Clamp and clamping device

Abstract

The utility model provides a clamp and a clamping device, the clamp comprises at least one clamping unit, each clamping unit comprises a bearing plate and at least two clamping jaws arranged on the bearing plate, and each clamping jaw can move in a corresponding first plane to get close to or away from other clamping jaws to jointly realize opening and closing actions; each clamping jaw comprises a plurality of clamping arms which are sequentially connected, every two adjacent clamping arms are detachably connected, and every two clamping arms which are connected with each other can relatively rotate on a first plane so as to adjust the included angle between the two clamping arms. According to the technical scheme, the clamping structure of the clamp is arranged to be an adjustable movable structure, the clamping jaw of the clamping structure is composed of a plurality of detachable clamping arms, the number of the clamping arms can be adjusted according to the size of a workpiece, and therefore the size of the clamping jaw is adjusted to be matched with the workpiece; and meanwhile, the clamping arms are of a rotatable structure, the assembling angle can be adjusted according to the clamping angle needed by the workpiece, and different clamping angles can be fully met through cooperation of the assembling angles of the multiple clamping arms.

Description

Technical Field

[0001] The utility model relates to the technical field of clamps, in particular to a clamp and a clamping device. Background Art

[0002] Fixtures are a kind of process equipment used to position and clamp workpieces during mechanical processing, which is directly related to processing accuracy and production efficiency. In the production of household appliances, due to the combination of the concept of human-machine collaborative operation, a fully automated production mode is often adopted. When the injection molded parts are produced from the injection molding machine, the clamps will be used to clamp the injection molded parts and realize secondary processes, such as laser marking, coating and silk screen printing, hanging and picking, flipping and transformation, etc.

[0003] The current clamps have some problems during use, mainly manifested in their poor versatility. Specifically, for workpieces of different sizes, clamps of different specifications are often required. In addition, in addition to differences in size, workpieces also have differences in shape and structure. For workpieces of different structures, especially the special-shaped structures that exist in large numbers in injection molding, the clamps need to be adapted not only to their specifications, but also to their clamping angles. This results in the need to equip many different types of clamps for backup when using existing clamps for operations. Not only is the cost of using the clamps high, but the large amount of time required to replace the clamps also affects production efficiency. Utility Model Content

[0004] In order to solve the problem of poor versatility of the clamp in the prior art, the utility model provides a clamp and a clamping device.

[0005] In a first aspect, the utility model provides a clamp, which includes at least one clamping unit, wherein the clamping unit includes a carrier plate and at least two clamping jaws arranged on the carrier plate, each of the clamping jaws can move within a corresponding first plane and approach or move away from other clamping jaws to jointly realize an opening and closing action;

[0006] Wherein, each of the clamping jaws comprises a plurality of clamping arms connected in sequence, two adjacent clamping arms are detachably connected, and the two clamping arms connected to each other can rotate relative to each other in the first plane to adjust the angle between them.

[0007] In one embodiment, a locking member is provided at the connection of the two clamp arms connected to each other, and the locking member is used to lock to limit the relative rotation between the corresponding two clamp arms to lock the size of the included angle.

[0008] In one embodiment, of the two clamp arms connected to each other, one of the clamp arms is configured with a first connection surface parallel to the first plane, and the other clamp arm is configured with a second connection surface in contact with the first connection surface;

[0009] Wherein, the locking member is constructed as a threaded fastener vertically passing through the first connecting surface and the second connecting surface, and the locking member is threadably matched with the corresponding two clamp arms.

[0010] In one embodiment, the first connecting surface and the second connecting surface are respectively constructed with a locking structure that can engage with each other, and the locking structure includes a plurality of locking teeth, and the plurality of locking teeth are arranged in sequence along the circumference of the rotation axis of the corresponding two clamp arms, and the locking teeth are constructed as a strip structure extending radially along the rotation axis.

[0011] In one embodiment, the axis of the locking member coincides with the rotation axes of the corresponding two clamp arms.

[0012] In one embodiment, the first end of the clamp is connected to a transmission rod and a support rod respectively, the end of the transmission rod is connected to a clamping drive assembly provided on the bearing plate, and the end of the support rod is connected to the bearing plate;

[0013] The support rod is fixedly connected to the bearing plate, and the support rod is rotatably connected to the clamp; or the support rod is rotatably connected to the bearing plate, and the support rod is fixedly connected to the clamp.

[0014] In one embodiment, the clamping drive assembly is fixed to the first surface of the carrying plate, a bracket is provided on the first surface, the clamping drive assembly is located between the bracket and the first surface, and the two clamping claws are respectively located on both sides of the bracket;

[0015] Wherein, driving parts are respectively constructed on both sides of the clamping drive assembly, and the driving parts are connected to the transmission rods of the corresponding clamping jaws, and the ends of the two supporting rods corresponding to the two clamping jaws are connected to the bracket.

[0016] In one embodiment, a plurality of adsorption components are arranged on the bracket, each of the adsorption components comprises a base fixed to the bracket and a suction cup arranged on the base, the base is connected to an air receiving pipe, and the suction cup is located on a side of the bracket away from the first surface;

[0017] The suction cup can move relative to the base in a direction perpendicular to the first surface, and an elastic buffer is provided between the suction cup and the base.

