Tool flange and grabbing equipment

Abstract

The utility model relates to the technical field of flange structures, and provides a tool flange and grabbing device.The tool flange comprises a first flange structure, a second flange structure, a locking structure and a fastening structure, the second flange structure comprises a connecting part and a limiting part arranged on the connecting part, and a limiting inserting groove is defined between the connecting end face of the connecting part and the limiting part; a part of the first flange structure is inserted into the limiting slot; the locking structure is provided with a body part, a first locking part and a second locking part, and the first flange structure and the connecting part are clamped by the first locking part and the second locking part; the fastening structure is connected to the connecting part, and the fastening structure is used for enabling the body part to abut against the first flange structure and the connecting part so that the first flange structure can abut against the interior of the limiting inserting groove; according to the tool flange, the first flange structure can be disassembled and assembled only by disassembling and assembling the fastening structure, and the replacement period of the gripper structure is effectively shortened.

Description

Technical Field

[0001] The present application relates to the technical field of flange structures, and in particular provides a tooling flange and a gripping device. Background Art

[0002] The gripping device generally includes a main body structure and a gripping structure, and the main body structure and the gripping structure are mainly connected by a flange. In the related art, the flange includes a main body side flange connected to one side of the main body structure and a gripping side flange connected to one side of the gripping structure, and the main body side flange and the gripping side flange are fixedly connected by multiple fastening bolts; therefore, when the gripping structure needs to be changed, multiple fastening bolts need to be removed to separate the main body side flange and the gripping side flange, resulting in a long changeover cycle of the gripping structure. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a tooling flange and a gripping device, aiming to solve the problem in the related art that when changing the gripper structure, multiple fastening bolts need to be removed, resulting in a long changeover cycle.

[0004] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is:

[0005] In the first aspect, an embodiment of the present application provides a tooling flange for connecting a main structure and a gripping structure of a grasping device, wherein the tooling flange comprises a first flange structure, a second flange structure, a locking structure and a fastening structure, wherein the first flange structure is connected to the gripping structure, and the second flange structure comprises a connecting portion and a limiting portion arranged on the connecting portion, wherein the connecting portion is connected to the main structure, and the connecting portion has a connecting end face facing the first flange structure, and a limiting slot is formed between the connecting end face and the surface of the limiting portion facing the connecting end face; a portion of the first flange structure is inserted into the limiting slot; the locking structure comprises a main body portion and a first locking portion and a second locking portion arranged on the main body portion, and the first locking portion and the second locking portion clamp the first flange structure and the connecting portion in a direction perpendicular to the connecting end face; the fastening structure is connected to the connecting portion, and the fastening structure is used to press the main body portion against the first flange structure and the connecting portion so that the first flange structure is pressed against the limiting slot.

[0006] The beneficial effects of the embodiments of the present application: in the tooling flange provided in the embodiments of the present application, part of the first flange structure can be inserted into a limiting slot enclosed by the connection end face of the connection part and the surface of the limiting part, and at the same time, the first locking part and the second locking part clamp the first flange structure and the connection part in a direction perpendicular to the connection end face, and the main body part abuts against the first flange structure and the connection part through the action of the fastening structure so that the first locking part and the second locking part maintain the state of clamping the first flange structure and the connection part; thus, the first flange structure is partially inserted into the limiting slot and partially clamped together with the connection part by the first locking part and the second The locking parts are arranged between the first flange structure and the second flange structure, so that the first flange structure can be locked in the limiting slot, that is, the first flange structure and the second flange structure are firmly connected. At the same time, when disassembling and replacing, it is only necessary to disassemble the fastening structure so that the main body can be removed, and the first locking part and the second locking part cancel the clamping of the first flange structure and the connecting part. Therefore, the first flange structure can be removed from the limiting slot, that is, the first flange structure and the second flange structure can be disassembled and assembled by only disassembling the fastening structure, which effectively reduces the disassembly and assembly steps of the first flange structure, and further can effectively reduce the replacement cycle of the gripper structure connected to the first flange structure.

[0007] In some embodiments, the limiting portion has a first limiting surface facing the connecting portion, and the first flange structure has a first abutting surface, and the first abutting surface is attached to the first limiting surface.

[0008] By adopting the above-mentioned technical solution, part of the first flange structure can be inserted into the limiting slot, and the first abutting surface of the first flange structure is in contact with the first limiting surface of the limiting portion, which can effectively improve the limiting effect of the limiting portion on the first flange structure, thereby improving the stability of the connection between the first flange structure and the second flange structure.

[0009] In some embodiments, an angle α is formed between the first limiting surface and the connecting end surface, wherein: 0°≤α<90°.

[0010] By adopting the above technical solution, the angle α between the first limiting surface and the connecting end surface is set to be greater than or equal to 0° and less than 90°. Within this angle range, the first limiting surface of the limiting portion has a better limiting effect on the first flange structure.

[0011] In some embodiments, the limiting portion further includes a second limiting surface connecting the first limiting surface and the connecting portion, and the first limiting surface, the second limiting surface and the connecting portion are enclosed to form a limiting slot.

[0012] By adopting the above-mentioned technical solution, a limiting slot is formed between the first limiting surface, the second limiting surface and the connecting portion. Therefore, when the first flange structure is inserted into the limiting slot, it can be inserted into the position abutting against the second limiting surface and form an abutment fit with the second limiting surface, thereby effectively improving the stability of the first flange structure inserted in the limiting slot, and further improving the connection stability between the first flange structure and the second flange structure.

[0013] In some embodiments, the first flange structure has a second abutting surface, and at least a portion of the second abutting surface is in contact with a surface of the first locking portion.

[0014] By adopting the above technical solution, when the first locking part and the second locking part clamp the first flange structure and the connecting part, the second abutting surface of the first flange structure is fitted with the surface of the first locking part, which can effectively improve the clamping stability of the first locking part on the first flange structure.

[0015] In some embodiments, an included angle β is formed between the second abutting surface and the connecting end surface, wherein: 0°≤β<90°.

[0016] By adopting the above technical solution, by setting the angle β between the second abutting surface and the connecting end surface to be greater than or equal to 0° and less than 90°, within this angle range, the first locking portion has a better clamping and locking effect on the second abutting surface of the first flange structure.

[0017] In some embodiments, the first flange structure further comprises a third abutting surface connecting the second abutting surface and an end side surface of the first flange structure facing the connecting portion, and the third abutting surface is disposed against the main body portion.

[0018] By adopting the above-mentioned technical solution, when the first locking part is in contact with the second abutting surface of the first flange structure, the third abutting surface of the first flange structure can be abutted against the main body, thereby effectively improving the stability of the first locking part and the second locking part in clamping the first flange structure and the connecting part.

[0019] In some embodiments, the connecting portion has a fourth abutting surface, and at least a portion of the fourth abutting surface is in contact with a surface of the second locking portion.

[0020] By adopting the above-mentioned technical solution, when the first flange structure and the connecting part are clamped between the first locking part and the second locking part, the fourth abutting surface of the connecting part is fitted with the surface of the second locking part, which can effectively enhance the clamping and locking effect of the second locking part on the connecting part.

[0021] In some embodiments, an angle δ is formed between the fourth abutting surface and the connecting end surface, wherein: 0°≤δ<90°.

[0022] By adopting the above technical solution, by setting the angle δ between the fourth abutting surface and the connecting end surface to be greater than or equal to 0° and less than 90°, within this angle range, the second locking portion has a better clamping and locking effect on the fourth abutting surface of the connecting portion.

[0023] In some embodiments, the connecting portion further includes a fifth abutting surface connecting the fourth abutting surface and the connecting end surface, and the fifth abutting surface abuts against the main body portion.

[0024] By adopting the above-mentioned technical solution, when the first locking part is fitted with the second abutting surface of the first flange structure, the fourth abutting surface of the connecting part can be abutted on the main body between the first locking part and the second locking part, thereby effectively improving the stability of the first locking part and the second locking part in clamping the first flange structure and the connecting part.

