Workpiece clamping device and workpiece polishing equipment
By combining a pressure cap, elastic components, and electromagnetic suction components, the problems of low centering accuracy and high cost of existing robot clamping devices are solved, achieving low-cost, high-precision workpiece clamping and grinding effects.
Patent Information
- Application Number
- CN202423104817.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-11-14
- Estimated Expiration
- 2034-12-16
AI Technical Summary
Existing robot gripping devices suffer from low gripping centering accuracy and low repeatability when gripping cylindrical tools or workpieces, and are also costly, failing to meet the consistency requirements of high-precision grinding and mass production.
The system employs a combination structure of a pressure cap, an elastic component, an elastic collet component, and an electromagnetic suction component. By energizing and de-energizing the electromagnetic suction component, the pressure cap is moved to achieve automatic clamping and unclamping of the workpiece. The radial clamping of the elastic collet component ensures high centering accuracy, simplifying the structure and reducing costs.
It achieves low-cost, high-centering-precision workpiece clamping with a clamping-centering accuracy of less than 0.005mm, improving the precision and consistency of grinding and reducing system complexity and debugging difficulty.
Smart Images
Figure CN223544836U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of workpiece clamping structure technology, and in particular to a workpiece clamping device and workpiece grinding equipment. Background Technology
[0002] Existing robotic gripping devices, such as parallel grippers or three-finger grippers, suffer from low gripping centering accuracy and low repeatability when used for grinding cylindrical tools or workpieces. These limitations fail to meet the high precision requirements and consistency requirements of mass production for grinding cylindrical tools or workpieces. Furthermore, the cylindrical surface being gripped is typically smooth, and the contact area between the gripper fingers and the cylindrical surface is small, resulting in low effective friction. This leads to continuous vibration of the tool or workpiece during grinding if subjected to significant impact forces, thus affecting the grinding accuracy. Even if elastic materials such as rubber are used at the tips of the gripper fingers to increase the coefficient of friction, the elastic deformation of the rubber during grinding will also affect the grinding accuracy.
[0003] Existing robotic gripping devices are mainly divided into two categories based on their power source: electric grippers and pneumatic grippers. Electric grippers require a dedicated control system to achieve their motion accuracy and stability, and also require high-precision mechanical mechanisms to ensure gripping accuracy, resulting in higher costs. Pneumatic grippers require corresponding cylinders, filters, and other equipment as a power source, which increases the complexity and cost of the overall system.
[0004] In summary, there is a lack of workpiece clamping devices on the market that are simple in structure, low in cost, easy to debug, and have a certain clamping and centering accuracy. Utility Model Content
[0005] This application provides a workpiece clamping device and a workpiece grinding equipment. It solves the problem of complex structure and high cost of existing workpiece clamping devices. The technical solution is as follows:
[0006] On the one hand, a workpiece clamping device is provided, the workpiece clamping device comprising:
[0007] Pressure cap, elastic component, elastic collet component, electromagnetic suction component, and base;
[0008] The pressure cap is disposed opposite to the base, and the pressure cap has a through hole for the workpiece to pass through; the elastic collet component, the electromagnetic suction component, and at least a portion of the elastic component are all located between the pressure cap and the base;
[0009] One end of the elastic component is fixed to the base, and the other end is connected to the pressure cap;
[0010] One end of the elastic collet component is fixed to the base, and the other end has a plurality of clamping arms distributed around the central axis of the elastic collet component, and a clamping hole located between the plurality of clamping arms and communicating with the communicating hole.
[0011] One end of the electromagnetic attraction component is fixed to the base, and the other end has a gap with the cover. The electromagnetic attraction component is configured to generate a magnetic attraction force when it is energized, so that the cover moves toward the base by the magnetic attraction force.
[0012] During the movement of the pressure cap toward the base, it can abut against the outer side of the plurality of clamping arms to clamp the workpiece, and at the same time compress the elastic member.
[0013] Optionally, the electromagnetic attraction component includes: a frame, a coil wound around the outside of the frame, and an iron core disposed inside the frame, wherein the end of the iron core facing the base is fastened to the base, and the axial direction of the iron core is parallel to the arrangement direction of the cover and the base.
[0014] When the coil is energized, the iron core generates an axial magnetic attraction force.
[0015] Optionally, the end of the iron core facing the base and one of the bases have a first positioning post, and the end of the iron core facing the base and the other of the bases have a first positioning hole that is fastened to the first positioning post.