[0018] In one embodiment, an annular groove centered at the location of the clamping drive assembly is configured on the first surface, and two ends of the bracket are respectively matched with the annular groove and a connecting straight line between the two ends of the bracket passes through the center of the annular groove.

[0019] In one embodiment, the clamping jaw is arranged on a first surface corresponding to the carrying plate, the carrying plate includes a second surface opposite to the first surface, the first surface or the second surface is configured with a splicing structure, and the plurality of carrying plates of the plurality of the clamping units in the clamp can be spliced ​​with each other through the splicing structure;

[0020] Wherein, the splicing structure includes a splicing groove and a splicing portion, wherein the splicing groove is constructed at an edge position of the surface where it is located, and the splicing portion is constructed at a portion of the edge of the surface where it is located that protrudes outward.

[0021] In the second aspect, the utility model proposes a clamping device, which includes the above-mentioned clamp and a manipulator that carries the clamp, and thus has all the technical effects possessed by it.

[0022] The above technical features can be combined in various suitable ways or replaced by equivalent technical features as long as the purpose of the utility model can be achieved.

[0023] Compared with the prior art, the clamp and the clamping device provided by the utility model have at least the following features:

[0024] Beneficial effects:

[0025] The utility model discloses a clamp and a clamping device, in which the clamping structure of the clamp is arranged as an adjustable movable structure, and the clamping jaws of the clamping structure are constructed of multiple detachable clamping arms, the number of which can be adjusted according to the size of the workpiece, thereby adjusting the size of the clamping jaws to adapt to the workpiece; at the same time, the clamping arms are of a rotatable structure, and the assembly angle can be adjusted according to the clamping angle required by the workpiece, and the coordination of the assembly angles of multiple clamping arms can fully meet different clamping angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0027] Figure 1 A three-dimensional diagram showing a clamping unit of the clamp of the present invention;

[0028] Figure 2 A stereoscopic view of the clamping unit of the present invention is shown in another viewing angle;

[0029] Figure 3 The front view of the clamping unit of the utility model under the orthographic projection viewing angle is shown;

[0030] Figure 4 The figure shows a side view of the clamping unit of the present invention in the perspective of orthographic projection;

[0031] Figure 5 A three-dimensional diagram showing the clamp of the present invention;

[0032] Figure 6 A stereoscopic view of the clamp of the present invention is shown in another perspective.

[0033] In the drawings, like reference numerals are used for like parts. The drawings are not necessarily to scale.

[0034] Reference numerals:

[0035] 1-gripping unit, 11-carrying plate, 111-annular groove, 112-air inlet interface, 113-air outlet interface, 12-clamping claw, 121-clamping arm, 122-locking member, 123-first connecting surface, 124-second connecting surface, 125-gripping tooth, 13-transmission rod, 14-support rod, 15-gripping drive assembly, 151-driving part, 16-bracket, 17-adsorption assembly, 171-base, 172-suction cup, 173-elastic buffer, 18-air connecting pipe, 19-splicing structure, 191-splicing groove, 192-splicing part. DETAILED DESCRIPTION

[0036] The utility model will be further described below in conjunction with the accompanying drawings.

[0037] Example 1

[0038] An embodiment of the utility model provides a clamp, which includes at least one clamping unit 1, the clamping unit 1 includes a supporting plate 11 and at least two clamping jaws 12 arranged on the supporting plate 11, each clamping jaw 12 can move in a corresponding first plane and approach or move away from other clamping jaws 12 to jointly realize an opening and closing action; wherein each clamping jaw 12 includes a plurality of clamping arms 121 connected in sequence, two adjacent clamping arms 121 are detachably connected, and the two clamping arms 121 connected to each other can rotate relative to each other in the first plane to adjust the angle between each other.

[0039] Specifically, as shown in the attached figure Figure 5 and Figure 6 As shown, the fixture includes a plurality of clamping modules, each of which is a clamping unit 1, and each clamping unit 1 is used to clamp at least one workpiece. Figure 1 As shown, the clamping unit 1 mainly includes a carrier plate 11 as a structural basis and at least two clamping jaws 12 for performing a clamping action. In this embodiment, there are two clamping jaws 12, and the two clamping jaws 12 can cooperate with each other to achieve clamping and lowering of the workpiece. The two clamping jaws 12 cooperate with each other to complete the opening and closing action through their respective activities, and the activities of the clamping jaws 12 correspond to the first plane.

