zero-gap, and pre-stressed, so that it can correspond to different scene requirements. Among them, the fastener is also connected to the vertical plate. After the adjustment piece adjusts the distance between the movable part and the fixed part, the movable part is limited to the shell by the fastener. The position of the movable part is limited by the fastener and the adjustment piece to prevent the movable part from shaking and displacement. At the same time, the torque of the finger installed on the finger slider will be transmitted to the fixed part and the movable part through the finger slider and the guide slider. Since the fixed part and the shell (vertical plate) are fixedly connected, it can be directly transmitted to the shell, and the high rigidity direction of the shell or the vertical plate can be fully utilized. The material properties of the shell can be fully utilized to improve the support rigidity of the finger without increasing the weight. In addition, by rotating the adjustment piece, the sliding gap between the guide slider and the fixed part and the movable part is adjusted, which is convenient for assembly and adjustment. In the case of deviation in processing accuracy, the adjustment of the sliding gap can also be guaranteed, which improves the convenience of assembly and ensures the smoothness and stability of the sliding of the finger slider.

[0049] See also Figure 2 , 4 As shown in Figures 5 to 7, in this embodiment, the fixed slide groove is arranged at the top of the fixed component, and the movable slide groove is arranged at the bottom of the movable component.

[0050] See also Figures 5 to 7 As shown, both sides of the guide rail slider 3 are respectively provided with connecting grooves 9 facing the guide rail groove. In this embodiment, there are two connecting grooves 9, and the two connecting grooves 6 face the fixed groove 7 and the movable groove 8. A plurality of rolling bodies 10 are provided between the guide rail groove and the connecting groove 9, one end of the rolling body 10 abuts against the connecting groove 9 on one side, and the other end abuts against the guide rail groove. The plurality of rolling bodies 10 are arranged at intervals along the extending direction of the connecting groove 9, and the two sides of the rolling body 10 are respectively in contact with the guide rail groove connecting groove 9.

[0051] In this embodiment, a plurality of rolling bodies 10 are provided between the fixing member 4 and the guide rail slider 3, one end of the rolling body 10 abuts against the connecting groove 9 on one side, and the other end abuts against the fixing groove 7, and the plurality of rolling bodies 10 are arranged at intervals along the extending direction of the connecting groove 9, and the two sides of the rolling body 10 are in rolling contact with the fixing groove 7 and the connecting groove 9 respectively;

[0052] At the same time, a plurality of rolling bodies 10 are also provided between the movable component 5 and the guide rail slider 3. One end of the rolling body 10 abuts against the connecting groove 9 on the other side, and the other end abuts against the movable groove 8. The plurality of rolling bodies 10 are arranged at intervals along the extension direction of the connecting groove 9, and the two sides of the rolling body 10 are in contact with the movable groove 8 and the connecting groove 9 respectively.

[0053] Among them, in the utility model, the rolling body is a ball or a cross roller. Further, in the present embodiment, the cross-sections of the fixed slide groove, the movable slide groove and the connecting slide groove are all V-shaped structures. In the utility model, if the rolling body is a ball, then the fixed slide groove, the movable slide groove and the connecting slide groove adopt a V-shaped structure, that is, a V-shaped slide groove, so that the two ends of the ball are respectively against the inner surface of the corresponding slide groove, so that the ball and the V-shaped slide groove can be used to limit the relative lateral movement of the guide rail slider, the movable part and the fixed part, so that the guide rail slider can only move along the extension direction of the fixed slide groove and the movable slide groove, that is, the guide rail slider can only move forward and backward, and will not move left and right. Through the setting of the rolling body, when the guide rail slider slides relative to the fixed part and the movable part, its sliding is smoother and more stable, and there will be no jamming phenomenon.

[0054] See also Figures 5 to 8 As shown, a rolling body retainer 11 is respectively provided between the fixed component 4 and the guide rail slider 3 and between the movable component 5 and the guide rail slider 3. The rolling body retainer 11 is provided with a plurality of positioning holes 12. The middle part of each rolling body 10 is movably installed in one of the positioning holes 12.

[0055] If the rolling body is a ball, the middle of the rolling body 10 is rotatably connected to the positioning hole 12 , and the inner surface of the positioning hole 12 matches the outer surface of the middle of the rolling body 10 .