[0025] In some embodiments, along a direction parallel to the connecting end surface, the main body portion and the limiting portion are respectively located on opposite sides of the connecting portion.

[0026] By adopting the above-mentioned technical solution, the first flange structure can be limited and locked in the limiting slot at the opposite two ends and clamped between the first locking part and the second locking part of the main body, which can effectively improve the locking effect of the first flange structure and further effectively improve the connection stability between the first flange structure and the second flange structure.

[0027] In some embodiments, the tooling flange further includes a guide member, and the main body is provided with a penetrating guide hole in a direction parallel to the connecting end face, and the guide member is passed through the guide hole and connected to the connecting portion.

[0028] By adopting the above-mentioned technical solution, the main body can be locked on the connecting part of the first flange structure and the second flange structure according to the guidance of the guide member, which can effectively improve the assembly efficiency and further improve the disassembly and assembly efficiency of the first flange structure, so as to achieve the purpose of improving the replacement cycle of the grasping structure.

[0029] In some embodiments, an abutting end portion is formed on the guide member, and the abutting end portion is used to limit the main body portion, and the main body portion is located between the abutting end portion and the connecting portion.

[0030] By adopting the above-mentioned technical solution, when the first flange structure is disassembled and replaced, the main body can be limited on the guide member during the process of moving the main body away. Therefore, during the locking installation process after the first flange structure is replaced, the locking structure can be directly locked along the guide of the guide member, which effectively improves the assembly efficiency and further improves the replacement cycle of the grasping structure.

[0031] In some embodiments, the fastening structure includes a screw and a fastener, the screw has a threaded connection section, the fastener is provided with a first threaded hole, and the fastener is screwed on the threaded connection section through the first threaded hole; a through assembly hole is provided on the main body, a second threaded hole is provided on the connection part, the screw passes through the assembly hole and is screwed to the second threaded hole, and the fastener is against the main body.

[0032] By adopting the above-mentioned technical solution, the threaded connection section of the spiral member can be used to penetrate the assembly hole and be screwed to the second threaded hole, and then the fastener screwed on the threaded connection section can be rotated around the threaded connection section and moved to abut against the main body, so that the fastener can act on the main body to achieve the state of the main body being abutted against the first flange structure and the connecting part, thereby allowing the first locking part and the second locking part to maintain the state of clamping the first flange structure and the connecting part.

[0033] In some embodiments, the fastening structure further includes an elastic structure, which is disposed between the main body portion and the connecting portion and abuts against the main body portion.

[0034] By adopting the above technical solution, the elastic structure can be set against the main body so that the main body is subjected to a pushing force toward the fastener. As a result, the main body and the fastener can be pushed and pressed tightly together, which can effectively reduce the probability of the fastener accidentally rotating and loosening.

[0035] In some embodiments, a screw-on portion is provided on the connection portion, and a second threaded hole is formed on the screw-on portion; an avoidance groove is formed on the first flange structure, and the screw-on portion is accommodated in the avoidance groove.

[0036] By adopting the above technical solution, a second threaded hole is formed by a screw-on portion and is threadedly connected to the screw component, and the screw-on portion is accommodated in the avoidance groove of the first flange structure. Therefore, the force exerted by the screw component and the fastener on the main body has a better locking effect on the first flange structure.

[0037] In some embodiments, the tooling flange further includes a filling piece, and the filling piece is threadedly connected in the second threaded hole along a side away from the main body.

[0038] By adopting the above-mentioned technical solution, by threading the filler piece in the second threaded hole, the filler piece can be used as a reference when the spiral piece is threaded in the third threaded hole until the spiral piece is screwed in to abut against the filler piece to achieve full connection, thereby effectively improving the stability of the spiral piece and the fastener working together and locking to the main body.

[0039] In some embodiments, a positioning groove is formed on the limiting portion, and a positioning piece is provided on the first flange structure, and the positioning piece is configured to be inserted into the positioning groove when the first flange structure is inserted into the limiting slot.

[0040] By adopting the above technical solution, the first flange structure can be positioned and inserted into the limiting slot by positioning the positioning member inserted into the positioning slot of the limiting portion, thereby effectively improving the assembly efficiency of the first flange structure and the second flange structure.

[0041] In the second aspect, an embodiment of the present application also provides a gripping device, including a main structure, a gripping structure and a tooling flange as described above, wherein the main structure is connected to the connecting portion in the second flange structure of the tooling flange, and the gripping structure is connected to the first flange structure of the tooling flange.

[0042] Beneficial effects of the embodiments of the present application: The gripping device provided in the embodiments of the present application includes the above-mentioned tooling flange. When the above-mentioned tooling flange has a high efficiency in disassembling and replacing the first flange structure, the gripping device can effectively reduce the changeover cycle of the gripper structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of the structure of the tooling flange provided in an embodiment of the present application;

[0045] Figure 2 An exploded view of a tooling flange provided in an embodiment of the present application;

[0046] Figure 3 A side view of a tooling flange provided in an embodiment of the present application;

[0047] Figure 4 for Figure 3 A local enlarged schematic diagram of point A;

[0048] Figure 5 for Figure 3 A partial enlarged schematic diagram of point B.

[0049] Among them, the reference numerals in the figure are:

[0050] 1000, tooling flange;

[0051] 100, first flange structure; 101, first abutting surface; 102, second abutting surface; 103, third abutting surface; 110, avoidance groove; 120, positioning member;

[0052] 200, second flange structure; 201, limiting slot; 210, connecting portion; 2101, connecting end surface; 211, fourth abutting surface; 212, fifth abutting surface; 220, limiting portion; 221, first limiting surface; 222, second limiting surface; 223, positioning groove; 230, rotating portion; 231, second threaded hole;

[0053] 300, locking structure; 301, guide hole; 302, assembly hole; 310, first locking portion; 320, second locking portion; 330, main body;

[0054] 400, fastening structure; 410, screw member; 411, threaded connection section; 420, fastener; 421, first threaded hole; 430, elastic structure;

[0055] 500, guide member; 510, abutment end portion;

[0056] 600. Filling parts. DETAILED DESCRIPTION

[0057] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0058] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0060] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] The gripping equipment generally includes a main body structure and a gripping structure, and the main body structure and the gripping structure are mainly connected by a flange. In the related art, the flange includes a main body side flange connected to one side of the main body structure and a gripping side flange connected to one side of the gripping structure, and a plurality of fastening bolts penetrate the main body side flange and the gripping side flange to form a fixed connection; therefore, when the gripping structure needs to be changed, the plurality of fastening bolts need to be removed to separate the main body side flange and the gripping side flange, and then the gripping side flange connected to the gripping structure can be disassembled and replaced to change the gripping structure; there are many steps for disassembling and assembling a plurality of fastening bolts, and the disassembly and assembly time is long, which leads to a long change cycle of the gripping structure.

[0062] Based on the above considerations, in order to solve the problem that the relevant technology requires the removal of multiple fastening bolts when changing the gripper structure, resulting in a long changeover cycle, a tooling flange is designed, wherein a portion of the first flange structure of the tooling flange can be inserted into a limiting slot formed by the connecting portion and the limiting portion of the second flange structure, and at the same time, the first locking portion and the second locking portion of the locking structure clamp a portion of the first flange structure and a portion of the connecting portion in a direction perpendicular to the connecting end face, thereby achieving the fixation of the first flange structure and the second flange structure; when it is necessary to disassemble and replace the first flange structure to change the shape of the manipulator connected to the first flange structure, it is only necessary to disassemble and assemble the fastening structure so that the main body can be removed and the first locking portion and the second locking portion no longer clamp the first flange structure and the connecting portion, so that the first flange structure can be taken out of the limiting slot to achieve the purpose of disassembly and replacement; thus, the disassembly and assembly operation of the first flange structure can be achieved only by operating the fastening structure. Compared with the method in the relevant technology that requires the removal of multiple fastening bolts, the embodiment of the present application has fewer steps for disassembling and replacing the first flange structure and is more efficient. Therefore, the changeover cycle of the gripper structure connected to the first flange structure is shorter.