[0040] In this embodiment, the clamping jaw 12 is designed as an adjustable movable structure. The clamping jaw 12 itself is composed of a plurality of clamping arms 121, each of which is a long rod-shaped structure, and the ends of the plurality of clamping arms 121 are connected to form the clamping jaw 12, as shown in the accompanying drawings. Figure 2 and Figure 3 As shown. First, the multiple clamping arms 121 of the clamping jaw 12 are detachably connected, and the length of each clamping arm 121 is fixed, so that the number of clamping arms 121 in the clamping jaw 12 can be adjusted according to the size of the workpiece, so that the length of the clamping jaw 12 can be changed, and then the workpiece of the corresponding size can be adapted. Secondly, in addition to being detachable, the connection mode of the two clamping arms 121 connected to each other in the clamping jaw 12 can also be relatively rotated to adjust the angle between each other, corresponding to the shape of the clamping jaw 12 as a whole, so as to meet the needs of workpieces of different shapes and different clamping angles required. Among them, by adjusting the clamping arms 121, the shape of the clamping jaw 12 can be changed according to the shape of the workpiece, so as to adapt to the outer contour of the workpiece; for example, for a spherical workpiece, the angle between two adjacent clamping arms 121 can be adjusted in sequence by rotating the clamping arms 121, so that the clamping jaw 12 is arc-shaped as a whole, and the two arc-shaped clamping jaws 12 can embrace the spherical workpiece, fully meeting the clamping needs of the spherical workpiece. In addition, for some special-shaped workpieces, their outer contours may be more complex, and only certain positions can be used as force points for clamping. Therefore, simply adapting to the outer contour of the workpiece may not meet the clamping needs. At this time, the number of clamp arms 121 and the angle of the clamp arms 121 can be adjusted in a targeted manner so that the final force application position of the clamp 12 corresponds to the force point of the workpiece, thereby meeting the clamping requirements of the special-shaped workpiece.

[0041] It should be noted that the first plane in this embodiment refers to the plane on which each clamping jaw 12 moves, rather than a specific plane. In this embodiment, the first plane is a plane perpendicular to the plane where the carrier plate 11 is located. Figure 3 and Figure 4 As shown, the movement of the two jaws 12 is carried out in one plane, and the two first planes corresponding to the two jaws 12 are coplanar; if the number of the jaws 12 is greater than two, for example, there are three jaws 12, the three first planes corresponding to the three jaws 12 are not coplanar, and preferably there is an angle of 60 degrees between them; the layout of other numbers of jaws 12 and the position of the first plane are similar and will not be repeated.

[0042] In this embodiment, the clamping structure of the clamp is set as an adjustable movable structure, and the clamping jaws 12 of the clamping structure are constructed of multiple detachable clamping arms 121. The number of clamping arms 121 can be adjusted according to the size of the workpiece, thereby adjusting the size of the clamping jaws 12 to adapt to the workpiece; at the same time, the clamping arms 121 adopt a rotatable structure, and the assembly angle can be adjusted according to the clamping angle required by the workpiece. The coordination of the assembly angles of multiple clamping arms 121 can fully meet different clamping angles.

[0043] Preferably, a locking member 122 is provided at the connection of the two clamp arms 121 connected to each other, and the locking member 122 is used to lock and limit the relative rotation between the corresponding two clamp arms 121 to lock the size of the included angle.

[0044] Specifically, since the two clamping arms 121 connected to each other adopt a rotatable structure to achieve the adjustability of the overall shape of the clamping jaw 12, it is necessary to ensure that the clamping arms 121 will not rotate when the clamping jaw 12 clamps the workpiece after adjustment, so as to stably clamp the workpiece. In this case, a locking member 122 needs to be provided at the connection between the two clamping arms 121, as shown in the accompanying drawings. Figure 2 and Figure 3 As shown, the locking member 122 is used to lock the connection portion of the two clamp arms 121 to limit the relative rotation of the two clamp arms 121 so as to keep the included angle of the two clamp arms 121 unchanged, that is, to ensure that the clamp arms 121 do not rotate when the clamping jaws 12 clamp a workpiece.

[0045] Furthermore, the clamping jaw 12 is arranged on the first surface of the corresponding supporting plate 11, and the supporting plate 11 includes a second surface relative to the first surface. The first surface or the second surface is constructed with a splicing structure 19, and the multiple supporting plates 11 of the multiple clamping units 1 in the clamp can be spliced ​​with each other through the splicing structure 19.

[0046] The splicing structure 19 includes a splicing groove 191 and a splicing portion 192 . The splicing groove 191 is constructed at the edge of the surface where it is located, and the splicing portion 192 is constructed at the portion of the edge of the surface where it is located that protrudes outward.

[0047] Specifically, the fixture as a whole can be provided with multiple clamping units 1 as needed to clamp multiple workpieces respectively. Especially in injection molding production, workpieces are batch injection molded, so using multiple clamping units 1 can meet the needs of injection molding production. Figure 5 and Figure 6 As shown, multiple clamping units 1 are connected to each other by splicing, and the splicing structure 19 can flexibly adjust the number of clamping units 1 as needed without changing the overall layout structure of the clamp. In this embodiment, the carrier plate 11 is configured as a rectangle to facilitate the splicing of multiple clamping units 1; of course, it can also be configured as other shapes, such as other regular polygons.

