Clamping device and mechanical arm
By designing a clamping device on the robotic arm, using the lever principle and the coordination of the driving parts, the problem of insufficient clamping force of the existing robotic arm is solved, and stable clamping of heavier and irregular workpieces is achieved, and clamping versatility is improved.
Patent Information
- Application Number
- CN202422370124.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-08-05
- Estimated Expiration
- 2034-09-26
AI Technical Summary
The clamping force of the existing mechanical arms is small, and heavier workpieces cannot be clamped, and the versatility is poor.
Using a clamping device, the lever principle is used to drive the clamping member to rotate relative to the rotating fixing block through the driving member, so that the clamping member cooperates with the first clamping part on the clamping fixing plate to achieve clamping and fixing of the workpiece.
The clamping force is improved, heavier workpieces can be clamped, and the clamping versatility of irregular workpieces is improved.
Smart Images
Figure CN223186534U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical equipment, and in particular to a clamping device and a mechanical arm. Background Art
[0002] During the manufacturing process, various transfer operations are often required for workpieces. Existing technologies usually use robotic arms to grab and clamp workpieces and perform transportation turnover and connection.
[0003] However, current robotic arms typically use a right-angle clamping structure, which has a weak clamping force, cannot clamp heavier workpieces, and has poor versatility. Utility Model Content
[0004] The purpose of the utility model is to provide a clamping device and a mechanical arm, which can clamp heavier workpieces, increase the clamping force, and enhance the versatility of clamping.
[0005] The embodiment of the present utility model is achieved as follows:
[0006] In a first aspect, the present invention provides a clamping device comprising:
[0007] A clamping and fixing plate, wherein the clamping and fixing plate is provided with a first clamping portion;
[0008] A rotating fixed block, the rotating fixed block being arranged on the clamping fixed plate;
[0009] a clamping member rotatably connected to the rotating fixed block and configured to cooperate with the first clamping portion; and
[0010] A driving member is provided on the clamping and fixing plate and is connected to the clamping member. The driving member is used to drive the clamping member to rotate relative to the rotating and fixing block so that the clamping member and the first clamping portion clamp and fix the workpiece.
[0011] In an optional embodiment, there are multiple first clamping parts, and the multiple first clamping parts are arranged at intervals;
[0012] There are multiple clamping members, each of which is rotatably connected to the rotating fixed block and corresponds one-to-one to the multiple first clamping parts; the driving member is connected to the multiple clamping members at the same time.
[0013] In an optional embodiment, the clamping device further includes a first rotating shaft, the first rotating shaft is provided on the driving member, and the plurality of clamping members are rotatably connected to the first rotating shaft.
[0014] In an optional embodiment, the clamping member includes a second clamping portion, a first rotating portion, and a second rotating portion, and the second clamping portion, the first rotating portion, and the second rotating portion are connected in sequence;
[0015] The second clamping portion is used to cooperate with the first clamping portion, the first rotating portion is rotatably connected to the rotating fixed block, and the second rotating portion is rotatably connected to the driving member.
[0016] In an optional embodiment, the rotating fixed block is provided with a mounting groove, a second rotating shaft is provided in the mounting groove, and the clamping member is rotatably connected to the second rotating shaft.
[0017] In an optional embodiment, the clamping device further includes a first support plate and a second support plate, the first support plate and the second support plate are spaced apart from each other on the clamping fixing plate, and the rotating fixing block and the driving member are both located between the first support plate and the second support plate.
[0018] In an optional embodiment, the clamping device further includes a reinforcing plate, which is disposed on the clamping fixing plate and is connected to the first support plate and the second support plate at the same time.
[0019] In an optional embodiment, the clamping device further includes a connecting rod, which is connected to the reinforcing plate and is located on a side of the reinforcing plate away from the first support plate and the second support plate, and the connecting rod is used to connect to the robotic arm body.
[0020] In an optional embodiment, the driving member is a pneumatic cylinder, a hydraulic cylinder or an electric push rod.
[0021] In a second aspect, the present invention provides a robotic arm comprising the clamping device described in any one of the aforementioned embodiments.
[0022] The beneficial effects of the embodiments of the present utility model include:
[0023] The clamping device includes a clamping plate, a rotating fixed block, a clamping member and a driving member. The clamping plate is provided with a first clamping portion, the rotating fixed block is provided on the clamping plate, the clamping member is rotatably connected to the rotating fixed block, and is used to cooperate with the first clamping portion; the driving member is provided on the clamping plate and connected to the clamping member, and the driving member is used to drive the clamping member to rotate relative to the rotating fixed block so that the clamping member and the first clamping portion clamp and fix the workpiece.