[0063] The flange structure disclosed in the embodiment of the present application can be used in a gripping device or a mechanical device that needs to be connected using a flange structure.

[0064] For the convenience of description, the following embodiments are described by taking an example of a tooling flange in an embodiment of the present application applied to a gripping device.

[0065] Please refer to Figure 1 and Figure 2 In the first aspect, the embodiment of the present application provides a tooling flange 1000 for connecting the main structure and the gripping structure of the gripping device. The tooling flange 1000 includes a first flange structure 100, a second flange structure 200, a locking structure 300 and a fastening structure 400. The first flange structure 100 is connected to the gripping structure. The second flange structure 200 includes a connecting portion 210 and a limiting portion 220 arranged on the connecting portion 210. The connecting portion 210 is connected to the main structure. The connecting portion 210 has a connecting end face 2101 facing the first flange structure 100. The connecting end face 2101 and the limiting portion 220 face the connecting end face 2101. The surfaces are enclosed to form a limiting slot 201; a portion of the first flange structure 100 is inserted into the limiting slot 201; the locking structure 300 has a main body 330 and a first locking portion 310 and a second locking portion 320 arranged on the main body 330, and the first locking portion 310 and the second locking portion 320 clamp the first flange structure 100 and the connecting portion 210 in a direction perpendicular to the connecting end face 2101; the fastening structure 400 is connected to the connecting portion 210, and the fastening structure 400 is used to press the main body 330 against the first flange structure 100 and the connecting portion 210, so that the first flange structure 100 is pressed into the limiting slot 201.

[0066] It can be understood that the gripping device is a mechanical device used to implement the gripping operation; the main structure of the gripping device refers to the main part of the gripping device used to implement control, and the gripper structure of the gripping device refers to the execution part of the gripping device used to implement the gripping action. For example, the gripping device can be a gripping manipulator, whereby the main structure can be the control robot part of the gripping manipulator, the gripper structure can be the mechanical arm part of the gripping manipulator, and the control robot part and the mechanical arm part are fixedly assembled through the tooling flange 1000.

[0067] The first flange structure 100 is the part of the tooling flange 1000 used to connect the grip structure, and the grip structure can be fixedly connected to the first flange structure 100 by fasteners such as bolts and screws; the second flange structure 200 is the part of the tooling flange 1000 used to connect the main structure, and the main structure can be fixedly connected to the connecting part 210 of the second flange structure 200 by fasteners such as bolts and screws; thereby, the first flange structure 100 and the second flange structure 200 are fixedly connected, so that the connection between the grip structure and the main structure can be achieved.

[0068] The second flange structure 200 includes a connection portion 210 and a stop portion 220; the connection portion 210 is used to connect and fix with the main device, and the stop portion 220 is arranged on the connection portion 210, for example, it is integrally formed on the connection portion 210, or is welded and fixed to the connection portion 210. The connection end surface 2101 refers to the side surface of one end of the connection portion 210 facing the first flange structure 100; it can be understood that when the first flange structure 100 and the second flange structure 200 are fixed, the connection end surface 2101 can be set against or fit with the first flange structure 100.

[0069] The limiting portion 220 and the connecting end surface 2101 are enclosed to form a limiting slot 201 , so that the first flange structure 100 can be inserted into the limiting slot 201 and abut against the connecting end surface 2101 .

[0070] Optionally, the number of the limiting parts 220 may be one or any number more than one.

[0071] When the number of the limiting portion 220 is one, the limiting portion 220 can be set at any position of the connecting portion 210, as long as the limiting portion 220 and the connecting end face 2101 can be enclosed to form a limiting slot 201; for example, the limiting portion 220 can be integrally formed on the connecting end face 2101 of the connecting portion 210, so that a limiting slot 201 is formed between the limiting portion 220 and the connecting portion 210.

[0072] When the number of the limiting portions 220 is two or more, the limiting portions 220 can be set at multiple locations of the connecting portion 210, and the multiple limiting portions 220 are respectively enclosed with the connecting end surface 2101 to form multiple limiting slots 201. Therefore, when the first flange structure 100 is assembled, it can be inserted into the multiple limiting slots 201 along a direction parallel to the connecting end surface 2101 to achieve limited assembly.

[0073] The locking structure 300 has a main body 330 and a first locking portion 310 and a second locking portion 320 arranged on the main body 330, so that part of the first flange structure 100 and part of the connecting portion 210 can be inserted between the first locking portion 310 and the second locking portion 320, so that the first locking portion 310 and the second locking portion 320 can clamp the first flange structure 100 and the connecting portion 210 in a direction perpendicular to the connecting end face 2101 to achieve a stable connection between the first flange structure 100 and the connecting portion 210.

[0074] It can be understood that the main body 330 can be a plate structure, a block structure, a bracket structure, etc. The first locking portion 310 and the second locking portion 320 are two parts of the main body 330 that are spaced apart in a direction perpendicular to the connecting end surface 2101; optionally, the first locking portion 310 and the second locking portion 320 can include but are not limited to a locking block, a locking rod, a locking bracket, etc.; for example, in some specific embodiments, the first locking portion 310 and the second locking portion 320 can be a protrusion integrally formed on the main body 330.

[0075] The principle of the locking structure 300 for locking and connecting the first flange structure 100 and the connecting part 210 is as follows: since a limiting slot 201 is formed between the limiting portion 220 and the connecting end face 2101, the first flange structure 100 can only move in a direction parallel to the connecting end face 2101 and close to the connecting end face 2101 to insert into or remove from the limiting slot 201, and the limiting portion 220 can limit the first flange structure 100 from moving in a direction perpendicular to the connecting end face 2101; at the same time, the first locking portion 310 and the second locking portion 320 of the locking structure 300 can clamp the first flange structure 100 and the connecting part 210 in a direction perpendicular to the connecting end face 2101, thereby, relative movement between the first flange structure 100 and the connecting part 210 is difficult to occur, so the first flange structure 100 is difficult to move out of the limiting slot 201, thereby achieving the purpose of fixed connection between the first flange structure 100 and the second flange structure 200. Furthermore, since the force exerted on the first flange structure 100 by the gripping structure connected to the first flange structure 100 during operation is mainly in a direction perpendicular to the connecting end face 2101, the limiting portion 220 and the first locking portion 310 and the second locking portion 320 of the locking structure 300 can be used together to overcome the force of the gripping structure, so the tooling flange 1000 is better for connecting the gripping structure and the main structure.

[0076] The fastening structure 400 is connected to the connecting portion 210 and can abut the main body 330 against the first flange structure 100 and the connecting portion 210, so that the first locking portion 310 and the second locking portion 320 on the main body 330 can maintain a state of clamping the first flange structure 100 and the connecting portion 210, and the first flange structure 100 is abutted by the main body 330 to maintain a state of being inserted into the limiting slot 201, so that the first flange structure 100 and the second flange structure 200 can maintain a fixedly connected state.

[0077] When it is necessary to separate the first flange structure 100 and the connecting part 210 to change the gripping structure, the fastening structure 400 can be disassembled to make the main body 330 lose its supporting force, so that the main body 330 can be moved away to allow the first locking part 310 and the second locking part 320 to be moved away synchronously to release the clamping of the first flange structure 100 and the connecting part 210. As a result, the first flange structure 100 can be moved out of the limiting slot 201 in a direction parallel to the connecting end face 2101, so that the first flange structure 100 can be disassembled and the gripping structure can be changed.

[0078] Optionally, the fastening structure 400 may be, but is not limited to, a fastening bolt, a fastening screw, or a matching structure of a threaded rod and a fastening nut, etc.

