Clamping device

Abstract

The clamping device comprises a base, a telescopic driver, a rotating driver, a clamping rod set and a sleeve rod, the telescopic driver and the rotating driver are both connected with the base, the first end of the clamping rod set is connected with the rotating driver, and the second end of the clamping rod set is connected with the sleeve rod. The second end of the clamping rod set is provided with at least two clamping petals, the at least two clamping petals are arranged around the central axis of the clamping rod set at intervals and can move towards and away from the central axis of the clamping rod set, and the sleeve rod is arranged on the periphery of the clamping rod set in a sleeving mode. The first end of the sleeve rod is connected with the telescopic driver, so that the sleeve rod can move in the axial direction of the clamping rod set relative to the clamping rod set so as to push the at least two clamping petals to move towards the central axis of the clamping rod set. The clamping device provided by the embodiment of the utility model can be used for rotating, dismounting and mounting the workpiece deep in the narrow space.

Description

Technical Field

[0001] This utility model relates to the field of clamping tools, specifically to a clamping device. Background Technology

[0002] In a refrigerant filling production line, refrigerant cylinders are placed in a fixed enclosure. An operating hole is provided on the surface of the enclosure, positioned opposite the valve cap on the refrigerant cylinder, allowing operators to rotate and replace the valve cap. However, because the valve cap is located deep within the enclosure and the distance between it and the operating hole is considerable, rotating and replacing the valve cap is difficult for operators. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, embodiments of this utility model propose a clamping device.

[0005] The clamping device of this utility model embodiment includes:

[0006] Base;

[0007] A telescopic actuator, wherein the telescopic actuator is connected to the base;

[0008] A rotary actuator connected to the base;

[0009] A clamping rod assembly, the first end of which is connected to the rotary drive, so that the clamping rod assembly is rotatable relative to the base about the central axis of the clamping rod assembly, and the second end of the clamping rod assembly has at least two clamping petals, the at least two clamping petals being spaced apart about the central axis of the clamping rod assembly and being movable toward and away from the central axis of the clamping rod assembly;

[0010] A sleeve rod is sleeved on the outer periphery of the clamping rod assembly. The first end of the sleeve rod is connected to the telescopic actuator, so that the sleeve rod can move axially relative to the clamping rod assembly to push at least two of the clamping petals toward the central axis of the clamping rod assembly.

[0011] The clamping device of this utility model embodiment has a telescopic driver that drives the sleeve rod to move axially along the clamping rod assembly, thereby pushing at least two clamping petals at the second end of the clamping rod assembly toward the central axis of the clamping rod assembly, thereby clamping the workpiece. The rotation driver drives the clamping rod assembly to rotate around its central axis, thereby driving the clamped workpiece to move actively. Since both the clamping rod assembly and the sleeve rod have length, the clamping device of this utility model embodiment can rotate and disassemble workpieces located deep in narrow spaces.

[0012] In some embodiments, the clamping device further includes a pusher disposed within the clamping rod assembly and movable relative to the clamping rod assembly between a push position and a retracted position. In the push position, the pusher is located within a space surrounded by at least two of the clamping petals, and the retracted position is located on the side of the push position facing the first end of the clamping rod assembly.

[0013] In some embodiments, the clamping device further includes an elastic element disposed within the clamping rod assembly and connected between the clamping rod assembly and the pushing member, for driving the pushing member to move from the retracted position to the pushing position.

[0014] In some embodiments, the clamping rod assembly includes a connecting rod and a chuck. A first end of the connecting rod is connected to the rotary driver, and a second end of the connecting rod is provided with a slot. The chuck is provided with an inner cavity that extends through the chuck along the axial direction of the clamping rod assembly. The first end of the chuck is sleeved and connected to the second end of the connecting rod, and the second end of the chuck is provided with at least two clamping flaps.

[0015] The pushing member is a rod extending along the axial direction of the clamping rod assembly. The pushing member is located sequentially in the inner cavity of the clamp and the slot along the axial direction of the clamping rod assembly. The portion of the pushing member located in the inner cavity of the clamp has a stepped surface. The elastic member is located between the stepped surface and the end face of the second end of the connecting rod.

[0016] In some embodiments, the outer peripheral surface of the pusher is provided with a protrusion located in the inner cavity of the chuck, the protrusion forming the stepped surface on the side facing the connecting rod, and the inner wall surface of the chuck is provided with a limiting boss, the limiting boss and the protrusion being arranged opposite to each other along the axial direction of the clamping rod assembly and located on the side of the protrusion away from the connecting rod, so as to stop the protrusion.

