Clamping device with linkage structure

Abstract

The utility model provides a clamping device with linkage structures. The clamping device comprises a first mounting plate, three clamping mechanisms and three linkage mechanisms, the three clamping mechanisms are evenly distributed on the lower end face of the first mounting plate, every two adjacent clamping mechanisms are connected through a linkage mechanism, and the bottoms of the clamping mechanisms are used for clamping workpieces. The clamping mechanism comprises a radial driving device, an axial driving device, a moving frame, a vertical plate, a second mounting plate and a clamping jaw structure, the radial driving device is arranged on the lower end face of the first mounting plate, the output end of the radial driving device is connected with the moving frame, the axial driving device is arranged on the moving frame, and the output end of the axial driving device is connected with the vertical plate; the second mounting plate is arranged on the vertical plate, and the clamping jaw structure is arranged on the second mounting plate. According to the clamping device with the linkage structure, the problem that the clamping jaw inclines due to the fact that an air cylinder of a clamping device in the related technology is inconsistent in vertical movement is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical processing, in particular to a clamping device with a linkage structure. Background Art

[0002] The clamping device for workpiece transfer is an industrial automation equipment widely used in various manufacturing and processing processes. Its main function is to move the workpiece from one position to another through a robotic arm or other motion mechanism, and is usually used in assembly lines, machining centers and other occasions. Responsible for the movement of the clamping device, including telescoping, rotating, and lifting and other actions. During the working process of the clamping device, the cylinder drives the clamping jaws to complete the up and down movement to clamp and transfer the workpiece. The action time of multiple cylinders is inconsistent, and some cylinders move slower or faster. Due to the inconsistent up and down movement of the cylinders in the clamping device in the related art, the clamping jaws are tilted. Since the clamping jaws cannot maintain a stable clamping state, the workpiece may slip out of the clamping jaws or fall directly, affecting the continuity and efficiency of the production line. Utility Model Content

[0003] In view of this, the present invention aims to solve one of the related technical problems at least to a certain extent.

[0004] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0005] A clamping device with a linkage structure, comprising a first mounting plate, three clamping mechanisms and three linkage mechanisms;

[0006] The three clamping mechanisms are evenly distributed on the lower end surface of the first mounting plate, two adjacent clamping mechanisms are connected via a linkage mechanism, and the bottom of the clamping mechanism is used to clamp the workpiece;

[0007] The clamping mechanism comprises a radial drive device, an axial drive device, a mobile frame, a vertical plate, a second mounting plate and a clamping claw structure, wherein the radial drive device is arranged on the lower end surface of the first mounting plate, the output end of the radial drive device is connected to the mobile frame, the axial drive device is arranged on the mobile frame, the output end of the axial drive device is connected to the vertical plate, the second mounting plate is arranged on the vertical plate, and the clamping claw structure is arranged on the second mounting plate;

[0008] The second mounting plates of two adjacent clamping mechanisms are connected via a linkage mechanism.

[0009] Furthermore, the linkage structure includes a first linkage plate and a second linkage plate, the first linkage plate and the second linkage plate are both bent plates with folded edges, one end of the first linkage plate and the second linkage plate are respectively connected to a second mounting plate, and the other ends of the first linkage plate and the second linkage plate are slidably matched through a slide groove structure.

[0010] Furthermore, the slide groove structure includes a V-shaped groove and a raised slider, the V-shaped groove is arranged at the end of the first linkage plate, the raised slider is arranged at the end of the second linkage plate, and the V-shaped groove and the raised slider are slidably matched.

[0011] Furthermore, the radial drive device and the axial drive device are both slide cylinders.

[0012] Furthermore, the movable frame includes a first fixed plate, a second fixed plate and reinforcing ribs, the first fixed plate is horizontally arranged on the top of the second fixed plate, the first fixed plate is connected to the output end of the radial drive device, the reinforcing ribs are arranged at the position where the first fixed plate and the second fixed plate are connected, and the axial drive device is arranged on the inner end surface of the second fixed plate.

[0013] Compared with the prior art, the clamping device with a linkage structure described in the utility model has the following advantages:

[0014] 1. By connecting the second mounting plates of adjacent clamping mechanisms through a linkage mechanism, the synchronization of actions can be achieved when multiple clamping mechanisms are working, reducing the asynchrony problem that may occur when driven alone. The slide groove structure (V-groove and raised slider) in the linkage mechanism enables adjacent clamping mechanisms to flexibly adjust the motion error within a certain range to ensure the coordinated action of each clamping mechanism. The linkage structure can balance the clamping force applied by the clamping claws to the workpiece, avoiding the tilting or falling of the workpiece due to the asynchronous action of a single clamping mechanism. Through the connection of the first linkage plate and the second linkage plate, the mechanical structure of the entire device is more stable, reducing the stress that a single clamping mechanism may bear during operation.