[0079] In the tooling flange 1000 provided in the embodiment of the present application, the first flange structure 100 is partially inserted into the limiting slot 201 and partially clamped between the first locking portion 310 and the second locking portion 320 together with the connecting portion 210, so that the first flange structure 100 can be locked in the limiting slot 201, that is, the fastening connection between the first flange structure 100 and the second flange structure 200 is achieved; at the same time, during disassembly and replacement, it is only necessary to disassemble the fastening structure 400 so that the locking structure 300 can be removed, so that the first locking portion 310 and the second locking portion 320 cancel the clamping of the first flange structure 100 and the connecting portion 210, so that the first flange structure 100 can be removed from the limiting slot 201, that is, it is only necessary to disassemble the fastening structure 400 to achieve the disassembly and assembly of the first flange structure 100 and the second flange structure 200, which effectively reduces the disassembly and assembly steps of the first flange structure 100, and thus can effectively reduce the replacement cycle of the gripper structure connected to the first flange structure 100.

[0080] Please refer to Figures 2 to 4 In some embodiments, the limiting portion 220 has a first limiting surface 221 facing the connecting portion 210 , and the first flange structure 100 has a first abutting surface 101 , and the first abutting surface 101 is attached to the first limiting surface 221 .

[0081] It can be understood that the first limiting surface 221 is a side surface of the limiting portion 220 facing the connecting portion 210, and the limiting slot 201 is formed between the first limiting surface 221 and the connecting portion 210; optionally, the first limiting surface 221 can be directly connected to the end face of the connecting portion 210, or the first limiting surface 221 can be connected to the end face of the connecting portion 210 through a transition surface.

[0082] The first abutment surface 101 of the first flange structure 100 is used to fit with the first limiting surface 221. Therefore, when the first flange structure 100 is inserted into the limiting slot 201, the first abutment surface 101 of the first flange structure 100 can abut against the first limiting surface 221; the first limiting surface 221 is used to limit the first abutment surface 101 so that the limiting portion 220 limits the first flange structure 100, and the first locking portion 310 and the second locking portion 320 clamp the first flange structure 100 and the connecting portion 210 and the main body 330 abut against the first flange structure 100, so that the first flange structure 100 can be locked in the limiting slot 201 to achieve a fixed connection between the first flange structure 100 and the second flange structure 200.

[0083] In this way, part of the first flange structure 100 can be inserted into the limiting slot 201, and the first abutment surface 101 of the first flange structure 100 fits with the first limiting surface 221 of the limiting portion 220, which can effectively improve the limiting effect of the limiting portion 220 on the first flange structure 100, thereby improving the stability of the connection between the first flange structure 100 and the second flange structure 200.

[0084] Please refer to Figures 2 to 4 In some embodiments, an angle α is formed between the first limiting surface 221 and the connecting end surface 2101 , wherein: 0°≤α<90°.

[0085] It can be understood that the angle α between the first limiting surface 221 and the connecting end surface 2101 is set to be greater than or equal to 0° and less than 90°, that is, the first limiting surface 221 can be parallel to the connecting end surface 2101, or there is an acute angle between the first limiting surface 221 and the connecting end surface 2101.

[0086] Specifically, when the first limiting surface 221 and the connecting end surface 2101 form an acute angle, the angle α between the first limiting surface 221 and the connecting end surface 2101 can be selected as any angle between 0° and 90°, for example, it can be various angles such as 10°, 15°, 20°, 30°, 45°, 60°, 75°, 80°, 85°, etc.

[0087] In this way, the angle α between the first limiting surface 221 and the connecting end surface 2101 is set to be greater than or equal to 0° and less than 90°. Within this angle range, the first limiting surface 221 of the limiting portion 220 has a better limiting effect on the first flange structure 100.

[0088] Please refer to Figures 2 to 4In some embodiments, the limiting portion 220 further includes a second limiting surface 222 connecting the first limiting surface 221 and the connecting portion 210 , and the first limiting surface 221 , the second limiting surface 222 and the connecting portion 210 together form a limiting slot 201 .

[0089] It can be understood that the second limiting surface 222 is a transition surface between the first limiting surface 221 and the connecting portion 210 , and thus, the first limiting surface 221 can be transitionally connected to the surface of the connecting portion 210 through the second limiting surface 222 .

[0090] Optionally, the second limiting surface 222 may be, but is not limited to, a plane, a concave arc surface, a convex arc surface, or other surface structures.

[0091] With such arrangement, when the first flange structure 100 is inserted into the limiting slot 201, the first abutting surface 101 of the first flange structure 100 abuts and overlaps with the first limiting surface 221 of the limiting portion 220, and the first flange structure 100 can also be inserted to abut against the second limiting surface 222, so that the first flange structure 100 forms an abutting fit with the limiting portion 220 at two locations, thereby effectively improving the stability of the first flange structure 100 inserted into the limiting slot 201, thereby improving the connection stability between the first flange structure 100 and the second flange structure 200.

[0092] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, the first flange structure 100 has a second abutting surface 102 , and at least a portion of the second abutting surface 102 is in contact with a surface of the first locking portion 310 .

[0093] It can be understood that the second abutting surface 102 is one side surface of the first flange structure 100. When the first locking portion 310 and the second locking portion 320 clamp the first flange structure 100 and the connecting portion 210, the first locking portion 310 forms a clamp on one side of the first flange structure 100, and the second abutting surface 102 fits with the surface of the first locking portion 310, which can make the first flange structure 100 more stable when clamped by the first locking portion 310.

[0094] The second abutting surface 102 may be completely in contact with the surface of the first locking portion 310, or the second abutting surface 102 may be partially in contact with the first locking portion 310 and partially outside the range of the first locking portion 310. In this way, when the first locking portion 310 and the second locking portion 320 clamp the first flange structure and the connecting portion 210, the second abutting surface 102 of the first flange structure 100 is in contact with the surface of the first locking portion 310, which can effectively improve the clamping stability of the first locking portion 310 on the first flange structure 100.

[0095] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, an angle β is formed between the second abutting surface 102 and the connecting end surface 2101 , wherein: 0°≤β<90°.

[0096] It can be understood that the angle β between the second abutting surface 102 and the connecting end surface 2101 is set to be greater than or equal to 0° and less than 90°, that is, the second abutting surface 102 can be parallel to the connecting end surface 2101, or the second abutting surface 102 and the connecting end surface 2101 form an acute angle.

[0097] Specifically, when the second abutting surface 102 and the connecting end surface 2101 form an acute angle, the angle β between the second abutting surface 102 and the connecting end surface 2101 can be selected as any angle between 0° and 90°, for example, it can be various angles such as 10°, 15°, 20°, 30°, 45°, 60°, 75°, 80°, 85°, etc.

[0098] In this way, by setting the angle β between the second abutting surface 102 and the connecting end surface 2101 to be greater than or equal to 0° and less than 90°, within this angle range, the first locking portion 310 has a better clamping and locking effect on the second abutting surface 102 of the first flange structure 100.

[0099] For example, in some specific embodiments, when the angle β between the second abutting surface 102 and the connecting end surface 2101 is set to an acute angle, such as 45°, the main body 330 of the locking structure 300 abuts against the first flange structure 100 and the connecting portion 210 through the action of the fastening structure 400, so that the surface of the first locking portion 310 on the locking structure 300 is tightly attached to the second abutting surface 102 of the first flange structure 100; since the angle between the second abutting surface 102 and the connecting end surface 2101 is 45°, and the first locking portion 310 is attached to the second abutting surface 102, the clamping force of the first locking portion 310 on the first flange structure 100 can be used to abut the first flange structure 100 inserted in the limiting slot 201 through a part of the second abutting surface 102, and the other part can be used to clamp the first flange structure 100 in a direction perpendicular to the connecting end surface 2101, thereby effectively improving the connection stability between the first flange structure 100 and the second flange structure 200.

[0100] Please refer to Figure 2 , Figure 3 and Figure 5In some embodiments, the first flange structure 100 further includes a third abutting surface 103 connecting the second abutting surface 102 and the end side surface of the first flange structure 100 facing the connecting portion 210 , and the third abutting surface 103 is abutted against the main body portion 330 .

[0101] It can be understood that the third abutment surface 103 is a transition surface between the first limiting surface 221 and the end side surface of the first flange structure 100 facing the connecting portion 210 , thereby, the second abutment surface 102 can be transitionally connected to the end side surface of the first flange structure 100 facing the connecting portion 210 through the third abutment surface 103 .