[0017] In some embodiments, the clamping flap has an outer conical surface located on the side of the clamping flap opposite to the central axis of the clamping rod assembly. The outer conical surface abuts against the sleeve rod, thereby the sleeve rod pushes the clamping flap toward the central axis of the clamping rod assembly; and / or

[0018] The second end of the sleeve is provided with an inner conical surface, which is used to abut against the clamping flap, thereby the sleeve pushes the clamping flap to move toward the central axis of the clamping rod assembly.

[0019] In some embodiments, the clamping device further includes:

[0020] A fixed bracket is connected to the base, and a rotary driver is connected to the fixed bracket so that the rotary driver and the telescopic driver are arranged side by side;

[0021] A sliding bracket is connected to the base and is movable relative to the base along the axial direction of the clamping rod assembly. The sliding bracket is connected to the telescopic driver and the first end of the sleeve rod, respectively, so as to move under the drive of the telescopic driver, thereby driving the sleeve rod to move along the axial direction of the clamping rod assembly.

[0022] In some embodiments, the first end of the sleeve is connected to the sliding bracket and is rotatable about the central axis of the sleeve relative to the sliding bracket.

[0023] In some embodiments, the clamping device further includes a first limiting member and a second limiting member, both of which are disposed at the first end of the sleeve rod and are arranged at intervals along the axial direction of the sleeve rod. The sliding bracket includes a first bracket and a second bracket, which are arranged at intervals along the axial direction of the sleeve rod. Both the first limiting member and the second limiting member are disposed between the first bracket and the second bracket, with the first limiting member abutting against the first bracket and the second limiting member abutting against the second bracket.

[0024] In some embodiments, the clamping device further includes an auxiliary support, a third limiting member, and a round nut assembly. The auxiliary support is connected to the base. The first end of the clamping rod assembly passes through the auxiliary support and is rotatable relative to the auxiliary support about the central axis of the clamping rod assembly. The round nut assembly is connected between the first end of the clamping rod assembly and the rotation driver. The third limiting member is disposed at the first end of the clamping rod assembly. The auxiliary support abuts against the round nut assembly and the third limiting member. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the clamping device according to an embodiment of the present utility model;

[0026] Figure 2 This is a schematic diagram of the clamping device of this utility model after the sleeve rod has been removed;

[0027] Figure 3 This is a partial cross-sectional view of the clamping rod assembly of the clamping device according to an embodiment of the present utility model;

[0028] Figure 4 This is a cross-sectional view of the sleeve rod of the clamping device according to an embodiment of the present utility model;

[0029] Figure 5This is a schematic diagram of the clamping device according to an embodiment of the present invention.

[0030] Figure label:

[0031] 1. Base; 2. Telescopic actuator; 3. Rotary actuator; 4. Clamping rod assembly; 41. Clamping flap; 411. Outer conical surface; 42. Connecting rod; 421. Slot; 43. Chuck; 44. Limiting boss; 5. Sleeve rod; 51. Inner conical surface; 6. Pushing component; 61. Stepped surface; 62. Protrusion; 7. Fixed bracket; 8. Sliding bracket; 81. First bracket; 82. Second bracket; 9. First limiting component; 10. Second limiting component; 11. Auxiliary bracket; 12. Third limiting component; 13. Round nut assembly; 14. Linear guide rail; 15. Bearing; 16. Robotic arm; 17. Fixed housing; 18. Operating hole; 19. Valve cap. Detailed Implementation

[0032] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0033] The following is for reference. Figures 1-5 Describes a clamping device according to an embodiment of the present invention.

[0034] like Figures 1-5 As shown, the clamping device of this utility model embodiment includes a base 1, a telescopic driver 2, a rotation driver 3, a clamping rod group 4, and a sleeve rod 5.

[0035] Telescopic actuator 2 is connected to base 1. Rotary actuator 3 is connected to base 1. For example, as... Figure 1 and Figure 2 As shown, the telescopic actuator 2 and the rotary actuator 3 are connected to the bottom of the base 1. The telescopic actuator 2 is preferably, but not limited to, a telescopic cylinder, and the rotary actuator 3 is preferably, but not limited to, a rotary cylinder.

[0036] The first end of the clamping rod assembly 4 (e.g.) Figure 1 and Figure 2 The right end of the clamping rod assembly 4 (as shown) is connected to the rotary driver 3, so that the clamping rod assembly 4 can rotate relative to the base 1 about the central axis of the clamping rod assembly 4. The second end of the clamping rod assembly 4 (as shown) Figure 1 and Figure 2 The left end of the clamping rod assembly 4 shown has at least two clamping petals 41, which are arranged at intervals around the central axis of the clamping rod assembly 4 and can move toward and away from the central axis of the clamping rod assembly 4.