[0048] Specifically, in this embodiment, the splicing structure 19 includes a splicing groove 191 and a splicing portion 192 respectively constructed on two opposite sides of the carrier plate 11. The four sides of the rectangular carrier plate 11 are all constructed with the splicing structure 19, that is, two adjacent sides of the carrier plate 11 are constructed with the splicing groove 191, and the other two adjacent sides are constructed with the splicing portion 192, so that it can adapt to the array splicing of multiple carrier plates 11. As shown in the accompanying drawings Figure 1 As shown, in this embodiment, the splicing groove 191 is constructed on the edge of the second surface of the splicing plate (that is, the upper surface in the use state), and the splicing portion 192 is formed by the second surface edge of the splicing plate protruding outward, and the splicing groove 191 and the splicing portion 192 are consistent in shape and size. The splicing groove 191 and the splicing portion 192 are in a direction perpendicular to the side of the carrier plate 11, and their widths in the direction parallel to the side of the carrier plate 11 vary, so that they are clamped to each other to avoid separation; for example, as shown in the accompanying drawings Figure 1 As shown in FIG. 1 , the width of the joint portion 192 is larger as it is farther away from the carrier plate 11 . The joint structure 19 can also be constructed on the first surface of the carrier plate 11 as required.

[0049] When splicing, the splicing portion 192 of one of the bearing plates 11 is inserted into the splicing groove 191 of the other bearing plate 11, and the splicing portion 192 and the splicing groove 191 that match each other are limited to each other in the direction perpendicular to the second surface. Then, bolts can be used to pass through the splicing portion 192 and the splicing groove 191 that match each other, and the threaded connection structure of the bolts can be used to achieve further fixation after splicing, as shown in the attached figure Figure 1 and Figure 5 shown.

[0050] Example 2

[0051] An embodiment of the utility model provides a clamp, which includes at least one clamping unit 1, the clamping unit 1 includes a supporting plate 11 and at least two clamping jaws 12 arranged on the supporting plate 11, each clamping jaw 12 can move in a corresponding first plane and approach or move away from other clamping jaws 12 to jointly realize an opening and closing action; wherein each clamping jaw 12 includes a plurality of clamping arms 121 connected in sequence, two adjacent clamping arms 121 are detachably connected, and the two clamping arms 121 connected to each other can rotate relative to each other in the first plane to adjust the angle between each other.

[0052] Specifically, as shown in the attached figure Figure 5 and Figure 6 As shown, the fixture includes a plurality of clamping modules, each of which is a clamping unit 1, and each clamping unit 1 is used to clamp at least one workpiece. Figure 1As shown, the clamping unit 1 mainly includes a carrier plate 11 as a structural basis and at least two clamping jaws 12 for performing a clamping action. In this embodiment, there are two clamping jaws 12, and the two clamping jaws 12 can cooperate with each other to achieve clamping and lowering of the workpiece. The two clamping jaws 12 cooperate with each other to complete the opening and closing action through their respective activities, and the activities of the clamping jaws 12 correspond to the first plane.

[0053] In this embodiment, the clamping jaw 12 is designed as an adjustable movable structure. The clamping jaw 12 itself is composed of a plurality of clamping arms 121, each of which is a long rod-shaped structure, and the ends of the plurality of clamping arms 121 are connected to form the clamping jaw 12, as shown in the accompanying drawings. Figure 2 and Figure 3 As shown. First, the multiple clamping arms 121 of the clamping jaw 12 are detachably connected, and the length of each clamping arm 121 is fixed, so that the number of clamping arms 121 in the clamping jaw 12 can be adjusted according to the size of the workpiece, so that the length of the clamping jaw 12 can be changed, and then the workpiece of the corresponding size can be adapted. Secondly, in addition to being detachable, the connection mode of the two clamping arms 121 connected to each other in the clamping jaw 12 can also be relatively rotated to adjust the angle between each other, corresponding to the shape of the clamping jaw 12 as a whole, so as to meet the needs of workpieces of different shapes and different clamping angles required. Among them, by adjusting the clamping arms 121, the shape of the clamping jaw 12 can be changed according to the shape of the workpiece, so as to adapt to the outer contour of the workpiece; for example, for a spherical workpiece, the angle between two adjacent clamping arms 121 can be adjusted in sequence by rotating the clamping arms 121, so that the clamping jaw 12 is arc-shaped as a whole, and the two arc-shaped clamping jaws 12 can embrace the spherical workpiece, fully meeting the clamping needs of the spherical workpiece. In addition, for some special-shaped workpieces, their outer contours may be more complex, and only certain positions can be used as force points for clamping. Therefore, simply adapting to the outer contour of the workpiece may not meet the clamping needs. At this time, the number of clamp arms 121 and the angle of the clamp arms 121 can be adjusted in a targeted manner so that the final force application position of the clamp 12 corresponds to the force point of the workpiece, thereby meeting the clamping requirements of the special-shaped workpiece.

[0054] It should be noted that the first plane in this embodiment refers to the plane on which each clamping jaw 12 moves, rather than a specific plane. In this embodiment, the first plane is a plane perpendicular to the plane where the carrier plate 11 is located. Figure 3 and Figure 4As shown, the movement of the two jaws 12 is carried out in one plane, and the two first planes corresponding to the two jaws 12 are coplanar; if the number of the jaws 12 is greater than two, for example, there are three jaws 12, the three first planes corresponding to the three jaws 12 are not coplanar, and preferably there is an angle of 60 degrees between them; the layout of other numbers of jaws 12 and the position of the first plane are similar and will not be repeated.