[0015] 2. The clamping mechanism can be flexibly adjusted in the horizontal and vertical directions through the combination of radial drive devices and axial drive devices, so that it can adapt to workpieces of various shapes and sizes, increasing the diversity of the clamping range. The clamping jaw structure can adapt to the clamping needs of different workpieces, such as workpieces with flat surfaces or threaded parts that need to be locked. Using the slide cylinder as a radial and axial drive device can achieve smooth and precise motion control while ensuring the repeatability of the clamping action, which is particularly suitable for high-precision production scenarios. The radial and axial movements can accurately adjust the position of the clamping jaws through the coordination of components such as the moving frame and the vertical plate to ensure the accuracy of workpiece clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the accompanying drawings:

[0017] Figure 1 This is a schematic diagram of a clamping device with a linkage structure according to an embodiment of the utility model;

[0018] Figure 2 This is a schematic diagram of the linkage mechanism structure described in an embodiment of the utility model;

[0019] Figure 3 This is a schematic diagram of the slide structure described in an embodiment of the utility model.

[0020] Description of reference numerals:

[0021] 1. Workpiece; 2. Radial drive device; 21. First fixed plate; 22. Reinforcing ribs; 23. Second fixed plate; 3. Axial drive device; 31. Vertical plate; 4. First linkage plate; 41. V-shaped groove; 5. Second linkage plate; 51. Protruding slider. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0023] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model 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 utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0025] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0026] A clamping device with a linkage structure, such as Figure 1 As shown, it includes a first mounting plate, three clamping mechanisms and three linkage mechanisms; the three clamping mechanisms are evenly distributed on the lower end surface of the first mounting plate, and two adjacent clamping mechanisms are connected by a linkage mechanism, and the bottom of the clamping mechanism is used to clamp the workpiece 1;

[0027] The clamping mechanism includes a radial drive device 2, an axial drive device 3, a mobile frame, a vertical plate 31, a second mounting plate and a clamping claw structure. The radial drive device 2 is arranged on the lower end surface of the first mounting plate, the output end of the radial drive device 2 is connected to the mobile frame, the axial drive device 3 is arranged on the mobile frame, the output end of the axial drive device 3 is connected to the vertical plate 31, the second mounting plate is arranged on the vertical plate 31, and the clamping claw structure is arranged on the second mounting plate; the second mounting plates of two adjacent clamping mechanisms are connected by a linkage mechanism. The radial drive device 2 and the axial drive device 3 are both slide cylinders.

[0028] The clamping mechanism can be flexibly adjusted in the horizontal and vertical directions through the combination of the radial drive device 2 and the axial drive device 3, so that it can adapt to workpieces 1 of various shapes and sizes, increasing the diversity of the clamping range. The clamping jaw structure can adapt to the clamping requirements of different workpieces 1, such as workpieces 1 with flat surfaces or threaded parts that need to be locked. Using a slide cylinder as a radial and axial drive device 3 can achieve smooth and precise motion control while ensuring the repeatability of the clamping action, which is particularly suitable for high-precision production scenarios. The radial and axial movements can accurately adjust the position of the clamping jaws through the coordination of components such as the moving frame and the vertical plate 31 to ensure the accuracy of the clamping of the workpiece 1.

[0029] like Figure 2As shown, the linkage structure includes a first linkage plate 4 and a second linkage plate 5, both of which are bent plates with folded edges, one end of each of the first linkage plate 4 and the second linkage plate 5 is connected to a second mounting plate, and the other ends of the first linkage plate 4 and the second linkage plate 5 are slidably matched through a slide groove structure. In this embodiment, the slide groove structure includes a V-shaped groove 41 and a raised slider 51, the V-shaped groove 41 is arranged at the end of the first linkage plate 4, the raised slider 51 is arranged at the end of the second linkage plate 5, and the V-shaped groove 41 and the raised slider 51 are slidably matched. By connecting the second mounting plates of adjacent clamping mechanisms through a linkage mechanism, the synchronization of actions can be achieved when multiple clamping mechanisms are working, and the asynchronous problem that may occur when driving alone is reduced. The slide groove structure (V-shaped groove and raised slider) in the linkage mechanism enables adjacent clamping mechanisms to flexibly adjust the motion error within a certain range, ensuring the coordinated action of each clamping mechanism. The linkage structure can balance the clamping force applied by the clamping claw to the workpiece 1, avoiding the tilting or falling of the workpiece 1 due to the asynchronous action of a single clamping mechanism. Through the connection between the first linkage plate 4 and the second linkage plate 5, the mechanical structure of the entire device is more stable, reducing the stress that a single clamping mechanism may bear during operation.

[0030] The movable frame includes a first fixed plate 21, a second fixed plate 23 and a reinforcing rib 22. The first fixed plate 21 is horizontally arranged on the top of the second fixed plate 23. The first fixed plate 21 is connected to the output end of the radial drive device 2. The reinforcing rib 22 is arranged at the position where the first fixed plate 21 and the second fixed plate 23 are connected. The axial drive device 3 is arranged on the inner end surface of the second fixed plate 23.