[0037] For example, such as Figure 1 and Figure 2As shown, the right end of the clamping rod assembly 4 is connected to the rotary driver 3, and the left end of the clamping rod assembly 4 extends to the left from the rotary driver 3 and away from the base 1. The left end of the clamping rod assembly 4 has at least two clamping petals 41 spaced apart around its central axis. There can be two, three, or more than three, preferably three clamping petals 41. Each clamping petal 41 can move toward and away from the central axis of the clamping rod assembly 4. In other words, the three clamping petals 41 can come together to clamp the workpiece and can also spread out to release the workpiece. The rotary driver 3 is used to drive the clamping rod assembly 4 to rotate around its central axis.

[0038] Sleeve 5 is sleeved on the outer periphery of clamping rod assembly 4, and the first end of sleeve 5 (e.g. Figure 1 and Figure 2 The right end of the sleeve 5 shown is connected to the telescopic actuator 2, so that the sleeve 5 can move relative to the clamping rod assembly 4 along the axial direction of the clamping rod assembly 4 to push at least two clamping petals 41 toward the central axis of the clamping rod assembly 4.

[0039] For example, such as Figure 1 and Figure 2 As shown, the right end of the sleeve rod 5 is connected to the telescopic actuator 2, and the left end of the sleeve rod 5 extends to the left from the telescopic actuator 2 and away from the base 1. The sleeve rod 5 is sleeved on the outer periphery of the clamping rod assembly 4, preferably, but not limited to, being coaxially arranged with the clamping rod assembly 4. The left end of the sleeve rod 5 is located on the right side of the three clamping petals 41. The telescopic actuator 2 is used to drive the sleeve rod 5 along the axial direction of the clamping rod assembly 4, i.e., as shown... Figure 1 and Figure 2 The left and right movements shown in the diagram drive the left end of the sleeve 5 to move to the left to abut against the three clamping petals 41 and push the three clamping petals 41 together, and drive the left end of the sleeve 5 to move to the right to make the three clamping petals 41 spread out.

[0040] When using the clamping device, such as Figure 5 As shown, the base 1 is preferably, but not limited to, connected to the robotic arm 16. The robotic arm 16 drives the clamping device to move, so that the clamping rod assembly 4 and the sleeve rod 5 are positioned opposite the operating hole 18 of the fixed housing 17, and further drives the clamping rod assembly 4 and the sleeve rod 5 to extend into the operating hole 18, so that the valve cap 19 of the refrigerant cylinder in the fixed housing 17 is located between the three clamping petals 41. The telescopic actuator 2 drives the sleeve rod 5 to move to the left so that the three clamping petals 41 approach and clamp the valve cap 19, and the rotation actuator 3 drives the clamping rod assembly 4 to rotate to adjust the valve cap 19. After the valve cap 19 is adjusted, the telescopic actuator 2 drives the sleeve rod 5 to move to the right, the three clamping petals 41 spread out to release the valve cap 19, and the robotic arm 16 drives the clamping device to extend out of the operating hole 18.

[0041] After the telescopic actuator 2 drives the sleeve 5 to bring the three clamping petals 41 closer together and clamp the valve cap 19, the clamping rod assembly 4 can be rotated by the rotary actuator 3 to unscrew the valve cap 19. Then, the robotic arm 16 drives the clamping device to extend out of the operating hole 18 and bring out the disassembled valve cap 19. The telescopic actuator 2 drives the sleeve 5 to move to the right, the three clamping petals 41 spread out to release the disassembled valve cap 19, and then the valve cap 19 to be replaced is placed between the three clamping petals 41. The telescopic actuator 2 drives the sleeve 5 to move to the left to clamp the three clamping petals 41. The robotic arm 16 drives the clamping device to extend the clamping rod assembly 4, the sleeve 5, and the clamped valve cap 19 to be replaced into the operating hole 18, and moves the valve cap 19 to be replaced to the installation position. The rotary actuator 3 drives the clamping rod assembly 4 to rotate to install the valve cap 19 to be replaced. After the valve cap 19 is installed, the telescopic actuator 2 drives the sleeve 5 to move to the right, the three clamping flaps 41 open to release the valve cap 19, and the robotic arm 16 drives the clamping device to extend out of the operating hole 18.

[0042] It is understood that the clamping device of this utility model embodiment is not limited to rotating and disassembling the valve cap of the refrigerant cylinder inside the fixed box. In other embodiments, the clamping device can also rotate and disassemble workpieces such as bolts, screws, nuts, and rotating valves deep in narrow spaces.