[0055] In this embodiment, the clamping structure of the clamp is set as an adjustable movable structure, and the clamping jaws 12 of the clamping structure are constructed of multiple detachable clamping arms 121. The number of clamping arms 121 can be adjusted according to the size of the workpiece, thereby adjusting the size of the clamping jaws 12 to adapt to the workpiece; at the same time, the clamping arms 121 adopt a rotatable structure, and the assembly angle can be adjusted according to the clamping angle required by the workpiece. The coordination of the assembly angles of multiple clamping arms 121 can fully meet different clamping angles.

[0056] Preferably, a locking member 122 is provided at the connection of the two clamp arms 121 connected to each other, and the locking member 122 is used to lock and limit the relative rotation between the corresponding two clamp arms 121 to lock the size of the included angle.

[0057] Specifically, since the two clamping arms 121 connected to each other adopt a rotatable structure to achieve the adjustability of the overall shape of the clamping jaw 12, it is necessary to ensure that the clamping arms 121 will not rotate when the clamping jaw 12 clamps the workpiece after adjustment, so as to stably clamp the workpiece. In this case, a locking member 122 needs to be provided at the connection between the two clamping arms 121, as shown in the accompanying drawings. Figure 2 and Figure 3 As shown, the locking member 122 is used to lock the connection portion of the two clamp arms 121 to limit the relative rotation of the two clamp arms 121 so as to keep the included angle of the two clamp arms 121 unchanged, that is, to ensure that the clamp arms 121 do not rotate when the clamping jaws 12 clamp a workpiece.

[0058] Furthermore, the clamping jaw 12 is arranged on the first surface of the corresponding supporting plate 11, and the supporting plate 11 includes a second surface relative to the first surface. The first surface or the second surface is constructed with a splicing structure 19, and the multiple supporting plates 11 of the multiple clamping units 1 in the clamp can be spliced ​​with each other through the splicing structure 19.

[0059] The splicing structure 19 includes a splicing groove 191 and a splicing portion 192 . The splicing groove 191 is constructed at the edge of the surface where it is located, and the splicing portion 192 is constructed at the portion of the edge of the surface where it is located that protrudes outward.

[0060] Specifically, the fixture as a whole can be provided with multiple clamping units 1 as needed to clamp multiple workpieces respectively. Especially in injection molding production, workpieces are batch injection molded, so using multiple clamping units 1 can meet the needs of injection molding production. Figure 5 and Figure 6 As shown, multiple clamping units 1 are connected to each other by splicing, and the splicing structure 19 can flexibly adjust the number of clamping units 1 as needed without changing the overall layout structure of the clamp. In this embodiment, the carrier plate 11 is configured as a rectangle to facilitate the splicing of multiple clamping units 1; of course, it can also be configured as other shapes, such as other regular polygons.

[0061] Specifically, in this embodiment, the splicing structure 19 includes a splicing groove 191 and a splicing portion 192 respectively constructed on two opposite sides of the carrier plate 11. The four sides of the rectangular carrier plate 11 are all constructed with the splicing structure 19, that is, two adjacent sides of the carrier plate 11 are constructed with the splicing groove 191, and the other two adjacent sides are constructed with the splicing portion 192, so that it can adapt to the array splicing of multiple carrier plates 11. As shown in the accompanying drawings Figure 1 As shown, in this embodiment, the splicing groove 191 is constructed on the edge of the second surface of the splicing plate (that is, the upper surface in the use state), and the splicing portion 192 is formed by the second surface edge of the splicing plate protruding outward, and the splicing groove 191 and the splicing portion 192 are consistent in shape and size. The splicing groove 191 and the splicing portion 192 are in a direction perpendicular to the side of the carrier plate 11, and their widths in the direction parallel to the side of the carrier plate 11 vary, so that they are clamped to each other to avoid separation; for example, as shown in the accompanying drawings Figure 1 As shown in FIG. 1 , the width of the joint portion 192 is larger as it is farther away from the carrier plate 11 . The joint structure 19 can also be constructed on the first surface of the carrier plate 11 as required.

[0062] When splicing, the splicing portion 192 of one of the bearing plates 11 is inserted into the splicing groove 191 of the other bearing plate 11, and the splicing portion 192 and the splicing groove 191 that match each other are limited to each other in the direction perpendicular to the second surface. Then, bolts can be used to pass through the splicing portion 192 and the splicing groove 191 that match each other, and the threaded connection structure of the bolts can be used to achieve further fixation after splicing, as shown in the attached figure Figure 1 and Figure 5 shown.

[0063] Furthermore, among the two clamp arms 121 connected to each other, one of the clamp arms 121 is constructed with a first connecting surface 123 parallel to the first plane, and the other clamp arm 121 is constructed with a second connecting surface 124 that is in contact with the first connecting surface 123; wherein the locking member 122 is constructed as a threaded fastener that vertically passes through the first connecting surface 123 and the second connecting surface 124, and the locking member 122 is threadedly matched with the corresponding two clamp arms 121.