[0024] In other words, utilizing the principle of leverage, the clamping member uses the rotating fixed block as the support point of the lever, and the driving member drives the clamping member to rotate relative to the rotating fixed block, so that one end of the clamping member moves toward the first clamping portion on the clamping plate and cooperates with the first clamping portion to clamp and fix the workpiece. It is easy to understand that by combining the lever principle with the driving force of the driving member, the clamping force can be increased, enabling the clamping of heavier workpieces. Moreover, compared to existing right-angle clamping structures, it can also achieve the clamping of irregular workpieces, improving the versatility of the clamping.
[0025] The robot arm comprises a gripping device with all the benefits of the gripping device. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.
[0027] Figure 1 A schematic structural diagram of a clamping device provided in an embodiment of the present utility model;
[0028] Figure 2 A schematic diagram of the clamping device and the workpiece provided in an embodiment of the present utility model;
[0029] Figure 3 An exploded view of a clamping device provided in an embodiment of the present utility model;
[0030] Figure 4 A schematic structural diagram of a clamping member provided in an embodiment of the present utility model;
[0031] Figure 5 This is a structural schematic diagram of the rotating fixed block provided in an embodiment of the utility model.
[0032] Icon: 100-clamping device; 10-clamping fixing plate; 11-first clamping part; 20-rotating fixing block; 21-mounting groove; 30-clamping member; 31-second clamping part; 32-first rotating part; 33-second rotating part; 40-driving member; 51-first rotating axis; 52-second rotating axis; 61-first supporting plate; 62-second supporting plate; 70-reinforcement plate; 80-connecting rod; 200-workpiece. DETAILED DESCRIPTION
[0033] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.
[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.
[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.
[0036] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0037] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.
[0038] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.
[0039] As described in the background, various workpiece transfer operations are often required during the manufacturing process. Conventional robotic arms typically utilize grippers to grasp and clamp workpieces for transport, turnover, and connection. However, current robotic arms typically utilize a right-angle clamping structure, which exhibits limited clamping force and is unable to grip heavy workpieces, resulting in limited versatility.
[0040] Based on this, please refer to Figure 1-Figure 5 The present invention provides a clamping device 100 and a robotic arm that effectively address the aforementioned technical issues. Specifically, the clamping device 100 can clamp heavier workpieces, increase clamping force, and enhance the versatility of the clamping mechanism. The clamping device 100 and the robotic arm are described in detail below.
[0041] This embodiment provides a robotic arm, which includes a robotic arm body and a clamping device 100. The clamping device 100 is arranged on the robotic arm body, and the robotic arm body drives the clamping device 100 to move to achieve operations such as clamping and transporting products.
[0042] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic structural diagram of the clamping device 100 provided in this embodiment. Figure 2 The clamping diagram of the clamping device 100 and the workpiece 200 provided in this embodiment is shown in FIG. Figure 1 and Figure 2 The clamping device 100 includes a clamping and fixing plate 10, a rotating and fixing block 20, a clamping member 30 and a driving member 40. The clamping and fixing plate 10 is provided with a first clamping portion 11, the rotating and fixing block 20 is arranged on the clamping and fixing plate 10, the clamping member 30 is rotatably connected to the rotating and fixing block 20, and is used to cooperate with the first clamping portion 11; the driving member 40 is provided on the clamping and fixing plate 10 and is connected to the clamping member 30. The driving member 40 is used to drive the clamping member 30 to rotate relative to the rotating and fixing block 20, so that the clamping member 30 and the first clamping portion 11 clamp and fix the workpiece 200.
[0043] That is, utilizing the principle of leverage, the clamping member 30 uses the rotating fixed block 20 as the support point of the lever, and the driving member 40 drives the clamping member 30 to rotate relative to the rotating fixed block 20, so that one end of the clamping member 30 moves toward the first clamping portion 11 on the clamping fixed plate 10 and cooperates with the first clamping portion 11 to clamp and secure the workpiece 200. As can be easily understood, the lever principle combined with the driving force of the driving member 40 can increase the clamping force, enabling the clamping of heavier workpieces. Moreover, compared to existing right-angle clamping structures, it can also clamp irregular workpieces, improving the versatility of clamping.
[0044] It should be noted that, in this embodiment, the first clamping portion 11 is a protrusion extending outward from one side of the clamping fixing plate 10; of course, in some other embodiments, the first clamping portion 11 may also be a protrusion extending upward or downward from the surface of the clamping fixing plate 10, etc.