[0043] The clamping device of this utility model embodiment has a telescopic driver that drives the sleeve rod to move axially along the clamping rod assembly, thereby pushing at least two clamping petals at the second end of the clamping rod assembly toward the central axis of the clamping rod assembly, thereby clamping the workpiece. The rotation driver drives the clamping rod assembly to rotate around its central axis, thereby driving the clamped workpiece to move actively. Since both the clamping rod assembly and the sleeve rod have length, the clamping device of this utility model embodiment can rotate and disassemble workpieces located deep in narrow spaces.

[0044] In some embodiments, the clamping device of this utility model further includes a pushing member 6, which is disposed within the clamping rod assembly 4 and is movable relative to the clamping rod assembly 4 between a pushing position and a retracting position. In the pushing position, the pushing member 6 is located within the space surrounded by at least two clamping petals 41, and in the retracting position, it is located on the side of the pushing position facing the first end of the clamping rod assembly 4.

[0045] like Figure 2 and Figure 3 As shown, the clamping rod assembly 4 is provided with a pusher 6 that is movable along its axial direction. The pusher 6 has a pushing position and a retracting position, and can move between the pushing position and the retracting position. In the pushing position, the pusher 6 is located within the space surrounded by the three clamping petals 41. In the retracting position, it is located to the right of the pushing position. In other words, the retracting position can be located to the right of the space surrounded by the three clamping petals 41, or it can be located within the space surrounded by the three clamping petals 41, but to the right of the pushing position.

[0046] When the clamping device is in use, as the clamping rod assembly 4 and the sleeve rod 5 move to allow the valve cap 19 to enter the space surrounded by the three clamping petals 41, the valve cap 19 abuts against the pusher 6 and pushes the pusher 6 to move to the right to the retraction position. When the three clamping petals 41 open to release the valve cap 19, the pusher 6 moves to the left to the push position and pushes the valve cap 19 to move to the left to disengage from the space surrounded by the three clamping petals 41, thereby preventing the valve cap 19 from sticking to or getting stuck in the space surrounded by the three clamping petals 41.

[0047] In some embodiments, the clamping device of this utility model further includes an elastic element (not shown in the figure), which is disposed in the clamping rod assembly 4 and connected between the clamping rod assembly 4 and the pushing member 6, for driving the pushing member 6 to move from the retracted position to the pushing position.

[0048] Specifically, the clamping rod assembly 4 is further provided with an elastic element, which is connected between the clamping rod assembly 4 and the pushing member 6 to drive the pushing member 6 to move from the retracted position to the pushing position, in other words, to drive the pushing member 6 to move to the left. The elastic element is preferably, but not limited to, a spring.

[0049] It is understood that in other embodiments, the driver may also be configured to drive the pusher 6 to move.

[0050] In some embodiments, the clamping rod assembly 4 includes a connecting rod 42 and a clamp 43, wherein the first end of the connecting rod 42 (e.g., Figure 2 and Figure 3 The right end of the connecting rod 42 shown is connected to the rotary driver 3, and the second end of the connecting rod 42 (as shown) is connected to the rotary driver 3. Figure 2 and Figure 3 The left end of the connecting rod 42 shown has a slot 421, and the chuck 43 has an inner cavity that extends through the axial direction of the clamping rod assembly 4. The first end of the chuck 43 (as shown) Figure 2 and Figure 3 The right end of the collet 43 shown is sleeved and connected to the second end of the connecting rod 42. The second end of the collet 43 (as shown) Figure 2 and Figure 3 The left end of the chuck 43 shown has at least two clamping petals 41.

[0051] like Figure 2 and Figure 3 As shown, the clamping rod assembly 4 includes a connecting rod 42 and a chuck 43, both of which extend in the left-right direction. The right end of the connecting rod 42 is connected to the rotary actuator 3, and the left end of the connecting rod 42 extends to the left from the rotary actuator 3 and away from the base 1. A slot 421 is provided on the left end face of the connecting rod 42.

[0052] The chuck 43 has an inner cavity that extends through it in the left-right direction. The left end of the chuck 43 has three clamping petals 41. The three clamping petals 41 are arranged at intervals around the central axis of the chuck 43. In other words, the three clamping petals 41 are arranged at intervals and surround the outer periphery of the left end of the inner cavity of the chuck 43.

[0053] The right end of the collet 43 is fitted onto the left end of the connecting rod 42; in other words, the left end of the connecting rod 42 is inserted into the right end of the inner cavity of the collet 43. The collet 43 and the connecting rod 42 are preferably, but not limited to, coaxially arranged.

[0054] The right end of the chuck 43 is connected to the left end of the connecting rod 42, preferably detachably, and more preferably via a set screw. Specifically, the right end of the chuck 43 is provided with a set screw, which extends radially along the chuck 43 and the connecting rod 42 and extends into the outer circumferential surface of the left end of the connecting rod 42, thereby allowing the chuck 43 to rotate synchronously with the connecting rod 42, while limiting the position of the chuck 43 relative to the connecting rod 42 to prevent the chuck 43 from shifting. The detachable connection between the chuck 43 and the connecting rod 42 facilitates the replacement of chucks with different structural dimensions of the clamping flaps 41 to suit workpieces of different structural dimensions.