[0102] Optionally, the third abutting surface 103 may be, but is not limited to, a plane, a concave arc surface, a convex arc surface, etc. The third abutting surface 103 may be consistent with the surface of the main body 330 , so that when the third abutting surface 103 is abutted against the main body 330 , the third abutting surface 103 can be attached to the main body 330 .

[0103] In this way, when the first locking portion 310 is in contact with the second abutting surface 102 of the first flange structure 100, the third abutting surface 103 of the first flange structure 100 can be abutted against the main body 330, that is, the first flange structure 100 is subjected to the clamping force of the first locking portion 310 in a direction perpendicular to the connecting end face 2101, and at the same time, is subjected to the abutting force of the main body 330 in a direction parallel to the connecting end face 2101, thereby effectively improving the stability of the clamping of the first flange structure 100, and further effectively improving the stability of the first locking portion 310 and the second locking portion 320 in clamping the first flange structure 100 and the connecting portion 210.

[0104] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, the connecting portion 210 has a fourth abutting surface 211 , and at least a portion of the fourth abutting surface 211 is in contact with a surface of the second locking portion 320 .

[0105] It can be understood that the fourth abutment surface 211 is one side surface of the connecting part 210. When the first locking part 310 and the second locking part 320 clamp the first flange structure 100 and the connecting part 210, the second locking part 320 forms a clamp on the other side of the connecting part 210 relative to the connecting end face 2101, and the fourth abutment surface 211 fits with the surface of the second locking part 320, which can make the stability of the connecting part 210 when clamped by the first locking part 310 better.

[0106] The fourth abutting surface 211 may be completely in contact with the surface of the second locking portion 320 , or the fourth abutting surface 211 may be partially in contact with the first locking portion 310 and partially outside the range of the second locking portion 320 .

[0107] In this arrangement, when the first flange structure 100 and the connecting part 210 are clamped between the first locking part 310 and the second locking part 320, the fourth abutting surface 211 of the connecting part 210 fits with the surface of the second locking part 320, which can effectively enhance the clamping and locking effect of the second locking part 320 on the connecting part 210.

[0108] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, an angle δ is formed between the fourth abutting surface 211 and the connecting end surface 2101 , wherein: 0°≤δ<90°.

[0109] It can be understood that the angle δ between the fourth abutting surface 211 and the connecting end surface 2101 is set to be greater than or equal to 0° and less than 90°, that is, the fourth abutting surface 211 can be parallel to the connecting end surface 2101, or there is an acute angle between the fourth abutting surface 211 and the connecting end surface 2101.

[0110] Specifically, when the fourth abutment surface 211 is parallel to the connection end surface 2101, the fourth abutment surface 211 may be the portion of the end side surface of the connection portion 210 facing away from the first flange structure 100, or the fourth abutment surface 211 is connected to the end side surface of the connection portion 210 facing away from the first flange structure 100 through a transition surface.

[0111] When the fourth abutting surface 211 and the connecting end surface 2101 form an acute angle, the angle δ between the fourth abutting surface 211 and the connecting end surface 2101 can be selected as any angle between 0° and 90°, for example, it can be various angles such as 10°, 15°, 20°, 30°, 45°, 60°, 75°, 80°, 85°, etc.

[0112] In this way, by setting the angle δ between the fourth abutting surface 211 and the connecting end surface 2101 to be greater than or equal to 0° and less than 90°, within this angle range, the second locking portion 320 has a better clamping and locking effect on the fourth abutting surface 211 of the connecting portion 210.

[0113] For example, in some specific embodiments, when the angle β between the fourth abutting surface 211 and the connecting end surface 2101 is set to 0°, that is, the fourth abutting surface 211 is parallel to the connecting end surface 2101, the main body 330 of the locking structure 300 abuts against the first flange structure 100 and the connecting portion 210 through the action of the fastening structure 400, so that the surface of the second locking portion 320 on the locking structure 300 fits with the fourth abutting surface 211; at this time, the second locking portion 320 abuts against the connecting portion 210. The clamping force of the fourth abutting surface 211 acts on the fourth abutting surface 211 in a direction perpendicular to the connecting end surface 2101. Therefore, when the gripping structure applies a force to the first flange structure 100 during operation, the force applied by the gripping structure is mainly in a direction perpendicular to the connecting end surface 2101. Therefore, the clamping direction of the second locking portion 320 on the connecting portion 210 can effectively offset the force of the gripping structure, thereby effectively improving the connection stability between the first flange structure 100 and the second flange structure 200.

[0114] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, the connecting portion 210 further includes a fifth abutting surface 212 connecting the fourth abutting surface 211 and the connecting end surface 2101 , and the fifth abutting surface 212 abuts against the main body 330 .

[0115] It can be understood that the fifth abutting surface 212 is a transition surface between the fourth abutting surface 211 and the connecting end surface 2101 , and thus, the fourth abutting surface 211 can be transitionally connected to the connecting end surface 2101 through the fifth abutting surface 212 .

[0116] Optionally, the fifth abutting surface 212 may be, but is not limited to, a plane, a concave arc surface, a convex arc surface, etc. The fifth abutting surface 212 may be consistent with the surface of the main body 330, so that when the fifth abutting surface 212 is disposed against the main body 330, the fifth abutting surface 212 can be attached to the main body 330.

[0117] With such arrangement, when the second locking portion 320 is in contact with the fourth joint surface of the connecting portion 210, the fifth abutting surface 212 of the connecting portion 210 can be abutted against the main body portion 330, that is, the connecting portion 210 is subjected to the clamping force of the second locking portion 320 in a direction perpendicular to the connecting end surface 2101, and at the same time, is subjected to the abutting force of the main body portion 330 in a direction parallel to the connecting end surface 2101, thereby effectively improving the stability of the clamping of the connecting portion 210, and further effectively improving the stability of the first locking portion 310 and the second locking portion 320 in clamping the first flange structure 100 and the connecting portion 210.

[0118] By way of example, in some specific embodiments, the first flange structure 100 has a second abutting surface 102, and the angle β between the second abutting surface 102 and the connecting end surface 2101 is 45°, and the second abutting surface 102 is in contact with the surface of the first locking portion 310; the connecting portion 210 has a fourth abutting surface 211, and the fourth abutting surface 211 is parallel to the connecting end surface 2101, and the fourth abutting surface 211 is in contact with the surface of the second locking portion 320; thus, the locking structure 300 can clamp the first flange structure 100 and the connecting portion 210 through the action of the fastening structure 400 so that the first locking portion 310 and the second locking portion 320 clamp the first flange structure 100, and the first locking portion 310 is in contact with the second abutting surface 102 of the first flange structure 100, and the second locking portion 320 is in contact with the fourth abutting surface 211 of the connecting portion 210.

[0119] Please refer to Figures 1 to 3 In some embodiments, the main body portion 330 and the limiting portion 220 are respectively located on opposite sides of the connecting portion 210 in a direction parallel to the connecting end surface 2101 .

[0120] It can be understood that there are multiple directions parallel to the connecting end surface 2101 , and the main body 330 and the limiting portion 220 only need to be distributed on opposite sides of the connecting portion 210 in one of the directions parallel to the connecting end surface 2101 .

[0121] Optionally, on this basis, the direction in which the fastening structure 400 abuts against the main body 330 can form an angle less than 90° with the direction parallel to the connecting end face 2101; in some specific embodiments, the direction in which the fastening structure 400 abuts against the main body 330 is preferably parallel to the direction parallel to the connecting end face 2101, thereby, the force exerted by the fastening structure 400 on the main body can fully enable the main body 330 to lock the first flange structure 100 in the limiting slot 201, thereby effectively improving the connection stability between the first flange structure 100 and the second flange structure 200.