[0064] Specifically, as shown in the attached figure Figure 4As shown, the ends of the two clamping arms 121 connected to each other are respectively configured with a first connection surface 123 and a second connection surface 124, the first connection surface 123 and the second connection surface 124 are in contact with each other and both are parallel to the aforementioned first plane. In this embodiment, the locking member 122 is configured as a threaded fastener (screw, bolt, stud, etc.), the locking member 122 sequentially passes through the two clamping arms 121, that is, vertically passes through the first connection surface 123 and the second connection surface 124, the locking member 122 and the two clamping arms 121 are threadedly matched, so that the threaded matching structure between the locking member 122 and the clamping arm 121 can be utilized, and the first connection surface 123 and the second connection surface 124 can be pressed against each other by tightening the locking member 122, and the relative rotation of the two clamping arms 121 can be limited by friction.

[0065] Furthermore, the first connecting surface 123 and the second connecting surface 124 are respectively constructed with a locking structure that can engage with each other, and the locking structure includes a plurality of locking teeth 125, and the plurality of locking teeth 125 are arranged in sequence along the circumference of the rotation axis of the corresponding two clamping arms 121, and the locking teeth 125 are constructed as a strip structure extending radially along the rotation axis.

[0066] Specifically, as shown in the attached figure Figure 4 As shown, the first connection surface 123 and the second connection surface 124 are configured with a plurality of latching teeth 125, and the plurality of latching teeth 125 are arranged in sequence along the circumferential direction as a whole, so that the latching structure is an annular structure, similar to the gear tooth structure of a flat gear, and the latching teeth 125 on the first connection surface 123 and the second connection surface 124 can be engaged with each other. Based on the locking structure of the locking member 122 for the two clamping arms 121, the locking member 122 can maintain the engaged state of the latching teeth 125 on the first connection surface 123 and the second connection surface 124, thereby further limiting the relative rotation of the two clamping arms 121 by using the latching teeth 125 structure. After loosening the locking member 122, the two clamping arms 121 can move away from each other, and the latching teeth 125 on the first connection surface 123 and the second connection surface 124 can also be released from the engaged state.

[0067] Optionally, the axis of the locking member 122 coincides with the rotation axis of the corresponding two clamping arms 121. Figure 2 and Figure 3 As shown, the locking member 122 passes through the center of the first connecting surface 123 and the second connecting surface 124, so that the locking member 122 can directly serve as the rotation axis of the clamping arm 121. When the locking member 122 is loosened but not completely unscrewed, the two clamping arms 121 connected to each other can directly rotate around the locking member 122, so that there is no need to additionally set a rotation axis at the connection between the two clamping arms 121.

[0068] Furthermore, the first end of the clamping jaw 12 is respectively connected to a transmission rod 13 and a support rod 14, the end of the transmission rod 13 is connected to a clamping drive assembly 15 arranged on the supporting plate 11, and the end of the support rod 14 is connected to the supporting plate 11; wherein, the support rod 14 is fixedly connected to the supporting plate 11, and the support rod 14 is rotatably connected to the clamping jaw 12; or, the support rod 14 is rotatably connected to the supporting plate 11, and the support rod 14 is fixedly connected to the supporting plate 11.

[0069] Specifically, a clamping drive assembly 15 is also provided on the carrier plate 11, and the clamping drive assembly 15 is used to provide power for the movement of the clamping jaw 12. In this embodiment, the clamping drive assembly 15 and the clamping jaw 12 form a lever structure to achieve driving. Figures 2 to 4 As shown, the clamping drive assembly 15 is connected to the first end of the clamping jaw 12 through the transmission rod 13. In this embodiment, the clamping drive assembly 15 adopts a telescopic drive structure, so it is necessary to convert the telescopic movement into the flipping movement of the clamping jaw 12 through further structural design. A support rod 14 is provided at the first end of the jaw, and the end of the support rod 14 is connected (directly or indirectly) to the bearing plate 11, and the support rod 14 is not parallel to the transmission rod 13. In this structure, the clamping jaw 12 and the transmission rod 13 can be regarded as a lever itself as a whole, and the support rod 14 part serves as the fulcrum of the lever. Under the drive of the clamping drive assembly 15, the lever composed of the clamping jaw 12 and the transmission rod 13 can be flipped around the fulcrum, thereby realizing the opening and closing action of the clamping jaw 12.

[0070] In this embodiment, the clamping drive assembly 15 adopts a pneumatic structure, that is, the clamping drive assembly 15 is connected to the air source through the air connection pipe 18, and the air source drives the driving part 151 of the clamping drive assembly 15 to extend by injecting air into the clamping drive assembly 15, thereby driving the clamping claw 12 through the transmission rod 13. For a clamp formed by splicing a plurality of clamping units 1, an air inlet interface 112 and an air outlet interface 113 are provided on the carrier plate 11 of each clamping unit 1 corresponding to the clamping drive assembly 15, and the air inlet interface 112 and the air outlet interface 113 are respectively connected to the air connection pipe 18. For two adjacent clamping units 1, the air inlet interface 112 of one clamping unit 1 is connected to the air outlet interface 113 of the other clamping unit 1 through the air connection pipe 18, as shown in the accompanying drawing Figure 5 As shown, the clamping drive components 15 of the multiple clamping units 1 in the clamp are connected as a whole through the air pipe 18 to achieve synchronous drive.

