Clamping device

Abstract

The utility model provides a clamping device. The clamping device comprises a supporting frame; the floating device is arranged on the supporting frame, and the floating device can float in a first floating direction and a second floating direction relative to the supporting frame; the first clamping mechanism is arranged on the floating device and is used for clamping a first part of a workpiece; and the second clamping mechanism is arranged on the floating device and is used for clamping a second part of the workpiece.

Description

Technical Field

[0001] The present disclosure relates to a clamping device, belonging to the technical field of automation equipment. Background Art

[0002] In the assembly process of complex shaped components, due to the particularity of the shaped parts, the assembly process of such a mechanism is generally completed manually.

[0003] However, since such a mechanism is relatively heavy, the working intensity of manual assembly is relatively high, and it is difficult to guarantee the quality of the produced products. At the same time, it also severely restricts the production output of the enterprise. Summary of the Utility Model

[0004] To solve one of the above technical problems, the present disclosure provides a clamping device.

[0005] According to one aspect of the present disclosure, there is provided a clamping device, comprising:

[0006] A support frame;

[0007] A floating device, the floating device is disposed on the support frame, and the floating device can float relative to the support frame in a first floating direction and a second floating direction;

[0008] A first clamping mechanism, the first clamping mechanism is disposed on the floating device and is used for clamping a first part of the workpiece; and

[0009] A second clamping mechanism, the second clamping mechanism is disposed on the floating device and is used for clamping a second part of the workpiece.

[0010] According to the clamping device of at least one embodiment of the present disclosure, the floating device comprises: the floating device comprises a floating plate, the floating plate can float relative to the support frame, and the first clamping mechanism and the second clamping mechanism are disposed on the floating plate.

[0011] According to the clamping device of at least one embodiment of the present disclosure, the floating plate is connected to the support frame through a connection component, and the floating plate can generate a floating amount in the first floating direction and / or the second floating direction.

[0012] According to the clamping device of at least one embodiment of the present disclosure, the connection component comprises a screw, a second through hole is formed on the support frame, and the size of the second through hole is larger than the size of the screw, so that the floating plate can generate a floating amount in the first floating direction and the second floating direction.

[0013] The clamping device according to at least one embodiment of the present disclosure, wherein a first through hole is provided on the floating plate, the screw passes through the first through hole of the floating plate and the second through hole of the support frame, and the connection between the support frame and the floating plate is realized by a nut.

[0014] The clamping device according to at least one embodiment of the present disclosure, wherein a first thrust bearing is provided between the floating plate and the support frame, and a second thrust bearing is provided between the support frame and the nut.

[0015] The clamping device according to at least one embodiment of the present disclosure, wherein the floating device includes a buffer structure, the buffer structure is provided on the support frame, and the floating amount of the floating plate in the first floating direction and / or the second floating direction is controlled by the cooperation of the buffer structure and the floating plate.

[0016] The clamping device according to at least one embodiment of the present disclosure, wherein the first clamping mechanism includes a first driving device and two first jaws driven by the first driving device, wherein the first driving device is fixed to the floating plate.

[0017] The clamping device according to at least one embodiment of the present disclosure, wherein the second clamping mechanism includes a second driving device and two second jaws driven by the second driving device, wherein the second driving device is fixed to the floating plate and is located within the space enclosed by the two first jaws.

[0018] The clamping device according to at least one embodiment of the present disclosure, wherein the second clamping mechanism further includes a limiting block, and the limiting block is used to press the workpiece when installing the workpiece. Description of the Drawings

[0019] The drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, are used to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure, and the drawings are included in this specification and form a part of this specification.

[0020] Figure 1 is a schematic structural diagram of a clamping device according to an embodiment of the present disclosure.

[0021] Figure 2 is a schematic structural diagram of the clamping device from another angle according to an embodiment of the present disclosure.

[0022] Figure 3 is a schematic structural diagram of a floating device according to an embodiment of the present disclosure.