[0016] Optionally, the gland also has a guide hole; the elastic component includes: a guide post, a spring sleeved on the guide post, and a fastener, one end of the guide post being fixedly connected to the base, the other end of the guide post passing through the guide hole and located on the side of the gland away from the base, and the fastener being fastened to the other end of the guide post.
[0017] Optionally, the outer surface of each of the clamping arms is a first conical surface and is inclined toward the central axis of the elastic collet component;
[0018] The pressure cap has a tapered hole on the side facing the elastic collet component, and the inner side of the tapered hole is a second tapered surface that mates with the first tapered surface.
[0019] Optionally, the elastic collet component includes: an elastic collet and a collet fixing seat, wherein the end of the elastic collet has the plurality of clamping arms, and the two ends of the collet fixing seat are respectively fastened to the elastic collet and the base.
[0020] Optionally, one of the ends of the collet fixing seat opposite to the elastic collet and the base has a second positioning post, and the other end of the collet fixing seat opposite to the elastic collet and the base has a second positioning hole that is fastened to the second positioning post.
[0021] Optionally, the number of electromagnetic suction components is multiple and they are distributed circumferentially around the elastic collet component.
[0022] Optionally, the workpiece clamping device further includes: a housing, one end of which is fastened to the base; wherein at least a portion of the elastic collet component, the electromagnetic suction component, and the elastic component are distributed within the cavity of the housing.
[0023] On the other hand, a workpiece grinding device is provided, the workpiece grinding device comprising:
[0024] A robotic arm, and a workpiece clamping device mounted on the drive end of the robotic arm, wherein the workpiece clamping device is any of the workpiece clamping devices given above.
[0025] The beneficial effects of the technical solutions provided in this application include at least the following:
[0026] A workpiece clamping device includes a cooperating pressure cap, an elastic component, an elastic collet component, and an electromagnetic suction component. The energization and de-energization of the electromagnetic suction component serves as the driving force for the movement of the pressure cap. The backward or forward movement of the pressure cap causes the elastic collet in the elastic component to radially clamp or release, thereby achieving automatic clamping and release of the workpiece. Thus, the workpiece clamping device provided in this application, compared to electric grippers in related technologies, does not require a built-in motor and high-precision mechanical mechanism, resulting in a simpler structure and lower cost. Furthermore, compared to pneumatic grippers, it does not require a corresponding air source system such as cylinders and filters, making it easier to adjust. While ensuring the accuracy of grinding the workpiece, the workpiece clamping device in this application features a simple structure, low cost, and ease of adjustment. In addition, the use of the elastic collet component ensures higher clamping and centering accuracy, reaching a level of less than or equal to 0.005 mm, which is higher than the clamping and centering accuracy of common parallel grippers and three-finger grippers (greater than 0.02 mm). Moreover, the elastic collet component has a larger contact area with the cylindrical surface of the workpiece when clamping, making the clamping more reliable and thus ensuring the grinding accuracy of the workpiece. Attached Figure Description
[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 This is a schematic diagram of the structure of a workpiece clamping device provided in an embodiment of this application;
[0029] Figure 2 yes Figure 1 An exploded schematic diagram of a workpiece clamping device is shown.
[0030] Figure 3 yes Figure 1 Another exploded view of the workpiece clamping device is shown;
[0031] Figure 4 This is an exploded view of a workpiece clamping device provided in an embodiment of this application;
[0032] Figure 5 This is an exploded view of another workpiece clamping device provided in the embodiments of this application;
[0033] Figure 6 This is a schematic diagram of another workpiece clamping device provided in the embodiments of this application;
[0034] Figure 7 This is a front view of a workpiece clamping device provided in an embodiment of this application;
[0035] Figure 8 yes Figure 7 Sectional view at A-A';
[0036] Figure 9 yes Figure 7 Sectional view at B-B';
[0037] Figure 10 This is a partial structural schematic diagram of a workpiece grinding device provided in an embodiment of this application.
[0038] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0039] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0040] The technical solutions of the present utility model (or invention) will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.