[0071] Preferably, the support rod 14 and the first end of the clamp 12 are connected in the manner of the two clamp arms 121 mentioned above being connected to each other, that is, the support rod 14 and the first end of the clamp 12 are connected in the manner of surface-to-surface fitting and a locking member 122, and a latch tooth 125 structure is also provided on the corresponding surface, so that the angle between the support rod 14 and the clamp 12 can also be adjusted by relative rotation.

[0072] Furthermore, the clamping drive assembly 15 is fixed to the first surface of the supporting plate 11, and a bracket 16 is provided on the first surface. The clamping drive assembly 15 is located between the bracket 16 and the first surface, and the two clamping jaws 12 are respectively located on both sides of the bracket 16; wherein, the two sides of the clamping drive assembly 15 are respectively constructed with a driving part 151, and the driving part 151 is connected to the transmission rod 13 of the corresponding clamping jaw 12, and the ends of the two support rods 14 corresponding to the two clamping jaws 12 are both connected to the bracket 16.

[0073] Specifically, as shown in the attached figure Figure 2 As shown, a bracket 16 is also provided on the first surface of the carrier plate 11 on which the clamping drive assembly 15 is installed. The bracket 16 spans over the clamping drive assembly 15. The purpose of providing the bracket 16 is mainly to facilitate the installation of the support rod 14 of the clamping jaw 12, because the connection between the support rod 14 and the clamping jaw 12 is a certain distance away from the carrier plate 11, which is not convenient for direct connection to the carrier plate 11, and direct connection to the carrier plate 11 may affect the angle of the lever, thereby affecting the opening and closing range of the clamping jaw 12. Therefore, the bracket 16 is provided to be relatively protruding from the carrier plate 11, and the bracket 16 is closer to the position of the support rod 14, which is convenient for the connection of the support rod 14.

[0074] As shown in the attached picture Figure 3 As shown, the bracket 16 is located between the two clamping jaws 12 and corresponds to the position of the support rod 14. The two sides of the clamping drive assembly 15 respectively have a retractable drive part 151, and the end of the drive part 151 is hinged to the transmission rod 13 of the clamping jaw 12 on one side.

[0075] Furthermore, a plurality of adsorption components 17 are provided on the bracket 16, each of which includes a base 171 fixed to the bracket 16 and a suction cup 172 provided on the base 171, the base 171 is connected to an air receiving pipe 18, and the suction cup 172 is located on the side of the bracket 16 away from the first surface; wherein the suction cup 172 can move relative to the base 171 in a direction perpendicular to the first surface, and an elastic buffer 173 is provided between the suction cup 172 and the base 171.

[0076] Specifically, as shown in the attached figure Figures 2 to 4 As shown, the bracket 16 is provided with an adsorption component 17, which is used to provide an adsorption function in addition to the clamping function provided by the clamp 12, so that the clamp has multiple ways of clamping the workpiece. The adsorption component 17 includes a base 171 and a suction cup 172. The root portion of the suction cup 172 is partially inserted into the base 171, and the suction cup 172 can move relative to the base 171 in a direction perpendicular to the first surface. An elastic buffer 173 is provided between the suction cup 172 and the base 171. In this embodiment, the elastic buffer 173 is a spring, which is sleeved outside the suction cup 172 to improve the buffering function when the suction cup 172 contacts the workpiece.

[0077] In addition, for the multiple adsorption components 17 of the same clamping unit 1, the channels constructed in total inside the bracket 16 are interconnected as a whole, and the multiple adsorption components 17 on the same clamping unit 1 form an adsorption structure, and the adsorption structure has an air inlet end and an air outlet end (the air inlet end and the air outlet end are respectively constructed on the bases 171 of the corresponding two adsorption components 17). For two adjacent clamping units 1, the air inlet end of the adsorption structure of one clamping unit 1 is connected to the air outlet end of the adsorption structure of the other clamping unit 1 through an air connection pipe 18, as shown in the figure Figure 5 As shown, multiple adsorption components 17 of multiple clamping units 1 in the clamp are connected as a whole through an air pipe 18 to achieve synchronous driving.

[0078] It should be noted that whether to use the clamping jaw 12 or the adsorption assembly 17 to clamp the workpiece can be selected according to needs. When the clamping jaw 12 is used, it is necessary to ensure that the clamping jaw 12 as a whole is farther away from the first surface of the carrier plate 11 relative to the adsorption assembly 17; when the adsorption assembly 17 is used, it is necessary to ensure that at least the suction cup 172 of the adsorption assembly 17 is farther away from the first surface of the carrier plate 11 relative to the clamping jaw 12.

[0079] Furthermore, an annular groove 111 centered at the location of the clamping drive assembly 15 is constructed on the first surface, and both ends of the bracket 16 are respectively matched with the annular groove 111 and the connecting straight line between the two ends of the bracket 16 passes through the center of the annular groove 111 .