[0023] Figures 4 to 6 is a partial schematic structural diagram of a clamping device according to an embodiment of the present disclosure.

[0024] The specific reference numerals in the figure are as follows:

[0025] 100 Support frame

[0026] 200 Floating device

[0027] 210 Floating plate

[0028] 220 Connection component

[0029] 221 Screw

[0030] 222 First thrust bearing

[0031] 223 Second thrust bearing

[0032] 230 Positioning drive device

[0033] 240 Buffer structure

[0034] 241 Base plate

[0035] 242 Hollow screw

[0036] 243 Nut

[0037] 244 Floating pin

[0038] 245 Spring

[0039] 300 First clamping mechanism

[0040] 301 First drive device

[0041] 302 First jaw

[0042] 400 Second clamping mechanism

[0043] 401 Second drive device

[0044] 402 Second jaw

[0045] 403 Limit block. Detailed implementation manners

[0046] The following further details the present disclosure in conjunction with the drawings and implementation manners. It can be understood that the specific implementation manners described herein are only used to explain the relevant content and do not limit the present disclosure. Additionally, it should be noted that for ease of description, only parts related to the present disclosure are shown in the drawings.

[0047] It should be noted that, without conflict, the implementation manners and features in the implementation manners of the present disclosure can be combined with each other. The following will detail the technical solutions of the present disclosure with reference to the drawings and in conjunction with the implementation manners.

[0048] Unless otherwise specified, the illustrated exemplary embodiments will be understood to provide exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Accordingly, unless otherwise specified, the features of the various embodiments can be combined, separated, interchanged, and / or rearranged additionally without departing from the technical concept of the present disclosure.

[0049] In the drawings, cross-hatching and / or shading are generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of cross-hatching or shading does not convey or imply any preference or requirement regarding the specific materials, material properties, dimensions, proportions, commonality between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. Additionally, in the drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process orders may be performed in an order different from that described. For example, two consecutively described processes may be performed substantially simultaneously or in an order opposite to that described. Further, the same reference numerals denote the same components.

[0050] When a component is referred to as being "on" or "above" another component, "connected to" or "coupled to" another component, the component can be directly on, directly connected to, or directly coupled to the other component, or there can be intervening components. However, when a component is referred to as being "directly on" another component, "directly connected to" or "directly coupled to" another component, there are no intervening components. To this end, the term "connected" can refer to a physical connection, an electrical connection, etc., and can have or not have intervening components.

[0051] For descriptive purposes, the present disclosure may use spatial relative terms such as "under", "below", "beneath", "underneath", "above", "on", "over", "upper", and "side (e.g., as in "sidewall")" to describe the relationship of one component to another (other) component as shown in the drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as "under" or "beneath" another component or feature will then be positioned "above" the other component or feature. Thus, the exemplary term "under" can encompass both the "above" and "below" orientations. Additionally, the device can be positioned otherwise (e.g., rotated 90 degrees or at other orientations), and accordingly, the spatial relative descriptors used herein are to be interpreted.

[0052] The terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. Additionally, when the terms "comprising" and / or "including" and their variants are used in this specification, it is stated that there are the stated features, integers, steps, operations, components, assemblies, and / or groups thereof, but it does not preclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies, and / or groups thereof. It should also be noted that, as used herein, the terms "substantially", "about", and other similar terms are used as approximate terms and not as terms of degree, and thus they are used to account for the inherent deviations of measured, calculated, and / or provided values that would be recognized by a person of ordinary skill in the art.

[0053] Figure 1 is a schematic structural view of a clamping device according to an embodiment of the present disclosure. Figure 2 is a schematic structural view of another angle of the clamping device according to an embodiment of the present disclosure.

[0054] As Figure 1 and Figure 2 shown, the clamping device of the present disclosure may include a support frame 100, a floating device 200, a first clamping mechanism 300, and a second clamping mechanism 400.