[0122] In this way, the first flange structure 100 can be limited and locked in the limiting slot 201 and clamped between the first locking portion 310 and the second locking portion 320 of the locking structure 300 at the opposite ends, and the fastening structure 400 acts on the main body 330 and makes the main body 330 abut against the first flange structure 100 and the connecting portion 210, so that the first flange structure 100 can be abutted by the main body 330 and locked in the limiting slot 201, and the first locking portion 310 and the second locking portion 320 can clamp and limit the first flange structure 100 and the connecting portion 210, which can effectively improve the connection stability of the first flange structure 100 and the second flange structure 200.

[0123] Please refer to Figure 1 and Figure 2 In some embodiments, the tooling flange 1000 further includes a guide member 500 . In a direction parallel to the connecting end surface 2101 , the main body 330 is provided with a penetrating guide hole 301 . The guide member 500 is passed through the guide hole 301 and connected to the connecting portion 210 .

[0124] The guide member 500 is used to guide the moving direction of the main body 330; optionally, the guide member 500 includes but is not limited to a guide pin, a guide rod, a guide bump, a guide column, etc., which can form a structure that guides movement. The number of the guide member 500 can be one, or any number of more than one, and the one or more guide members 500 are used to realize the guided assembly and guided disassembly of the main body 330.

[0125] The guide member 500 is connected to the connecting portion 210. Optionally, the guide member 500 can be fixedly connected to the connecting portion 210 by threaded connection, welding, clamping, etc. The guide member 500 is inserted into the body portion 330. The body portion 330 is provided with a through hole for the guide member 500 to pass through.

[0126] A guide hole 301 is provided on the main body 330, and the guide hole 301 is provided in a direction parallel to the connecting end face 2101, so that the guide member 500 can pass through the guide hole 301 and be connected to the connecting portion 210. The guide member 500 guides and moves the main body 330 so that the main body 330 can abut against the first flange structure 100 and the connecting portion 210 in a direction parallel to the connecting end face 2101, and the first flange structure 100 and the connecting portion 210 are inserted between the first locking portion 310 and the second locking portion 320, so as to form a clamping effect of the first locking portion 310 and the second locking portion 320 on the first flange structure 100 and the connecting portion 210.

[0127] For example, in some specific embodiments, the guide member 500 may include two guide pins, and the number of the guide pins is two. The number of the guide holes 301 opened on the main body 330 is also correspondingly two. The two guide pins pass through the guide holes 301 and are screwed to the connecting portion 210 in a direction parallel to the connecting end face 2101 and away from the side of the limiting portion 220; thus, the locking block can abut and lock to the first flange structure 100 and the connecting portion 210 in a direction parallel to the connecting end face 2101 according to the guiding action of the two guide pins.

[0128] With such a configuration, the main body 330 can move and lock on the connecting portion 210 of the first flange structure 100 and the second flange structure 200 according to the guidance of the guide member 500, thereby effectively improving the assembly efficiency, and further improving the disassembly and assembly efficiency of the first flange structure 100, so as to achieve the purpose of improving the replacement cycle of the grasping structure.

[0129] Please refer to Figure 1 and Figure 2 In some embodiments, an abutting end portion 510 is formed on the guide member 500 , and the abutting end portion 510 is used to limit the main body portion 330 , and the main body portion 330 is located between the abutting end portion 510 and the connecting portion 210 .

[0130] The abutting end portion 510 is used to limit the main body portion 330 , so that the main body portion 330 is limited to move on the guide member 500 between the abutting end portion 510 and the connecting portion 210 .

[0131] Optionally, the abutment end 510 can be a block structure fixed on the guide member 500, for example, fixed to the guide member 500 by welding, bonding, integral molding, etc.; the abutment end 510 can also be a block structure detachably connected to the guide member 500, for example, screwed to the guide member 500 by threads, or clamped to the guide member 500 by interference fit, etc.

[0132] For example, in some specific implementations, the guide member 500 may include a guide pin, and the head of the guide pin is the abutment end 510 .

[0133] With such arrangement, when the first flange structure 100 is disassembled and replaced, the main body 330 can be limited on the guide member 500 during the process of removing the locking structure 300, thereby reducing the probability of the main body 330 falling off when the fastening structure 400 is removed. As a result, during the locking installation process after the first flange structure 100 is replaced, the main body 330 can be directly locked and installed along the guide of the guide member 500 without the step of picking up the main body 3300 and inserting it into the guide member 500. Therefore, the assembly efficiency can be effectively improved, thereby further improving the replacement cycle of the grasping structure.

[0134] Please refer to Figures 1 to 3 In some embodiments, the fastening structure 400 includes a screw 410 and a fastener 420, the screw 410 has a threaded connection section 411, the fastener 420 is provided with a first threaded hole 421, and the fastener 420 is screwed on the threaded connection section 411 through the first threaded hole 421; a through assembly hole 302 is provided on the main body 330, a second threaded hole 231 is provided on the connecting part 210, the screw 410 passes through the assembly hole 302 and is screwed to the second threaded hole 231, and the fastener 420 is against the main body 330.

[0135] The screw component 410 may be a screw, a bolt, or other rod structure with an external thread structure; for example, in some embodiments, the screw component 410 may be a bolt, and the screw section of the bolt is the threaded connection section 411 of the screw component 410 .

[0136] The fastener 420 may be a nut or other structural member with a first threaded hole 421 . Taking the fastener 420 as a nut as an example, the nut may be screwed onto the threaded connection section 411 of the screw member 410 .

[0137] The main body 330 is provided with a through assembly hole 302, so that the screw 410 can be inserted into the assembly hole 302 and connected to the connecting portion 210. Optionally, the assembly hole 302 is a through hole structure, and the screw 410 can be freely inserted into the assembly hole 302.

[0138] The connecting portion 210 defines a second threaded hole 231 , so that the screw member 410 can pass through the assembly hole 302 and be screwed into the second threaded hole 231 .

[0139] With such arrangement, the threaded connection section 411 of the screw member 410 can be used to penetrate the assembly hole 302 and be screwed to the second threaded hole 231, and then the fastener 420 screwed on the threaded connection section 411 can be rotated around the threaded connection section 411 and moved to abut against the main body 330, so that the fastener 420 can act on the main body 330 to achieve the state of the main body 330 being kept against the first flange structure 100 and the connecting part 210, thereby allowing the first locking part 310 and the second locking part 320 to maintain the state of clamping the first flange structure 100 and the connecting part 210.

[0140] For example, in some specific embodiments, the screw member 410 includes a screw rod, and the fastener 420 includes a nut. During assembly, the nut is screwed onto the threaded connection section 411 of the screw rod, and the screw rod is passed through the assembly hole 302 and screwed onto the second threaded hole 231 of the connecting portion 210; then the nut is rotated relative to the threaded connection section 411 and moves toward the main body 330 until the nut is rotated to abut the main body 330 and cannot continue to rotate. At this time, the nut applies a resisting force to the main body 330, so that the main body 330 can lock the first flange structure 100 in a state of being inserted into the limiting slot 201, thereby realizing the connection between the first flange structure 100 and the second flange structure 200. When the gripper structure needs to be replaced, the first flange structure 100 and the second flange structure 200 need to be disassembled. Simply rotate the nut away from the main body 330 so that the screw can be unscrewed from the connecting portion 210. Then remove the main body 330 from the first flange structure 100 and the connecting portion 210. The first locking portion 310 and the second locking portion 320 release the clamping state of the first flange structure 100 and the connecting portion 210, so that the first flange structure 100 can be taken out of the limiting slot 201 and the purpose of disassembly can be achieved. That is, the gripper replacement operation only requires disassembly of the fastening structure 400 to achieve disassembly and replacement, which effectively improves the replacement efficiency and shortens the replacement cycle.

[0141] Please refer to Figure 2 and Figure 3 In some embodiments, the fastening structure 400 further includes an elastic structure 430 , which is disposed between the main body portion 330 and the connecting portion 210 and abuts against the main body portion 330 .

[0142] Optionally, the elastic structure 430 includes but is not limited to elastic structural parts such as springs and elastic blocks; the number of elastic structures 430 can be one or any number of more than one, and the elastic structure 430 can be bonded between the main body 330 and the connecting part 210, or the elastic structure 430 can also be sleeved on the spiral member 410.