[0056] Furthermore, in this embodiment, in order to ensure that when the guide rail slider moves relative to the fixed component and the movable component, the rolling body will also roll relatively, in order to prevent the distance between the rolling bodies from changing and to ensure the position of the rolling bodies, a rolling body retainer is provided to limit the position of multiple rolling bodies, so that multiple rolling bodies can move simultaneously relative to the corresponding fixed component or movable component to ensure stability. Among them, in order to ensure that when the guide rail slider moves, the rolling body will not move to the position where the guide rail slider and the fixed component and the movable component do not overlap, the length of the rolling body retainer will be less than the length of the guide rail slider, so that when the guide rail slider moves, the rolling body retainer is ensured to be at the position where the guide rail slider and the fixed component and the movable component overlap to prevent the rolling body from falling off and detaching.

[0057] Furthermore, there is a distance between the rolling element retainer and the guide rail slider, and there is also a distance between the rolling element retainer and the fixed parts and movable parts on the side, that is, the rolling element retainer will not contact the guide rail slider, the fixed parts and the movable parts, ensuring that when the guide rail slider moves, only the rolling element is used for rolling support, guidance and position limiting. At the same time, the inner surface of the positioning hole matches the outer surface of the middle part of the rolling element, which can limit the rolling element, prevent the relative movement between the rolling element retainer and the rolling element, and prevent the rolling element from detaching from the rolling element retainer during use.

[0058] See also Figure 2 , 4 As shown in Figures 5 to 7 , the housing 1 is provided with two grooves 13 , and the openings of the two grooves 13 are arranged on the inner side of the housing 1 opposite to each other, or the openings of the two grooves 13 are arranged on the outer side of the housing 1 opposite to each other.

[0059] In the present invention, there are two ways to set the grooves, one is to set them oppositely, and the other is to set them oppositely. If they are set oppositely, the two finger sliders are located between the two grooves, that is, the two finger sliders are set oppositely. If they are set oppositely, the two finger sliders are located on both sides of the housing.

[0060] See also Figure 2 , 4 As shown in Figures 1 to 7, the connecting mechanism is arranged in the groove 13, and the fixed component 4 and the movable component 5 are respectively arranged at two bottom corners of the groove 13; or the movable component 5 is arranged at one bottom corner of the groove 13, and a guide rail is provided on the side wall of the groove 3 opposite to the movable component 5 to form the fixed component 4.

[0061] In the present invention, there are two ways to arrange the connection mechanism and the groove. The first way is that the fixed part is arranged at the bottom of the groove, and the movable part is arranged at the top of the groove. The second way is that the fixed part is arranged at the top of the groove, and the movable part is arranged at the bottom of the groove. Both ways are acceptable. In this embodiment, the fixed part is arranged at the bottom of the groove and the movable part is arranged at the top of the groove as an example.

[0062] The housing 1 is provided with a plurality of screw holes 14 connected to the groove 13, the middle portion of each adjusting member 6 is threadedly connected to one of the screw holes 14, the bottom of the adjusting member 6 abuts against the movable member 5, and pushes the movable member 5 to be arranged close to the fixed member 4, so that the movable member 5 and the fixed member 4 slide and clamp the guide rail slider 3;

[0063] See also Fig. 9 As shown, the fastener 51 includes a screw 52 and a connecting nut 53 , one end of the screw 52 is connected to the side of the movable component 5 away from the fixed component 4 , and the other end passes through the housing 1 and is tightened and fixed by the connecting nut 52 .

[0064] In this embodiment, the screw hole is arranged at the top of the housing, and its bottom is connected to the groove. A plurality of through holes 54 are also arranged at the top of the housing, each through hole is arranged opposite to a screw, the bottom of the screw is connected to the top of the movable part, and the top passes through the through hole and is arranged above the top of the housing, and the connecting nut is screwed to the top of the screw. And the bottom surface of the connecting nut is against the top surface of the housing.

[0065] In this embodiment, two grooves are respectively arranged on the inner side surfaces of the two vertical plates and are arranged near the top of the vertical plates. The fixed component is installed at the bottom of the groove, the movable component is placed in the groove and is arranged near the top of the groove, the screw hole and the through hole are arranged through the groove and the top surface of the vertical plate, and the adjusting member adopts a bolt or a top screw. During assembly, the bottom of the adjusting member is first away from the fixed component, and then the bottom of the guide rail slider and the top of the fixed component are slidably connected, and then the movable component is placed on the top of the guide rail slider so that its bottom and the guide rail slider are slidably connected. At this time, the sliding gap between the fixed component, the movable component and the guide rail slider is relatively large, and the upper side (outer end) of the movable component is not limited. Then the adjusting member is screwed downward so that the bottom of the adjusting member is first against the top surface of the movable component, so that the movable component and the fixed component clamp the guide rail slider to prevent the guide rail slider from being separated from the groove. At the same time, according to the application scenario, the pressing force of the adjusting member on the movable component is adjusted to adjust the distance between the movable component and the fixed component, that is, to adjust the sliding gap between the movable component, the fixed component and the guide rail slider to achieve assembly, and it is suitable for different scenarios at the same time. At the same time, when adjusting the adjusting part, the screws will be loosened in advance, so that after the bottom position of the adjusting part is adjusted, the screws will be tightened so that the side wall of the movable part is attached to the shell, thereby achieving the limitation and fixation of the movable part and ensuring the stability and smoothness of the sliding of the guide rail slider.