[0055] When the clamping device of the present disclosure is in use, the support frame 100 can be fixed to a position such as the end of a robotic arm, whereby the clamping device of the present disclosure can be driven by the robotic arm to move to the component to be installed. Among them, the component to be installed can be a complex and irregular mechanism, and after clamping the component to be installed, the component to be installed is transported to the installation position to achieve the installation of complex and irregular parts.

[0056] In a specific embodiment, the support frame 100 can be formed by fixedly connecting a plurality of plate-like components, that is, the support frame 100 can be formed into a shape of a substantially rectangular frame. Correspondingly, the floating device 200 can be disposed on one plate-like component of the support frame 100.

[0057] The floating device 200 is disposed on the support frame 100, and the floating device 200 can float relative to the support frame 100 in a first floating direction and a second floating direction. The first clamping mechanism 300 is disposed on the floating device 200 and is used for clamping a first part of the workpiece; the second clamping mechanism 400 is disposed on the floating device 200 and is used for clamping a second part of the workpiece.

[0058] In a preferred embodiment, in the present disclosure, the first floating direction and the second floating direction may be horizontal directions. Preferably, the first floating direction and the second floating direction may be perpendicular to each other.

[0059] Since the component to be installed in the present disclosure is a complex and irregular mechanism, which includes a switch component, correspondingly, the first clamping mechanism 300 of the present disclosure can clamp a part of the complex and irregular mechanism, and the second clamping mechanism 400 can clamp the switch component.

[0060] Figure 3 It is a schematic structural diagram of a floating device according to an embodiment of the present disclosure.

[0061] In a specific embodiment, the floating device 200 includes components such as a floating plate 210, a connection component 220, and a positioning and driving device 230.

[0062] The floating plate 210 is connected to the support frame 100 through the connection component 220, and enables the floating plate 210 to generate a floating amount in the first floating direction and / or the second floating direction. Correspondingly, the first clamping mechanism 300 and the second clamping mechanism 400 are both provided on the floating plate 210.

[0063] In a specific embodiment, as Figure 3 shown, the connection component 220 includes a screw 221. A first through hole is provided on the floating plate 210, and a second through hole is formed on the support frame 100. The size of the first through hole is the same as or slightly larger than the size of the rod body of the screw 221, so as to facilitate the screw 221 to pass through the first through hole. Moreover, the size of the second through hole is larger than the size of the rod body of the screw 221, so that the floating plate 210 can generate a floating amount in the first floating direction and the second floating direction. In the present disclosure, the rod body of the screw 221 may be cylindrical, and correspondingly, the size may be the diameter.

[0064] Specifically, the screw passes through the first through hole of the floating plate 210 and the second through hole of the support frame 100, and the connection between the support frame 100 and the floating plate 210 is realized through a nut. In a preferred embodiment, an elastic member is provided between the nut and the support frame 100, and through the deformation of the elastic member, the floating plate 210 generates a floating amount in the third floating direction. On the other hand, when the floating amount in the third floating direction is not required, a gasket can be provided between the nut and the support frame 100. Preferably, the third floating direction may be a vertical direction or a substantially vertical direction.

[0065] More preferably, a first thrust bearing 222 is provided between the floating plate 210 and the support frame 100, and a second thrust bearing 223 is provided between the support frame 100 and the nut. The first thrust bearing 222 and the second thrust bearing 223 have the same structure, and both include an upper ring, a lower ring, and rolling elements disposed between the upper ring and the lower ring. Among them, a groove for accommodating the rolling elements is formed on the surface of the lower ring in contact with the rolling elements, and moreover, the surface of the upper ring in contact with the rolling elements is formed as a planar shape. Thus, the rolling elements can slide in the radial direction relative to the upper ring, and thereby the floating plate 210 can float in the first floating direction and the second floating direction relative to the support frame 100.

[0066] The positioning drive device 230 can be a cylinder, which can be fixed to the support frame 100. When the cylinder extends, it can be in pressure contact with the floating plate 210, so as to limit the movement of the floating plate 210 in the first floating direction and the second floating direction through the frictional force generated by this pressure, thereby realizing the position fixation of the floating plate 210.