[0143] With such a configuration, the elastic structure 430 can be disposed against the main body 330 so that the main body 330 is subjected to a pushing force toward the fastener 420. Thus, the main body 330 and the fastener 420 can be pushed and tightly attached to each other, which can effectively reduce the probability of the fastener 420 accidentally rotating and loosening.

[0144] For example, taking the elastic structure 430 including a spring as an example, the spring can be sleeved on the spiral member 410, and the spring is located between the main body 330 and the connecting part 210. When the spiral member 410 passes through the assembly hole 302 and is screwed to the second threaded hole 231 of the connecting part 210, and the fastener 420 abuts against the main body 330 so that the main body 330 abuts against the first flange structure 100 and the connecting part 210, the spring is compressed between the main body 330 and the connecting part 210, and the spring applies a force to the main body 330 according to its own elasticity, so that the main body 330 can abut against the fastener 420, so as to reduce the probability of accidental loosening of the fastener 420, thereby reducing the probability of loosening of the main body 330 and improving the connection stability between the first flange structure 100 and the second flange structure 200.

[0145] Please refer to Figures 1 to 3 In some embodiments, a screw-on portion 230 is provided on the connection portion 210 , and a second threaded hole 231 is formed on the screw-on portion 230 ; an avoidance groove 110 is formed on the first flange structure 100 , and the screw-on portion 230 is accommodated in the avoidance groove 110 .

[0146] It can be understood that the second threaded hole 231 is provided on the screw-on portion 230, and the screw member 410 is specifically screwed into the second threaded hole 231 on the screw-on portion 230. The screw-on portion 230 can be, but is not limited to, a rectangular block structure, a spherical block structure, a columnar structure, etc.; the screw-on portion 230 is arranged on the connecting portion 210, for example, it can be fixed to the connecting portion 210 by welding, bonding, clamping, integral molding, etc. The screw-on portion 230 can be arranged at any position of the connecting portion 210, for example, it can be arranged on the connecting end surface 2101.

[0147] An avoidance groove 110 is provided on the first flange structure 100 . It can be understood that the avoidance groove 110 can be provided on the first flange structure 100 along the axial direction of the second threaded hole 231 . When the first flange structure 100 is assembled into the limiting slot 201 , the screw-on portion 230 is located in the avoidance groove 110 .

[0148] In this way, the screw-on portion 230 is used to form the second threaded hole 231 and is threadedly connected to the screw member 410, and the screw-on portion 230 is accommodated in the avoidance groove 110 of the first flange structure 100. The fastener 420 applies a resisting force to the main body 330 along the axial direction of the threaded connection section 411 of the screw member 410, and the axial direction of the threaded connection section 411 of the screw member 410 points to the screw-on portion 230, that is, points to the first flange structure 100. As a result, the main body 330 can more fully apply the force to the first flange structure 100, so that the locking effect of the first flange structure 100 inserted into the limit slot 201 is better, that is, the connection stability of the first flange structure 100 and the second flange structure 200 is better.

[0149] Please refer to Figures 1 to 3 In some embodiments, the tooling flange 1000 further includes a filling piece 600 , and the filling piece 600 is threadedly connected to the second threaded hole 231 along a side away from the main body 330 .

[0150] Optionally, the filling member 600 includes but is not limited to a structural member such as a step pin and a positioning plug for screwing into the second threaded hole 231 .

[0151] In this way, by screwing the filling piece 600 in the second threaded hole 231, the filling piece 600 can be used as a reference when the spiral member 410 is screwed in the third threaded hole, until the spiral member 410 is screwed in to abut against the filling piece 600 to achieve full connection, and then the fastener 420 is used to push against the main body 330, thereby reducing the probability of poor fastening effect caused by insufficient length of the spiral member 410 screwed into the second threaded hole 231, thereby effectively improving the stability of the spiral member 410 and the fastener 420 working together and locking on the main body 330.

[0152] Please refer to Figure 1 and Figure 2 In some embodiments, a positioning groove 223 is provided on the limiting portion 220 , and a positioning member 120 is provided on the first flange structure 100 . The positioning member 120 is configured to be inserted into the positioning groove 223 when the first flange structure 100 is inserted into the limiting slot 201 .

[0153] It can be understood that one or more positioning grooves 223 can be provided on the limiting portion 220 , and the number of positioning members 120 can be one or any number less than or equal to the number of positioning grooves 223 ; each positioning member 120 is positioned and inserted in the corresponding positioning groove 223 .

[0154] The positioning member 120 includes but is not limited to positioning structures such as positioning pins, positioning blocks, and positioning protrusions; the positioning member 120 is arranged on the first flange structure, and optionally, the positioning member 120 can be fixed to the first flange structure by screw connection, welding, integral molding, clamping, etc. The positioning groove 223 can be provided at any position of the limiting portion 220, as long as the positioning member 120 can be simultaneously inserted into the positioning groove 223 during the process of the first flange structure 100 being inserted into the limiting slot 201.

[0155] For example, in some specific embodiments, the positioning member 120 can be a positioning pin that is clamped on the first flange structure 100, and the limiting portion 220 is recessed at one end side away from the connecting portion 210 and in the direction of the connecting portion 210 to form a positioning groove 223; thus, in the process of inserting the first flange structure 100 into the limiting slot 201, the positioning pin can be positioned and inserted into the positioning groove 223, so that the first flange structure 100 is positioned and inserted into the limiting slot 201 to achieve precise assembly.

[0156] Below, the tooling flange 1000 of the present application will be described in conjunction with a specific implementation method.

[0157] Please refer to Figures 1 to 5 In some specific implementations, the tooling flange 1000 includes a first flange structure 100, a second flange structure 200, a locking structure 300 and a fastening structure 400; the second flange structure 200 includes a connecting portion 210 and a limiting portion 220, the connecting portion 210 has a connecting end face 2101 facing the first flange structure 100, and the limiting portion 220 has a surface facing the connecting end face 2101 and the connecting end face 2101 to form a limiting slot 201 for the first flange structure 100. A flange structure 100 is inserted and connected; wherein, the limiting portion 220 has a first limiting surface 221, a positioning groove 223 is provided on the limiting portion 220, a positioning piece 120 is fixed on the first flange structure 100, and the first flange structure 100 has a first abutting surface 101, and the angle between the first abutting surface 101 and the connecting end surface 2101 is an acute angle. When the first flange structure 100 is inserted in the limiting slot 201, the first abutting surface 101 is in contact with the first limiting surface 221.

[0158] The locking structure 300 includes a main body 330 in a rectangular block structure, and a first locking portion 310 and a second locking portion 320 are integrally formed on the main body 330, so that the first flange structure 100 and the connecting portion 210 can be inserted between the first locking portion 310 and the second locking portion 320, and the first locking portion 310 and the second locking portion 320 form a clamping effect on the first flange structure 100 and the connecting portion 210. Among them, the first flange structure 100 also has a second abutting surface 102, and the angle between the second abutting surface 102 and the connecting end surface 2101 is an acute angle. When the first locking portion 310 and the second locking portion 320 clamp the first flange structure 100 and the connecting portion 210, the second abutting surface 102 fits the surface of the first locking portion 310. The connecting portion 210 has a fourth abutting surface 211, which is parallel to the connecting end surface 2101, and the fourth abutting surface 211 is connected to the end side surface of the connecting portion 210 facing away from the first flange structure 100 through a transition surface. When the first locking portion 310 and the second locking portion 320 clamp the first flange structure 100 and the connecting portion 210, the fourth abutting surface 211 fits against the surface of the second locking portion 320.

[0159] Among them, in the direction parallel to the connecting end face 2101, the main body 330 and the limiting portion 220 are respectively located on the opposite sides of the connecting portion 210, and in the direction parallel to the connecting end face 2101, the main body 330 is provided with a penetrating guide hole 301 and an assembly hole 302; the tooling flange 1000 also includes a guide member 500, which can be a guide pin, which is passed through the guide hole 301 and connected to the connecting portion 210, and at the same time, the head of the guide pin limits the main body 330 on the guide pin.