[0066] At the same time, in the utility model, there are multiple screw holes, and the multiple screw holes are arranged at intervals along the extension direction of the movable part, that is, the multiple screw holes are arranged at intervals from front to back, so that the pressure at different positions of the movable part can be adjusted by adjusting the adjusting bolts at different positions, which can not only ensure the smooth sliding of the guide rail slider, but also stably limit the movable part and the guide rail slider, ensuring that the force at each position of the movable part, the fixed part and the guide rail slider is uniform, which is convenient for adjustment.

[0067] See also Figures 1 to 3 As shown in FIG. 5 , the connecting mechanism is divided into two groups, and the two groups of connecting mechanisms are arranged opposite to each other. The left side of one finger slider 2 is slidably connected to the connecting mechanism on one side via the guide slider 3, and the right side of the other finger slider 2 is slidably connected to the connecting mechanism on the other side via the guide slider 3.

[0068] The driving mechanism includes a motor assembly 15 and a forward and reverse screw assembly 16, both ends of the forward and reverse screw assembly 16 are respectively connected to the housing 1 for rotation, the forward and reverse screw assembly 16 is arranged between the connecting mechanisms at both sides, and the forward and reverse screw assembly 16 is arranged parallel to the guide rail slider 3;

[0069] The motor assembly 15 is disposed in the housing 1 , and the motor assembly 15 is configured to drive the forward and reverse screw assembly 16 to rotate;

[0070] A nut 17 is installed on each of the finger sliders 2, and the nuts 17 on both sides of the middle of the forward and reverse screw assembly 16 are respectively screwed and connected;

[0071] When the forward and reverse screw assembly 16 rotates, the nuts 17 on both sides are driven to move closer to or farther away from each other, and the two finger sliders 2 are driven to move closer to or farther away from each other at the same time.

[0072] In this embodiment, the outer surface of the forward and reverse screw assembly is provided with a forward thread and a reverse thread with opposite spiral directions. The forward thread and the reverse thread extend from the middle of the forward and reverse screw assembly toward both ends respectively. One nut is screwed to the forward thread, and the other nut is screwed to the reverse thread. In this way, when the forward and reverse screw assembly rotates, since the spiral directions of the threads on both sides are opposite, the two nuts can be driven to approach or move away from each other at the same time, thereby driving the two finger sliders to approach or move away from each other at the same time, so that the fingers installed on the finger sliders can clamp or release the material.

[0073] In this embodiment, the motor assembly and the forward and reverse screw assembly are arranged between two vertical plates. Preferably, in this embodiment, the motor assembly is arranged in a housing below the forward and reverse screws, and the motor assembly adopts a motor, or a combination of a motor and a reducer. In this embodiment, a first pulley 41 is provided at one end of the motor assembly, and a second pulley 42 is provided at one end of the forward and reverse screw assembly. The first pulley is arranged below the second pulley, and a belt 43 is wound around the first pulley and the second pulley. When the motor assembly drives the first pulley to rotate, the second pulley is driven to rotate through the belt, and the rotation of the second pulley drives the rotation of the forward and reverse screw assembly. In this embodiment, the forward and reverse screw assembly is a forward and reverse screw, and its two ends are rotatably connected to the housing through bearings and bearing seats.

[0074] In this embodiment, the two finger sliders are arranged on the same straight line.

[0075] Example 2: See Fig.10 , 11 As shown, a clamping device has a structure that is basically similar to that of the first embodiment, except that: in this embodiment, the forward and reverse screw assemblies and nuts in the first embodiment are not used to drive the two finger sliders to move. In this embodiment, the connecting mechanism is divided into two groups, and the two groups of connecting mechanisms are arranged opposite to each other. The left side of one finger slider 2 is slidably connected to the connecting mechanism on one side through a guide rail slider 3, and the right side of the other finger slider 2 is slidably connected to the connecting mechanism on the other side through a guide rail slider 3.