[0067] Specifically, the cylinder block of the cylinder can be fixed to the support frame 100, and the piston rod of the cylinder can be directly or indirectly in contact with the floating plate 210, so that the position of the floating plate 210 is fixed.

[0068] In the present disclosure, the floating device further includes a buffer structure 240. The buffer structure 240 is disposed on the support frame 100 and cooperates with the floating plate 210 to control the floating amount of the floating plate 210 in the first floating direction and the second floating direction.

[0069] More preferably, buffer structures 240 are provided at both ends of the floating plate 210 in the first floating direction and at both ends of the floating plate 210 in the second floating direction. Moreover, two buffer structures 240 are provided near one end of the floating plate 210, thereby enabling the floating plate 210 to float stably.

[0070] In a preferred embodiment, the buffer structure 240 includes a seat plate 241 and a hollow screw 242. In the present disclosure, the seat plate 241 is fixed to the support frame 100, and a threaded hole is formed on the seat plate 241. Preferably, the number of the threaded holes is two, and these two threaded holes are arranged in a direction perpendicular to the second direction.

[0071] The hollow screw 242 is screwed into the threaded hole. More preferably, a nut 243 can be provided on the hollow screw 242, so as to fix the hollow screw 242 to the seat plate 241 by means of fixation with the nut 243.

[0072] The buffer structure 240 further includes a floating pin 244, which includes a rod body and a pin head mounted on the rod body. Among them, the size of the pin head is larger than that of the rod body. For example, the diameter of the pin head is larger than that of the rod body. Moreover, the rod body can be slidably disposed within the hollow screw 242. More preferably, the floating pin 244 can also be configured to rotate relative to the hollow screw 242.

[0073] At least a part of the pin head is used to contact the floating plate 210, so that the floating position of the floating plate 210 can be restricted by the buffer structure 240. More specifically, the buffer structure 240 is provided at both ends of the floating plate 210 along the second direction. Correspondingly, the floating plate 210 can only act within the range restricted by these buffer structures 240.

[0074] More preferably, the surface of the pin head in contact with the floating plate 210 is formed as a curved surface protruding outward, so that the contact area between the pin head and the floating plate 210 is small, improving the accuracy of the floating movement of the floating plate 210.

[0075] In the present disclosure, the buffer structure 240 further includes a spring 245. The spring 245 is sleeved on the rod body of the floating pin 244. One end thereof abuts against the pin head, and the other end abuts against the end face of the hollow screw 242. Thus, in the present disclosure, the position of the floating pin 244 can be adjusted by adjusting the position of the hollow screw 242.

[0076] Figures 4 to 6 It is a partial structural schematic diagram of a clamping device according to an embodiment of the present disclosure.

[0077] In the present disclosure, the second clamping mechanism 400 can be implemented by a finger cylinder, and the structure of the finger cylinder will not be elaborated in detail in the present disclosure.

[0078] In another implementation form, the first clamping mechanism 300 includes a first driving device 301 and two first clamping jaws 302 driven by the first driving device 301. Among them, the first driving device 301 is fixed to the floating plate 210. More specifically, the first driving device 301 can be a cylinder, and the cylinder can be a double-headed cylinder, so that the cylinder can drive the two first clamping jaws 302 to approach or separate.

[0079] In a preferred implementation form, the first driving device 301 can be directly or indirectly fixed to the floating plate 210, so that the first clamping mechanism 300 of the present disclosure can float together with the floating plate 210.

[0080] In the present disclosure, the second clamping mechanism 400 includes a second driving device 401 and two second jaws 402 driven by the second driving device 401. Among them, the second driving device 401 is fixed to the floating plate 210 and is located within the space enclosed by the two first jaws 302.