[0080] Specifically, as shown in the attached figure Figure 2 As shown, the two ends of the bracket 16 are respectively matched with the annular groove 111, specifically, the two ends of the bracket 16 are fixed to the annular groove 111 by threaded fasteners, and the design purpose of the annular groove 111 is to facilitate the bracket 16 to adjust the installation angle and orientation during installation, that is, the bracket 16 can be rotated during installation and the two ends of the bracket 16 are always matched with the annular groove 111, so that the bracket 16 can be rotated 360 degrees while keeping the overall position unchanged, and the installation direction of the subsequent clamping jaws 12 can be adjusted to meet the clamping needs of the corresponding workpiece. In addition, the installation direction of the clamping drive assembly 15 should also match the direction of the bracket 16 accordingly.

[0081] Example 3

[0082] An embodiment of the utility model provides a clamping device, which comprises a clamp according to any one of the above embodiments and a manipulator carrying the clamp.

[0083] In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0084] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments, and other arrangements may be designed without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the features described in the various dependent claims and herein may be combined in a manner different from that described in the original claims. It may also be understood that the features described in conjunction with the individual embodiments may be used in other described embodiments.

Claims

1. A clamp, characterized in that: The device comprises at least one clamping unit, wherein the clamping unit comprises a carrier plate and at least two clamping jaws arranged on the carrier plate, and each of the clamping jaws can move within a corresponding first plane and approach or move away from other clamping jaws to jointly realize an opening and closing action; Wherein, each of the clamping jaws comprises a plurality of clamping arms connected in sequence, two adjacent clamping arms are detachably connected, and the two clamping arms connected to each other can rotate relative to each other in the first plane to adjust the angle between them.

2. The clamp according to claim 1, characterized in that: A locking member is provided at the connection of the two clamp arms connected to each other, and the locking member is used to lock to limit the relative rotation between the corresponding two clamp arms to lock the size of the included angle.

3. The clamp according to claim 2, characterized in that: Of the two clamp arms connected to each other, one of the clamp arms is configured with a first connection surface parallel to the first plane, and the other clamp arm is configured with a second connection surface in contact with the first connection surface; Wherein, the locking member is constructed as a threaded fastener vertically passing through the first connecting surface and the second connecting surface, and the locking member is threadably matched with the corresponding two clamp arms.

4. The clamp according to claim 3, characterized in that: The first connecting surface and the second connecting surface are respectively constructed with a clamping structure that can engage with each other, and the clamping structure includes a plurality of clamping teeth, and the plurality of clamping teeth are arranged in sequence along the circumference of the rotation axis of the corresponding two clamp arms, and the clamping teeth are constructed as a strip structure extending radially along the rotation axis.

5. The clamp according to claim 3, characterized in that: The axis of the locking member coincides with the rotation axes of the corresponding two clamp arms.

6. The clamp according to any one of claims 1 to 5, characterized in that: The first ends of the clamping jaws are respectively connected to a transmission rod and a support rod, the end of the transmission rod is connected to a clamping drive assembly arranged on the bearing plate, and the end of the support rod is connected to the bearing plate; The support rod is fixedly connected to the bearing plate, and the support rod is rotatably connected to the clamp; or the support rod is rotatably connected to the bearing plate, and the support rod is fixedly connected to the clamp.

7. The clamp according to claim 6, characterized in that The clamping drive assembly is fixed to the first surface of the carrying plate, a bracket is provided on the first surface, the clamping drive assembly is located between the bracket and the first surface, and the two clamping claws are respectively located on both sides of the bracket; Wherein, driving parts are respectively constructed on both sides of the clamping drive assembly, and the driving parts are connected to the transmission rods of the corresponding clamping jaws, and the ends of the two supporting rods corresponding to the two clamping jaws are connected to the bracket.

8. The clamp according to claim 7, characterized in that: The bracket is provided with a plurality of adsorption components, each of which includes a base fixed to the bracket and a suction cup provided on the base, the base is connected with an air connection pipe, and the suction cup is located on a side of the bracket away from the first surface; The suction cup can move relative to the base in a direction perpendicular to the first surface, and an elastic buffer is provided between the suction cup and the base.

9. The clamp according to claim 7, characterized in that: An annular groove centered at the location of the clamping drive assembly is configured on the first surface, and two ends of the bracket are respectively matched with the annular groove and a connecting straight line between the two ends of the bracket passes through the center of the annular groove.

10. The clamp according to any one of claims 1 to 5, characterized in that: The clamping jaw is arranged on a first surface corresponding to the carrying plate, the carrying plate includes a second surface opposite to the first surface, the first surface or the second surface is configured with a splicing structure, and the plurality of carrying plates of the plurality of the clamping units in the clamp can be spliced ​​with each other through the splicing structure; Wherein, the splicing structure includes a splicing groove and a splicing portion, wherein the splicing groove is constructed at an edge position of the surface where it is located, and the splicing portion is constructed at a portion of the edge of the surface where it is located that protrudes outward.

11. A clamping device, characterized in that: It comprises a clamp as described in any one of claims 1 to 10 and a manipulator carrying the clamp.

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