[0076] A rack 18 is provided at the inner end of the guide rail slider 3, and the driving mechanism includes a motor assembly 15 and a gear 19. The motor assembly 15 and the gear 19 are arranged in the housing 1 between the guide rail sliders 3 on both sides. The two sides of the gear 19 are respectively engaged with the racks on the guide rail sliders 3 on both sides, and the motor assembly 15 is configured to drive the gear 19 to rotate.

[0077] In this embodiment, a gear and rack structure is used to drive the relative movement of the finger sliders on both sides. The gear is directly connected to the output shaft of the motor assembly. When the output shaft of the motor assembly rotates, it drives the gear to rotate. Since there are two guide rail sliders on both sides of the gear, and the racks on the two guide rail sliders are respectively meshed with the two sides of the gear, when the gear rotates, it drives the racks on both sides to move relative to or towards each other, that is, the racks on both sides move in opposite directions, thereby driving the two finger sliders to move closer to or away from each other at the same time, so that the fingers on the finger sliders clamp or release the material.

[0078] Example 3: See Fig.12 , 13 As shown, a clamping device, the structure of which is basically similar to that of the first embodiment, except that:

[0079] The two finger sliders 2 are symmetrically arranged on both sides of the housing 1, and the inner end surfaces of the finger sliders 2 are slidably connected to the connecting mechanism of the housing 1 via the guide sliders 3;

[0080] A rack 18 is provided at the inner end of the finger slider 2, and the driving mechanism includes a motor assembly 15 and a gear 19. The motor assembly 15 and the gear 19 are arranged in the housing 1 between the guide rail sliders 3 on both sides. The two sides of the gear 19 are respectively engaged with the racks 18 on the guide rail sliders 3 on both sides, and the motor assembly 15 is configured to drive the gear 19 to rotate.

[0081] In this embodiment, two grooves are respectively arranged on both sides of the housing, the two grooves are respectively located on the left and right sides of the slider, and the outer ends of the grooves are connected to the outer end surface of the housing, and a fixed component and a movable component are respectively installed in each groove, wherein, in this embodiment, the fixed component is installed on the bottom surface of the groove, and the movable component is arranged near the top of the groove, so that the outer end surface of the finger slider is a finger installation position for installing fingers, that is, the fingers on both sides are respectively located on the left and right sides of the housing. The fingers in the first embodiment and the second embodiment are located on the same side of the housing.

[0082] The driving mechanism also adopts the setting of motor assembly and gear. The gear is directly connected to the output shaft of the motor assembly. When the output shaft of the motor assembly rotates, it will drive the gear to rotate. Since there are two guide sliders on both sides of the gear, and the racks on the two guide sliders are respectively engaged with the two sides of the gear, when the gear rotates, it will drive the racks on both sides to move relative to or towards each other, that is, the racks on both sides move in opposite directions, thereby driving the two finger sliders to approach or move away from each other at the same time, so that the fingers on the finger sliders clamp or release the material.

[0083] Embodiment 4: A clamping device, the structure of which is basically similar to other embodiments, except that the adjusting member includes a wedge block, the wedge block abuts against a side surface of the movable member away from the fixed member. The structure of the fastener is also the same as that of the fastener in embodiment 1.

[0084] The top surface of the wedge block will be flush with the top surface of the groove, and the top of the wedge block will rest on the top surface of the groove. A slide groove is provided on the groove, and the wedge block is slidably arranged in the slide groove. The bottom surface of the wedge block is an inclined surface, and the inclined surface is inclined upward from front to back, or inclined upward from back to front. A locking piece is provided on the wedge block, and the locking piece is a bolt or other structure. The wedge block is one piece and is arranged on one side of the movable part, or the wedge block is two pieces, which are respectively arranged at the front end or the rear end of the movable part (the inclined surfaces of the two wedge blocks are inclined in opposite directions). The inclined surface of the wedge block will contact the top surface of the movable part. By sliding the wedge block, the movable part is pushed downward by the inclined surface. After the position adjustment is completed, the wedge block is locked on the shell by the locking piece, and then the nut of the fastener is limited to achieve the fixation of the movable part, thereby achieving the position adjustment of the movable part.

[0085] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0086] In the present utility model, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral one; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, for example, the two can form a mechanical abutment or abutment connection through abutment, contact, etc., the two can also be directly hung or hung through an intermediate medium, etc., or it can be the internal connection of the two elements or the interaction relationship between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A clamping device, comprising a housing (1) and two finger sliders (2) mounted on the housing (1), characterized in that: One side of the finger slider (2) is slidably connected to a connecting mechanism on the housing (1) via a guide slider (3); The connecting mechanism comprises a fixed component (4) and a movable component (5), the fixed component (4) and the movable component (5) are arranged at a distance, and guide rail grooves are respectively provided on the opposite surfaces of the fixed component (4) and the movable component (5), and the two sides of the guide rail slider (3) slide along the two guide rail grooves respectively; The fixed component (4) is fixedly connected to the shell (1); the movable component (5) is connected to the shell (1) via a fastener (51) and an adjusting component (6); the adjusting component (6) penetrates the shell (1) and abuts against a side surface of the movable component (5) away from the fixed component (4); and the fastener (51) is used to limit the movable component (5) on the shell (1).