[0031] How this example works

[0032] Step 1: Ensure that the device is in the initial reset state before operation, that is, the jaws of all clamping mechanisms are open, and the radial drive device 2 and the axial drive device 3 are in the starting position. Place the workpiece 1 at the designated position under the clamping device, and align the center position of the workpiece 1 with the center axis of the device to ensure the accuracy of the clamping action.

[0033] Step 2: Start the slide cylinder of the radial drive device 2 to drive the clamping jaws to move horizontally toward the workpiece 1. The radial motion of the three clamping mechanisms is synchronized through the linkage mechanism to avoid position deviation of the clamping jaws.

[0034] The slide cylinder of the axial drive device 3 is started to drive the vertical plate 31 and the clamping jaw structure to move downward in the vertical direction, so that the clamping jaw approaches the surface of the workpiece 1. The linkage mechanism keeps the actions of each clamping mechanism consistent, ensuring that the three clamping mechanisms are pressed down to the designated clamping point of the workpiece 1 at the same time.

[0035] The clamping jaw structure is activated to clamp the workpiece 1. The clamping force is ensured to be moderate, so that the workpiece 1 can be firmly clamped without causing damage to the surface of the workpiece 1.

[0036] Step 3: Start the slide cylinder of the axial drive device 3 to lift the workpiece 1 upward from the original position. The linkage mechanism keeps the lifting and lowering of the three clamping mechanisms synchronized to prevent the workpiece 1 from tilting or shaking.

[0037] The slide cylinder of the radial drive device 2 is started to drive the mobile frame to move horizontally, and the workpiece 1 is moved from the starting position to the target position. The linkage mechanism ensures that the three clamping mechanisms move horizontally synchronously to maintain the stability of the workpiece 1.

[0038] The slide cylinder of the axial drive device 3 is started to drive the workpiece 1 down to the target position with the clamping structure. The lowering action is coordinated by the linkage mechanism to ensure that the workpiece 1 is placed horizontally and stably at the target position.

[0039] The clamping mechanism is activated to open the clamping jaws and release the workpiece 1. After confirming that the workpiece 1 has completely escaped from the clamping jaws, the clamping jaws are stopped from moving.

[0040] Step 4: The clamping jaw structure returns to the starting position, and the slide cylinder of the axial drive device 3 is started to raise the clamping jaw structure to the initial height in the vertical direction, away from the workpiece 1.

[0041] The radial drive device 2 retracts, the clamping claw returns to the initial position, and the slide cylinder of the radial drive device 2 is started to move the clamping claw horizontally to the initial standby position to prepare for the next clamping operation.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A clamping device with a linkage structure, characterized in that: It includes a first mounting plate, three clamping mechanisms and three linkage mechanisms; The three clamping mechanisms are evenly distributed on the lower end surface of the first mounting plate, and two adjacent clamping mechanisms are connected via a linkage mechanism, and the bottom of the clamping mechanism is used to clamp the workpiece (1); The clamping mechanism comprises a radial drive device (2), an axial drive device (3), a mobile frame, a vertical plate (31), a second mounting plate and a clamping claw structure, wherein the radial drive device (2) is arranged on the lower end surface of the first mounting plate, the output end of the radial drive device (2) is connected to the mobile frame, the axial drive device (3) is arranged on the mobile frame, the output end of the axial drive device (3) is connected to the vertical plate (31), the second mounting plate is arranged on the vertical plate (31), and the clamping claw structure is arranged on the second mounting plate; The second mounting plates of two adjacent clamping mechanisms are connected via a linkage mechanism.

2. A clamping device with a linkage structure according to claim 1, characterized in that: The linkage structure comprises a first linkage plate (4) and a second linkage plate (5), wherein the first linkage plate (4) and the second linkage plate (5) are both bent plates with folded edges, one end of the first linkage plate (4) and the second linkage plate (5) are respectively connected to one of the second mounting plates, and the other ends of the first linkage plate (4) and the second linkage plate (5) are slidably matched via a slide groove structure.

3. A clamping device with a linkage structure according to claim 2, characterized in that: The slide groove structure comprises a V-shaped groove (41) and a raised sliding block (51); the V-shaped groove (41) is arranged at the end of the first linkage plate (4); the raised sliding block (51) is arranged at the end of the second linkage plate (5); the V-shaped groove (41) and the raised sliding block (51) are slidably matched.

4. A clamping device with a linkage structure according to claim 2, characterized in that: The radial drive device (2) and the axial drive device (3) are both slide cylinders.

5. The clamping device with a linkage structure according to claim 1, characterized in that: The movable frame comprises a first fixing plate (21), a second fixing plate (23) and a reinforcing rib (22); the first fixing plate (21) is horizontally arranged on the top of the second fixing plate (23); the first fixing plate (21) is connected to the output end of the radial driving device (2); the reinforcing rib (22) is arranged at a position where the first fixing plate (21) and the second fixing plate (23) are connected; and the axial driving device (3) is arranged on the inner end surface of the second fixing plate (23).

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