[0055] The pusher 6 is a rod extending along the axial direction of the clamping rod assembly 4. The pusher 6 is located sequentially in the inner cavity of the chuck 43 and the slot 421 along the axial direction of the clamping rod assembly 4. The part of the pusher 6 located in the inner cavity of the chuck 43 is provided with a stepped surface 61. The elastic element is located between the stepped surface 61 and the end face of the second end of the connecting rod 42.

[0056] like Figure 2 and Figure 3 As shown, the pusher 6 is a rod extending in the left-right direction. Along the left-right direction, the pusher 6 is sequentially located within the inner cavity of the chuck 43 and the slot 421. In other words, the right end of the pusher 6 fits into the slot 421, and the remaining part of the pusher 6 is located within the inner cavity of the chuck 43. Furthermore, the pusher 6 is movable in the left-right direction relative to both the chuck 43 and the slot 421.

[0057] The outer circumferential surface of the middle part of the pusher 6 is provided with a stepped surface 61. The stepped surface 61 is located in the inner cavity of the chuck 43 and on the left side of the connecting rod 42. The elastic element abuts between the stepped surface 61 and the left end face of the connecting rod 42. Preferably, the stepped surface 61 is annular in the left-right direction and is arranged opposite to the left end face of the annular shape of the connecting rod 42. The elastic element is sleeved on the outer circumference of the pusher 6 and abuts between the stepped surface 61 and the left end face of the connecting rod 42, thereby driving the pusher 6 to move from the retracted position to the left to the push position, and playing a buffering role when the pusher 6 moves from the push position to the right to the retracted position.

[0058] In some embodiments, the outer peripheral surface of the pusher 6 is provided with a protrusion 62 located in the inner cavity of the chuck 43. The protrusion 62 forms a stepped surface 61 on the side facing the connecting rod 42. The inner wall surface of the chuck 43 is provided with a limiting boss 44. The limiting boss 44 and the protrusion 62 are arranged opposite to each other along the axial direction of the clamping rod assembly 4 and are located on the side of the protrusion 62 away from the connecting rod 42, so as to stop the protrusion 62.

[0059] like Figure 3 As shown, the outer peripheral surface of the middle part of the pusher 6 is provided with a protrusion 62, which is located in the inner cavity of the chuck 43 and on the left side of the connecting rod 42. The right end face of the protrusion 62 forms a stepped surface 61 to abut against the left end of the elastic member.

[0060] The inner wall of the chuck 43 is provided with a limiting boss 44, which is disposed opposite to the protrusion 62 in the left-right direction and is located on the left side of the protrusion 62. The limiting boss 44 is used to stop the pusher 6 from moving to the left from the retracted position. In other words, in the pushing position, the limiting boss 44 stops the protrusion 62. This prevents the pusher 6 from coming out of the chuck 43.

[0061] Both the protrusion 62 and the limiting boss 44 are preferably annular in the left-right direction, and the portion of the pusher 6 located at the left end of the protrusion 62 passes through the space surrounded by the limiting boss 44.

[0062] It is understood that the protrusions and limiting bosses are not limited to being annular. In other embodiments, the protrusions are multiple protrusions arranged at intervals in the left-right direction, and the limiting bosses are annular in the left-right direction. Alternatively, the protrusions are annular in the left-right direction, and the limiting bosses are multiple protrusions arranged at intervals in the left-right direction.

[0063] In some embodiments, the clamping petal 41 is provided with an outer conical surface 411, which is located on the side of the clamping petal 41 away from the central axis of the clamping rod assembly 4. The outer conical surface 411 is used to abut against the sleeve rod 5, thereby the sleeve rod 5 pushes the clamping petal 41 to move toward the central axis of the clamping rod assembly 4. And / or the second end of the sleeve rod 5 is provided with an inner conical surface 51, which is used to abut against the clamping petal 41, thereby the sleeve rod 5 pushes the clamping petal 41 to move toward the central axis of the clamping rod assembly 4.

[0064] like Figures 2-4 As shown, the clamping petals 41 are integrally connected to the chuck 43. The clamping petals 41 can undergo a certain degree of elastic deformation relative to the chuck 43, so that the three clamping petals 41 can come together under the push of the sleeve rod 5, and can automatically reset and disperse after the sleeve rod 5 moves to the right.