2. The clamping device according to claim 1, characterized in that: Both sides of the guide rail slider (3) are respectively provided with connecting slide grooves (9) facing the guide rail slide grooves; A plurality of rolling bodies (10) are provided between the guide rail slide groove and the connecting slide groove (9), one end of the rolling body (10) abuts against one side of the connecting slide groove (9), and the other end abuts against the guide rail slide groove, and the plurality of rolling bodies (10) are arranged at intervals along the extension direction of the connecting slide groove (9), and the two sides of the rolling body (10) are respectively in contact with the guide rail slide groove connecting slide groove (9).

3. The clamping device according to claim 2, characterized in that: The cross sections of the guide rail slide groove and the connecting slide groove are both V-shaped structures.

4. The clamping device according to claim 2, characterized in that: A rolling element retainer (11) is provided between the fixed component (4) and the guide rail slider (3), and between the movable component (5) and the guide rail slider (3), respectively. The rolling element retainer (11) is provided with a plurality of positioning holes (12), and the middle part of the rolling element (10) is movably arranged in the positioning hole (12).

5. The clamping device according to claim 1, characterized in that: The shell (1) is provided with two grooves (13), and the openings of the two grooves (13) are arranged on the inner side of the shell (1) opposite to each other, or the openings of the two grooves (13) are arranged on the outer side of the shell (1) opposite to each other; The connecting mechanism is arranged in the groove (13); the fixed component (4) and the movable component (5) are respectively arranged at two bottom corners of the groove (13); or the movable component (5) is arranged at one bottom corner of the groove (13); and a guide rail is provided on a side wall of the groove (13) opposite to the movable component (5) to form the fixed component (4).

6. The clamping device according to claim 5, characterized in that: The housing (1) is provided with a plurality of screw holes (14) which are connected to the groove (13); the middle portion of each adjusting member (6) is threadedly connected to one of the screw holes (14); the bottom of the adjusting member (6) abuts against the movable member (5) and pushes the movable member (5) to be arranged close to the fixed member (4), so that the movable member (5) and the fixed member (4) slide and clamp the guide rail slider (3); And / or, the fastener (51) comprises a screw (52) and a connecting nut (53), one end of the screw (52) is connected to a side of the movable component (5) away from the fixed component (4), and the other end passes through the housing (1) and is tightened and fixed by the connecting nut (53).

7. The clamping device according to claim 5, characterized in that: The adjusting member comprises a wedge block, one side of which abuts against a surface of the movable part (5) away from the fixed part (4), and the other side of which abuts against a side wall of a groove (13) beside the movable part (5).

8. The clamping device according to claim 1, characterized in that: The housing (1) is also provided with a driving mechanism for simultaneously driving the two finger sliders (2) to move toward each other or away from each other.

9. The clamping device according to claim 8, characterized in that: The driving mechanism comprises a motor assembly (15) and a forward and reverse screw assembly (16), the two ends of the forward and reverse screw assembly (16) are respectively connected to the housing (1) for rotation, the forward and reverse screw assembly (16) is arranged between the connecting mechanisms at two sides, and the forward and reverse screw assembly (16) is arranged parallel to the guide rail slider (3); The motor assembly (15) is disposed in the housing (1), and the motor assembly (15) is configured to drive the forward and reverse screw assembly (16) to rotate; A nut (17) is installed on each of the finger sliders (2), and the nuts (17) are respectively screwed and connected on both sides of the middle of the forward and reverse screw assembly (16); When the forward and reverse screw assembly (16) rotates, it simultaneously drives the nuts (17) on both sides to move closer to or farther away from each other, and drives the two finger sliders (2) to move closer to or farther away from each other at the same time.

10. The clamping device according to claim 8, characterized in that: A rack (18) is provided at the inner end of the guide rail slider (3), and the driving mechanism comprises a motor assembly (15) and a gear (19). The motor assembly (15) and the gear (19) are arranged in a housing (1) between the guide rail sliders (3) on both sides, and the two sides of the gear (19) are respectively meshed with the racks on the guide rail sliders (3) on both sides, and the motor assembly (15) is configured to drive the gear (19) to rotate.

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