[0160] The fastening structure 400 includes a screw member 410, a fastener 420 and an elastic member, wherein the screw member 410 can be a screw, the fastener 420 can be a nut, and the elastic member can be a compression spring; an assembly hole 302 is provided on the main body 330, and the connecting portion 210 is integrally formed with a screw-on portion 230 on the end side surface facing the first flange structure 100, and the screw-on portion 230 is provided with a second threaded hole 231 opposite to the assembly hole 302; an avoidance hole is provided on the first flange structure 100, so that when the first flange structure 100 is assembled on the second flange structure 200 and inserted into the limiting slot 201, the screw-on portion 230 is accommodated in the avoidance groove 110.

[0161] During assembly, the first flange structure 100 is first inserted into the limiting slot 201, and during the insertion process, the positioning member 120 is inserted into the positioning slot 223 to achieve positioning insertion, and then the main body 330 is moved according to the guidance of the guide pin, so that the main body 330 is pressed against the first flange structure 100 and the connecting part 210 in the direction of the limiting part 220, and the first flange structure 100 remains locked in the state of being inserted in the limiting slot 201, and the first locking part 310 and the second locking part 320 will clamp the first flange structure 100 and the connecting part 210; the screw is passed through the assembly hole 302 and screwed into the second threaded hole 231 of the screw-on part 230, and the nut is rotated so that the nut rotates in the direction of the main body 330 until it can no longer rotate, at which time a fixed connection operation of the first flange structure 100 and the second flange structure 200 is formed.

[0162] When the gripper structure needs to be replaced, the first flange structure 100 and the second flange structure 200 need to be disassembled. The nut only needs to be rotated away from the main body 330 so that the screw can be unscrewed from the connecting part 210, and then the main body 330 is removed from the first flange structure 100 and the connecting part 210 along the guide pin. The first locking part 310 and the second locking part 320 release the clamping state of the first flange structure 100 and the connecting part 210, so that the first flange structure 100 can be taken out of the limiting slot 201 and the purpose of disassembly is achieved; that is, the gripper replacement operation only needs to disassemble the fastening structure 400 to achieve the disassembly and replacement, which effectively improves the replacement efficiency and shortens the replacement cycle.

[0163] Please refer to Figure 1 In the second aspect, the embodiment of the present application also provides a gripping device, including a main structure (not shown in the figure), a gripping structure (not shown in the figure) and the tooling flange 1000 as mentioned above, the main structure is connected to the connecting part 210 in the second flange structure 200 of the tooling flange 1000, and the gripping structure is connected to the first flange structure 100 of the tooling flange 1000.

[0164] The gripping device provided in the embodiment of the present application includes the above-mentioned tooling flange 1000. When the above-mentioned tooling flange 1000 has a high efficiency in disassembling, assembling and replacing the first flange structure 100, the gripping device can effectively reduce the changeover cycle of the gripper structure.

[0165] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A tooling flange, used to connect the main structure and the gripper structure of a gripping device, characterized in that: The tooling flange includes A first flange structure connected to the gripper structure; A second flange structure, the second flange structure comprises a connecting portion and a limiting portion arranged on the connecting portion, the connecting portion is connected to the main structure, the connecting portion has a connecting end face facing the first flange structure, the connecting end face and a surface of the limiting portion facing the connecting end face are enclosed to form a limiting slot; a portion of the first flange structure is inserted into the limiting slot; a locking structure comprising a main body and a first locking portion and a second locking portion provided on the main body, wherein the first locking portion and the second locking portion clamp the first flange structure and the connecting portion in a direction perpendicular to the connecting end surface; and A fastening structure is connected to the connecting portion, and the fastening structure is used to abut the main body against the first flange structure and the connecting portion, so that the first flange structure abuts against the limiting slot.

2. The tooling flange according to claim 1, characterized in that: The limiting portion has a first limiting surface facing the connecting portion, and the first flange structure has a first abutting surface, and the first abutting surface is attached to the first limiting surface.

3. The tooling flange according to claim 2, characterized in that: An included angle α is formed between the first limiting surface and the connecting end surface, wherein: 0°≤α<90°.

4. The tooling flange according to claim 2, characterized in that: The limiting portion further comprises a second limiting surface connecting the first limiting surface and the connecting portion, and the first limiting surface, the second limiting surface and the connecting portion are surrounded to form the limiting slot.

5. The tooling flange according to any one of claims 1 to 4, characterized in that: The first flange structure has a second abutting surface, and at least a portion of the second abutting surface is in contact with a surface of the first locking portion.

6. The tooling flange according to claim 5, characterized in that: An included angle β is formed between the second abutting surface and the connecting end surface, wherein: 0°≤β<90°.

7. The tooling flange according to claim 5, characterized in that: The first flange structure further comprises a third abutting surface connecting the second abutting surface and an end side surface of the first flange structure facing the connecting portion, and the third abutting surface is disposed against the main body portion.

8. The tooling flange according to any one of claims 1 to 4, 6 and 7, characterized in that: The connecting portion has a fourth abutting surface, and at least a portion of the fourth abutting surface is in contact with a surface of the second locking portion.

9. The tooling flange according to claim 8, characterized in that: An included angle δ is formed between the fourth abutting surface and the connecting end surface, wherein: 0°≤δ<90°.

10. The tooling flange according to claim 8, characterized in that: The connecting portion further comprises a fifth abutting surface connecting the fourth abutting surface and the connecting end surface, and the fifth abutting surface is abutted against the main body portion.

11. The tooling flange according to any one of claims 1 to 4, 6, 7, 9 and 10, characterized in that: In a direction parallel to the connecting end surface, the main body portion and the limiting portion are respectively located on two opposite sides of the connecting portion.

12. The tooling flange according to any one of claims 1 to 4, 6, 7, 9 and 10, characterized in that: The tooling flange also includes a guide member. In a direction parallel to the connecting end surface, the main body is provided with a penetrating guide hole. The guide member is passed through the guide hole and connected to the connecting portion.

13. The tooling flange according to claim 12, characterized in that: An abutting end portion is formed on the guide member, and the abutting end portion is used to limit the main body portion, and the main body portion is located between the abutting end portion and the connecting portion.

14. The tooling flange according to any one of claims 1 to 4, 6, 7, 9, 10, and 13, characterized in that: The fastening structure comprises a screw and a fastener, the screw has a threaded connection section, the fastener is provided with a first threaded hole, and the fastener is screwed onto the threaded connection section through the first threaded hole; The main body is provided with a through assembly hole, the connecting part is provided with a second threaded hole, the screw member passes through the assembly hole and is screwed to the second threaded hole, and the fastener is disposed against the main body.

15. The tooling flange according to claim 14, characterized in that: The fastening structure further includes an elastic structure, which is disposed between the main body and the connecting portion and abuts against the main body.

16. The tooling flange according to claim 14, characterized in that: The connecting portion is provided with a screw-on portion, and the screw-on portion is provided with the second threaded hole; the first flange structure is provided with an avoidance groove, and the screw-on portion is accommodated in the avoidance groove.

17. The tooling flange according to claim 16, characterized in that: The tooling flange further includes a filling piece, and the filling piece is threadedly connected in the second threaded hole along a side away from the main body.

18. The tooling flange according to any one of claims 1 to 4, 6, 7, 9, 10, 13, 15, 16, and 17, characterized in that: The limiting portion is provided with a positioning groove, and the first flange structure is provided with a positioning piece, and the positioning piece is configured to be inserted into the positioning groove when the first flange structure is inserted into the limiting slot.

19. A gripping device, characterized in that: It comprises a main structure, a gripping structure and a tooling flange as claimed in any one of claims 1 to 18, wherein the main structure is connected to a connecting portion in a second flange structure of the tooling flange, and the gripping structure is connected to a first flange structure of the tooling flange.

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