[0081] In a preferred implementation form, the second driving device 401 can be indirectly fixed to the floating plate 210, that is, the second driving device 401 can be fixedly connected to the floating plate 210 through components such as a connecting plate. Thus, the second clamping mechanism 400 of the present disclosure can float together with the floating plate 210.

[0082] The second clamping mechanism 400 further includes a limiting block 403, and the limiting block 403 is used to press the workpiece tightly when installing the workpiece.

[0083] When the clamping device of the present disclosure is in use, the robotic arm drives the clamping device to reach the designated position where the product is located. The 3D scanning device determines the left and right parts, and the positioning driving device (cylinder) is pushed out to fix the position of the floating plate. After the first clamping mechanism and the second clamping mechanism clamp the workpiece, the robotic arm drives the clamping device of the present disclosure to the installation position. The 2D camera takes a picture and finds the precise installation position, and the robotic arm drives the clamping device of the present disclosure to install the workpiece in place. The first clamping mechanism and the second clamping mechanism are loosened, and then the robotic arm presses down, and the limiting block presses the workpiece downward tightly. After that, the robotic arm drives the clamping device of the present disclosure to return to the designated position where the next workpiece is located, and repeats the above actions.

[0084] The clamping device of the present disclosure can effectively clamp the special-shaped part product through the cooperation of the floating device and the clamping mechanism. And through the settings of the first clamping mechanism and the second clamping mechanism, the workpiece is better protected during the process of transporting and installing the special-shaped part. At the same time, the clamping device of the present disclosure can be compatible with the installation of left and right parts, ensuring that there are no scratches and bumps on the parts during the assembly process. With the image acquisition function, the installation is more accurate, and the unity of the product can be better guaranteed.

[0085] In the description of this specification, the descriptions referring to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0086] In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0087] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present disclosure and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications can be made on the basis of the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A clamping device, characterized in that: include: Support frame; A floating device, the floating device is arranged on the support frame, and the floating device can float in a first floating direction and a second floating direction relative to the support frame; A first clamping mechanism, the first clamping mechanism is disposed on the floating device and is used to clamp a first portion of a workpiece; as well as The second clamping mechanism is arranged on the floating device and is used for clamping the second part of the workpiece.

2. The clamping device according to claim 1, characterized in that: The floating device comprises a floating plate, the floating plate can float relative to the supporting frame, and the first clamping mechanism and the second clamping mechanism are arranged on the floating plate.

3. The clamping device according to claim 2, characterized in that: The floating plate is connected to the support frame via a connection assembly, and enables the floating plate to generate a floating amount in a first floating direction and / or a second floating direction.

4. The clamping device according to claim 3, characterized in that: The connecting assembly includes a screw rod, and a second through hole is opened on the support frame. The size of the second through hole is larger than the size of the screw rod, so that the floating plate can generate floating amount in the first floating direction and the second floating direction.

5. The clamping device according to claim 4, characterized in that: The floating plate is provided with a first through hole, the screw rod passes through the first through hole of the floating plate and the second through hole of the support frame, and the support frame and the floating plate are connected by a nut.

6. The clamping device according to claim 2, characterized in that: A first thrust bearing is arranged between the floating plate and the support frame, and a second thrust bearing is arranged between the support frame and the nut.

7. The clamping device according to claim 2, characterized in that: The floating device comprises a buffer structure, which is arranged on the support frame. The floating amount of the floating plate in the first floating direction and / or the second floating direction is controlled by the cooperation between the buffer structure and the floating plate.

8. The clamping device according to claim 2, characterized in that: The first clamping mechanism includes a first driving device and two first clamping jaws driven by the first driving device, wherein the first driving device is fixed to the floating plate.

9. The clamping device according to claim 8, characterized in that: The second clamping mechanism includes a second driving device and two second clamping jaws driven by the second driving device, wherein the second driving device is fixed to the floating plate and is located in a space enclosed by the two first clamping jaws.

10. The clamping device according to claim 9, characterized in that: The second clamping mechanism further comprises a limit block, and the limit block is used to press the workpiece when installing the workpiece.

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