[0065] At least the right end of the outer peripheral surface of the clamping flap 41 is an outer conical surface 411, which extends to the left from the outer peripheral surface of the chuck 43 and is inclined away from the central axis of the chuck 43. The left end of the inner peripheral surface of the sleeve 5 is an inner conical surface 51, which is adapted to the outer conical surface 411.

[0066] When the sleeve rod 5 moves to the left, the inner cone surface 51 abuts against the outer cone surface 411, and pushes the outer cone surface 411 to move the clamping petal 41 closer together. When the sleeve rod 5 moves to the right, the inner cone surface 51 and the outer cone surface 411 gradually separate, and the clamping petal 41 resets and disperses under its own elastic deformation capability.

[0067] It is understood that the inner and outer conical surfaces are not limited to being provided simultaneously. In other embodiments, the inner conical surface is provided only on the sleeve or the outer conical surface is provided only on the clamping petals.

[0068] It is understood that the clamping flap is not limited to resetting and dispersing under its own elastic deformation capability. In other embodiments, the clamping flap is connected to a reset elastic element to reset and disperse under the drive of the elastic element, or the clamping flap is connected to a sleeve rod to reset and disperse under the pull of the sleeve rod.

[0069] In some embodiments, the clamping device of this utility model further includes a fixed bracket 7 and a sliding bracket 8. The fixed bracket 7 is connected to the base 1, and the rotary driver 3 is connected to the fixed bracket 7, so that the rotary driver 3 and the telescopic driver 2 are arranged side by side. The sliding bracket 8 is connected to the base 1 and is movable relative to the base 1 along the axial direction of the clamping rod assembly 4. The sliding bracket 8 is connected to the telescopic driver 2 and the first end of the sleeve 5 respectively, so as to move under the drive of the telescopic driver 2, thereby driving the sleeve 5 to move along the axial direction of the clamping rod assembly 4.

[0070] like Figure 1 and Figure 2 As shown, the base 1 has a fixed bracket 7, a sliding bracket 8 and a telescopic actuator 2 at its bottom. The fixed bracket 7 extends downward over the telescopic actuator 2, and the rotating actuator 3 is located at the bottom of the fixed bracket 7, thus being arranged side by side with the telescopic actuator 2.

[0071] The sliding bracket 8 is located on the left side of the fixed bracket 7 and the telescopic actuator 2. The sliding bracket 8 is movably connected to the base 1 in the left-right direction. In other words, the sliding bracket 8 can move closer to and further away from the fixed bracket 7 in the left-right direction. Preferably, the bottom of the base 1 is provided with a linear guide rail 14 extending in the left-right direction. The guide rail of the linear guide rail 14 is connected to the base 1, and the slider of the linear guide rail 14 is connected to the sliding bracket 8, so that the sliding bracket 8 can move along the guide rail of the linear guide rail 14 via the slider of the linear guide rail 14.

[0072] The telescopic actuator 2 is connected to the top of the sliding bracket 8 to drive the sliding bracket 8 to move left and right. Preferably, the telescopic actuator 2 is connected to the slider of the linear guide rail 14 to indirectly connect to the top of the sliding bracket 8. The connecting rod 42 passes through the bottom of the sliding bracket 8 so as to be connected to the rotary actuator 3. The right end of the sleeve rod 5 is located at the bottom of the sliding bracket 8 so as to move left and right under the drive of the sliding bracket 8.

[0073] The fixed bracket 7 and the sliding bracket 8 make the clamping device compact.

[0074] In some embodiments, the first end of the sleeve 5 is connected to the sliding bracket 8 and is rotatable about the central axis of the sleeve 5 relative to the sliding bracket 8.

[0075] like Figure 1 and Figure 2 As shown, the right end of the sleeve rod 5 is connected to the sliding bracket 8 and can rotate relative to the sliding bracket 8 around the central axis of the left and right sleeve rods 5. Preferably, the sliding bracket 8 is provided with a bearing 15, and the right end of the sleeve rod 5 is connected to and passes through the bearing 15.

[0076] When the rotary actuator 3 drives the clamping rod assembly 4 to rotate, the sleeve rod 5 can rotate around its central axis under the frictional force with the chuck 43, and rotates relative to the sliding bracket 8. This avoids hard friction between the inner circumferential surface of the sleeve rod 5 and the outer circumferential surface of the chuck 43, which could damage the sleeve rod 5 and the chuck 43.

[0077] In some embodiments, the clamping device of this utility model further includes a first limiting member 9 and a second limiting member 10. The first limiting member 9 and the second limiting member 10 are both disposed at the first end of the sleeve rod 5 and are arranged at intervals along the axial direction of the sleeve rod 5. The sliding bracket 8 includes a first bracket 81 and a second bracket 82. The first bracket 81 and the second bracket 82 are arranged at intervals along the axial direction of the sleeve rod 5. The first limiting member 9 and the second limiting member 10 are both disposed between the first bracket 81 and the second bracket 82. The first limiting member 9 abuts against the first bracket 81, and the second limiting member 10 abuts against the second bracket 82.