[0045] Please continue to combine Figure 1 and Figure 2 In order to further improve the clamping force of the workpiece 200 and enhance the stability of the workpiece 200 during transportation, there are multiple first clamping parts 11, and the multiple first clamping parts 11 are arranged at intervals; there are multiple clamping members 30, and the multiple clamping members 30 can be rotatably connected to the rotating fixed block 20, and correspond one-to-one to the multiple first clamping parts 11; the driving member 40 is connected to the multiple clamping members 30 at the same time.
[0046] It should be noted that in this embodiment, the number of the first clamping parts 11 and the number of the clamping members 30 are both two. Of course, in other embodiments, the number of the first clamping parts 11 and the number of the clamping members 30 can also be three, four or five, etc. The specific number of the two needs to be determined according to the actual clamping requirements.
[0047] Please refer to Figure 3 , Figure 3 The exploded view of the clamping device 100 provided in this embodiment is combined with Figure 1-Figure 3 In order to facilitate the driving member 40 to simultaneously drive the multiple clamping members 30 to move, in this embodiment, the clamping device 100 further includes a first rotating shaft 51. The first rotating shaft 51 is provided on the driving member 40, and the multiple clamping members 30 are rotatably connected to the first rotating shaft 51. It is easy to understand that the provision of the first rotating shaft 51 can ensure that the multiple clamping members 30 rotate and clamp synchronously, thereby improving the clamping smoothness.
[0048] Specifically, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of the clamping member 30 provided in this embodiment, combined with Figure 3 and Figure 4 The clamping member 30 includes a second clamping portion 31, a first rotating portion 32 and a second rotating portion 33, and the second clamping portion 31, the first rotating portion 32 and the second rotating portion 33 are connected in sequence; the second clamping portion 31 is used to cooperate with the first clamping portion 11, the first rotating portion 32 is rotatably connected to the rotating fixed block 20, and the second rotating portion 33 is rotatably connected to the driving member 40, that is, specifically in this embodiment, the second rotating portion 33 is rotatably connected to the first rotating shaft 51.
[0049] It should be noted that in this embodiment, the second clamping portion 31 is bent and configured to have an inverted "L" shape, which can better cooperate with the first clamping portion 11 and improve clamping stability. Of course, in other embodiments, the shape of the second clamping portion 31 can also be "C"-shaped, "S"-shaped, or "M"-shaped, etc. The specific shape needs to be determined based on the shape of the actual workpiece 200 to be clamped and the design requirements of the device.
[0050] Please refer to Figure 5 , Figure 5 The structural diagram of the rotating fixed block 20 provided in this embodiment is combined with Figure 3 and Figure 5 In order to better install the clamping member 30 and facilitate its rotation, in this embodiment, the rotating fixed block 20 is provided with a mounting groove 21, and a second rotating shaft 52 is provided in the mounting groove 21. The clamping member 30 is rotatably connected to the second rotating shaft 52. That is, specifically in this embodiment, the first rotating portion 32 is rotatably connected to the second rotating shaft 52.
[0051] Please continue to combine Figure 1 and Figure 3 In order to improve the overall structural strength of the clamping device 100, in this embodiment, the clamping device 100 also includes a first support plate 61 and a second support plate 62. The first support plate 61 and the second support plate 62 are spaced apart and arranged on the clamping fixed plate 10, and the rotating fixed block 20 and the driving member 40 are both located between the first support plate 61 and the second support plate 62.
[0052] It can be understood that by arranging the rotating fixed block 20 and the driving member 40 between the first support plate 61 and the second support plate 62, it can also protect the operation of the clamping member 30, thereby preventing the robot arm body from interfering with other parts of the external environment during the process of driving the clamping device 100 to move as a whole, and the clamping device 100 from interfering with other parts of the external environment during the clamping process.
[0053] In order to further improve the overall structural strength of the clamping device 100, the clamping device 100 further includes a reinforcing plate 70, which is disposed on the clamping fixing plate 10 and is connected to the first support plate 61 and the second support plate 62. Figure 1 As shown, it is easy to understand that the mutual enclosure between the first support plate 61, the second support plate 62, the reinforcement plate 70 and the clamping and fixing plate 10 can further protect the operational stability of the clamping member 30.
[0054] Furthermore, in order to facilitate the connection between the clamping device 100 and the robotic arm body, in this embodiment, the clamping device 100 also includes a connecting rod 80, which is connected to the reinforcing plate 70 and is located on the side of the reinforcing plate 70 away from the first support plate 61 and the second support plate 62. The connecting rod 80 is used to connect to the robotic arm body.
[0055] In addition, it should be noted that, in this embodiment, the driving member 40 is specifically a cylinder. Of course, in other embodiments, the driving member 40 may also be other driving structures such as a hydraulic cylinder or an electric push rod.