[0078] like Figure 1 , Figure 2 and Figure 4 As shown, the sliding bracket 8 includes a first bracket 81 and a second bracket 82 arranged at intervals in the left-right direction. The second bracket 82 is located to the right of the first bracket 81. The telescopic driver 2 drives the first bracket 81 and the second bracket 82 to move synchronously through the slider of the linear guide rail 14.

[0079] Both the first bracket 81 and the second bracket 82 are equipped with bearings 15. The right end of the sleeve 5 is sequentially connected to and passes through the bearings 15 of the first bracket 81 and the bearings 15 of the second bracket 82. The right end of the sleeve 5 is provided with a first limiting member 9 and a second limiting member 10 arranged at intervals in the left-right direction. The first limiting member 9 abuts against the right end face of the first bracket 81 and / or the right end face of the bearing 15 of the first bracket 81, and the second limiting member 10 abuts against the left end face of the second bracket 82 and / or the left end face of the bearing 15 of the second bracket 82.

[0080] Thus, the position of the sleeve rod 5 relative to the sliding bracket 8 is limited by the first limiting member 9 and the second limiting member 10, so as to prevent the sliding bracket 8 from moving.

[0081] The first limiting member 9 and the second limiting member 10 are preferably, but not limited to, detachable clamps, such as... Figure 4 As shown, the outer circumferential surface of the right end of the sleeve rod 5 is provided with an annular groove for installing the clamp.

[0082] In some embodiments, the clamping device of this utility model further includes an auxiliary support 11, a third limiting member 12, and a round nut assembly 13. The auxiliary support 11 is connected to the base 1. The first end of the clamping rod assembly 4 passes through the auxiliary support 11 and is rotatable relative to the auxiliary support 11 around the central axis of the clamping rod assembly 4. The round nut assembly 13 is connected between the first end of the clamping rod assembly 4 and the rotation driver 3. The third limiting member 12 is disposed at the first end of the clamping rod assembly 4. The auxiliary support 11 abuts against the round nut assembly 13 and the third limiting member 12.

[0083] like Figure 1 and Figure 2 As shown, an auxiliary support 11 is also provided at the bottom of the base 1. The auxiliary support 11 is located between the second support 82 and the fixed support 7 and spans the telescopic actuator 2. The right end of the connecting rod 42 passes through the bottom of the auxiliary support 11. Preferably, the auxiliary support 11 is provided with a rotating bearing, and the right end of the connecting rod 42 is connected to and passes through the rotating bearing.

[0084] The right end of the connecting rod 42 is provided with a third limiting member 12 and a round nut assembly 13. The round nut assembly 13 is connected to the rotary driver 3 to connect the rotary driver 3 and the connecting rod 42, and to limit the relative position of the rotary driver 3 and the connecting rod 42 to avoid misalignment and movement. The third limiting member 12 is provided on the outer peripheral surface of the connecting rod 42 and abuts against the left end face of the auxiliary bracket 11 and / or the left end face of the rotary bearing. The round nut assembly 13 is grounded against the right end face of the auxiliary bracket 11 and / or the right end face of the rotary bearing, thereby limiting the position between the connecting rod 42 and the auxiliary bracket 11 through the round nut assembly 13 and the third limiting member 12 to prevent movement. The third limiting member 12 is preferably, but not limited to, a clamp.

[0085] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0086] Furthermore, the terms "first" and "second" are used only for distinction and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0087] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0088] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0089] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0090] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A clamping device, characterized in that, include: Base (1); Telescopic driver (2), the telescopic driver (2) is connected to the base (1); A rotary actuator (3) is connected to the base (1); A clamping rod assembly (4) is provided, the first end of which is connected to the rotation driver (3), so that the clamping rod assembly (4) is rotatable relative to the base (1) about the central axis of the clamping rod assembly (4). The second end of the clamping rod assembly (4) has at least two clamping petals (41), which are spaced apart about the central axis of the clamping rod assembly (4) and can move toward and away from the central axis of the clamping rod assembly (4). A sleeve (5) is sleeved on the outer periphery of the clamping rod assembly (4). The first end of the sleeve (5) is connected to the telescopic actuator (2), so that the sleeve (5) can move relative to the clamping rod assembly (4) along the axial direction of the clamping rod assembly (4) to push at least two of the clamping petals (41) toward the central axis of the clamping rod assembly (4).

2. The clamping device according to claim 1, characterized in that, It also includes a pusher (6) disposed within the clamping rod assembly (4) and movable relative to the clamping rod assembly (4) between a push position and a retract position. In the push position, the pusher (6) is located within the space surrounded by at least two clamping petals (41), and the retract position is located on the side of the push position facing the first end of the clamping rod assembly (4).

3. The clamping device according to claim 2, characterized in that, It also includes an elastic element, which is disposed in the clamping rod assembly (4) and connected between the clamping rod assembly (4) and the pushing member (6), for driving the pushing member (6) to move from the retraction position to the pushing position.

4. The clamping device according to claim 3, characterized in that, The clamping rod assembly (4) includes a connecting rod (42) and a chuck (43). The first end of the connecting rod (42) is connected to the rotary driver (3). The second end of the connecting rod (42) is provided with a slot (421). The chuck (43) is provided with an inner cavity that extends through the chuck (43) along the axial direction of the clamping rod assembly (4). The first end of the chuck (43) is sleeved and connected to the second end of the connecting rod (42). The second end of the chuck (43) is provided with at least two clamping petals (41). The pusher (6) is a rod extending along the axial direction of the clamping rod assembly (4). The pusher (6) is located sequentially in the inner cavity of the chuck (43) and the slot (421) along the axial direction of the clamping rod assembly (4). The portion of the pusher (6) located in the inner cavity of the chuck (43) is provided with a stepped surface (61). The elastic element is located between the stepped surface (61) and the end face of the second end of the connecting rod (42).

5. The clamping device according to claim 4, characterized in that, The outer peripheral surface of the pusher (6) is provided with a protrusion (62) located in the inner cavity of the chuck (43). The protrusion (62) forms the stepped surface (61) on the side facing the connecting rod (42). The inner wall surface of the chuck (43) is provided with a limiting boss (44). The limiting boss (44) and the protrusion (62) are arranged opposite to each other along the axial direction of the clamping rod assembly (4) and are located on the side of the protrusion (62) away from the connecting rod (42) to stop the protrusion (62).

6. The clamping device according to claim 1, characterized in that, The clamping flap (41) is provided with an outer conical surface (411), which is located on the side of the clamping flap (41) away from the central axis of the clamping rod assembly (4). The outer conical surface (411) is used to abut against the sleeve rod (5), thereby the sleeve rod (5) pushes the clamping flap (41) to move toward the central axis of the clamping rod assembly (4); and / or The second end of the sleeve (5) is provided with an inner conical surface (51), which is used to abut against the clamping petal (41), thereby the sleeve (5) pushes the clamping petal (41) to move toward the central axis of the clamping rod assembly (4).

7. The clamping device according to claim 1, characterized in that, Also includes: A fixed bracket (7) is connected to the base (1), and a rotary driver (3) is connected to the fixed bracket (7) so that the rotary driver (3) and the telescopic driver (2) are arranged side by side; A sliding bracket (8) is connected to the base (1) and is movable relative to the base (1) along the axial direction of the clamping rod assembly (4). The sliding bracket (8) is connected to the first end of the telescopic driver (2) and the sleeve rod (5) respectively, so as to move under the drive of the telescopic driver (2), thereby driving the sleeve rod (5) to move along the axial direction of the clamping rod assembly (4).

8. The clamping device according to claim 7, characterized in that, The first end of the sleeve (5) is connected to the sliding bracket (8) and is rotatable about the central axis of the sleeve (5) relative to the sliding bracket (8).

9. The clamping device according to claim 7, characterized in that, It also includes a first limiting member (9) and a second limiting member (10). The first limiting member (9) and the second limiting member (10) are both provided at the first end of the sleeve rod (5) and are arranged at intervals along the axial direction of the sleeve rod (5). The sliding bracket (8) includes a first bracket (81) and a second bracket (82). The first bracket (81) and the second bracket (82) are arranged at intervals along the axial direction of the sleeve rod (5). The first limiting member (9) and the second limiting member (10) are both provided between the first bracket (81) and the second bracket (82). The first limiting member (9) abuts against the first bracket (81), and the second limiting member (10) abuts against the second bracket (82).

10. The clamping device according to claim 7, characterized in that, It also includes an auxiliary bracket (11), a third limiting member (12), and a round nut assembly (13). The auxiliary bracket (11) is connected to the base (1). The first end of the clamping rod assembly (4) passes through the auxiliary bracket (11) and is rotatable relative to the auxiliary bracket (11) about the central axis of the clamping rod assembly (4). The round nut assembly (13) is connected between the first end of the clamping rod assembly (4) and the rotation driver (3). The third limiting member (12) is provided at the first end of the clamping rod assembly (4). The auxiliary bracket (11) abuts against the round nut assembly (13) and the third limiting member (12).

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