[0056] To sum up, an embodiment of the present invention provides a clamping device 100 and a robotic arm, the clamping device 100 includes a clamping and fixing plate 10, a rotating and fixing block 20, a clamping member 30 and a driving member 40, the clamping and fixing plate 10 is provided with a first clamping portion 11, the rotating and fixing block 20 is arranged on the clamping and fixing plate 10, the clamping member 30 is rotatably connected to the rotating and fixing block 20, and is used to cooperate with the first clamping portion 11; the driving member 40 is arranged on the clamping and fixing plate 10 and is connected to the clamping member 30, and the driving member 40 is used to drive the clamping member 30 to rotate relative to the rotating and fixing block 20, so that the clamping member 30 and the first clamping portion 11 clamp and fix the workpiece 200. That is to say, by utilizing the principle of lever, the clamping member 30 uses the rotating fixed block 20 as the support point of the lever, and the driving member 40 drives the clamping member 30 to rotate relative to the rotating fixed block 20, so that one end of the clamping member 30 moves toward the first clamping portion 11 on the clamping fixed plate 10, and cooperates with the first clamping portion 11 to clamp and fix the workpiece 200.
[0057] It is easy to understand that by coordinating the lever principle with the driving force of the driving member 40, the clamping force can be increased to achieve clamping of heavier workpieces; and, compared with the existing right-angle clamping structure, it can also achieve clamping of irregular workpieces, thereby improving the versatility of clamping.
[0058] The robot arm includes the gripping device 100 and has all the functions and benefits of the gripping device 100 .
[0059] The above description is merely a specific embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.
Claims
1. A clamping device, characterized in that: include: A clamping and fixing plate (10), wherein the clamping and fixing plate (10) is provided with a first clamping portion (11); a rotating fixed block (20), the rotating fixed block (20) being arranged on the clamping fixed plate (10); a clamping member (30), the clamping member (30) being rotatably connected to the rotating fixed block (20) and being used to cooperate with the first clamping portion (11); and A driving member (40) is provided on the clamping and fixing plate (10) and is connected to the clamping member (30). The driving member (40) is used to drive the clamping member (30) to rotate relative to the rotating fixed block (20), so that the clamping member (30) and the first clamping portion (11) clamp and fix the workpiece (200).
2. The clamping device according to claim 1, characterized in that There are multiple first clamping parts (11), and the multiple first clamping parts (11) are arranged at intervals; There are multiple clamping members (30), and the multiple clamping members (30) are all rotatably connected to the rotating fixed block (20) and correspond one-to-one to the multiple first clamping parts (11); the driving member (40) is connected to the multiple clamping members (30) at the same time.
3. The clamping device according to claim 2, characterized in that The clamping device (100) further comprises a first rotating shaft (51), wherein the first rotating shaft (51) is arranged on the driving member (40), and the plurality of clamping members (30) are all rotatably connected to the first rotating shaft (51).
4. The clamping device according to claim 1, characterized in that The clamping member (30) comprises a second clamping portion (31), a first rotating portion (32) and a second rotating portion (33), wherein the second clamping portion (31), the first rotating portion (32) and the second rotating portion (33) are connected in sequence; The second clamping portion (31) is used to cooperate with the first clamping portion (11), the first rotating portion (32) is rotatably connected to the rotating fixed block (20), and the second rotating portion (33) is rotatably connected to the driving member (40).
5. The clamping device according to claim 1, characterized in that The rotating fixed block (20) is provided with a mounting groove (21), a second rotating shaft (52) is provided in the mounting groove (21), and the clamping member (30) is rotatably connected to the second rotating shaft (52).
6. The clamping device according to claim 1, characterized in that The clamping device (100) further comprises a first support plate (61) and a second support plate (62), wherein the first support plate (61) and the second support plate (62) are spaced apart from each other on the clamping fixed plate (10), and the rotating fixed block (20) and the driving member (40) are both located between the first support plate (61) and the second support plate (62).
7. The clamping device according to claim 6, characterized in that The clamping device (100) further includes a reinforcing plate (70), which is disposed on the clamping fixing plate (10) and is simultaneously connected to the first supporting plate (61) and the second supporting plate (62).
8. The clamping device according to claim 7, characterized in that: The clamping device (100) further includes a connecting rod (80), which is connected to the reinforcing plate (70) and is located on a side of the reinforcing plate (70) away from the first support plate (61) and the second support plate (62), and the connecting rod (80) is used to connect to the robot arm body.
9. The clamping device according to any one of claims 1 to 8, characterized in that: The driving member (40) is a cylinder, a hydraulic cylinder or an electric push rod.
10. A robotic arm, characterized in that: The invention comprises the clamping device (100) according to any one of claims 1 to 9.