[0041] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
[0042] In this embodiment, the workpiece clamping device comprises a cooperating pressure cap 100, an elastic component 200, an elastic collet component 300, and an electromagnetic suction component 400. The energization and de-energization of the electromagnetic suction component 400 serve as the driving force for the movement of the pressure cap 100. The backward or forward movement of the pressure cap 100 causes the elastic collet in the elastic component 200 to radially clamp or release, thereby achieving automatic clamping and release of workpiece A. Thus, the workpiece clamping device provided in this application, compared to electric grippers in related technologies, does not require a built-in motor and high-precision mechanical mechanism, resulting in a simpler structure and lower cost. Furthermore, compared to pneumatic grippers, it does not require a corresponding air source system such as cylinders and filters, making it easier to debug. While ensuring the accuracy of the workpiece being ground, the workpiece clamping device in this application features a simple structure, low cost, and ease of debugging. Furthermore, the use of flexible collet components ensures higher clamping and centering accuracy, reaching a level of less than or equal to 0.005 mm, which is higher than the 0.02 mm accuracy of common parallel jaws and three-finger jaws. Moreover, the flexible collet component has a larger contact area with the cylindrical surface of the workpiece during clamping, making the clamping more reliable and thus ensuring the grinding accuracy of the workpiece.
[0043] The following examples illustrate specific implementation methods of the workpiece clamping device:
[0044] Please refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a schematic diagram of the structure of a workpiece clamping device provided in an embodiment of this application. Figure 2 yes Figure 1 An exploded view of a workpiece clamping device is shown. Figure 3 yes Figure 1Another exploded view of the workpiece clamping device is shown. The workpiece clamping device may include: a pressure cap 100, an elastic member 200, an elastic collet member 300, an electromagnetic suction member 400, a base 500, and a housing 600.
[0045] The pressure cap 100 and the base 500 in the workpiece clamping device can be disposed opposite to each other. The pressure cap 100 may have a through hole a1 for the workpiece A to pass through. At least a portion of the elastic collet component 300, the electromagnetic suction component 400, and the elastic component 200 in the workpiece clamping device may be located between the pressure cap 100 and the base 500. Here, the workpiece A may be a cylindrical tool holder or a cylindrical workpiece. For example, the pressure cap 100 may be a structure made of a soft magnetic metallic material.
[0046] One end of the elastic component 200 in the workpiece clamping device can be fixed on the base 500, and the other end of the elastic component 200 can be connected to the pressure cover 100.
[0047] One end of the elastic collet component 300 in the workpiece clamping device can be fixed to the base 500, and the other end of the elastic collet component 300 can have a plurality of clamping arms 301 distributed around the central axis of the elastic collet component 300, and a clamping hole b1 located between the plurality of clamping arms 301 and communicating with the communicating hole a1 in the pressure cap 100. Here, the clamping hole b1 can be coaxially arranged with the communicating hole a1 in the pressure cap 100.
[0048] One end of the electromagnetic suction component 400 in the workpiece clamping device can be fixed to the base 500, and the other end of the electromagnetic suction component 400 has a gap with the pressure cover 100. The electromagnetic suction component 400 can be configured to generate a magnetic attraction force when energized, so as to move the pressure cover 100 in the direction toward the base 500 by means of the magnetic attraction force.
[0049] During the movement of the pressure cap 100 toward the base 500, it can abut against the outer side of the multiple clamping arms 301 to clamp the workpiece A, and at the same time can compress the elastic member 200.
[0050] When the workpiece clamping device also includes a housing 600, one end of the housing 600 can be securely connected to the base 500. At least a portion of the elastic collet component 300, the electromagnetic suction component 400, and the elastic component 200 can be distributed within the cavity of the housing 600. Thus, by providing the housing 600 in the workpiece clamping device, the housing 600 can effectively protect the elastic collet component 300, the electromagnetic suction component 400, and the elastic component 200 in the workpiece clamping device, and the housing 600 can also serve a decorative purpose for the workpiece clamping device.
[0051] For example, the process of clamping a workpiece using a workpiece clamping device is illustrated here:
[0052] When workpiece A needs to be clamped, firstly, the end of workpiece A is inserted into the clamping hole b1 in the elastic collet component 300 through the connecting hole a1 on the pressure cap 100. Then, the electromagnetic suction component 400 is energized to generate a magnetic attraction force, which can generate an attraction force on the pressure cap 100 in the direction close to the base 500, allowing the pressure cap 100 to move. Afterward, when the pressure cap 100 moves to abut against the outer surface of the multiple clamping arms 301 in the elastic collet component 300, it can drive the multiple clamping arms 301 to generate elastic deformation towards the central axis of the elastic collet component 300, thereby clamping the end of workpiece A through the multiple clamping arms 301. It should be noted that during the process of the pressure cap 100 moving in the direction towards the base 500, the elastic component 200 can be compressed, allowing the elastic component 200 to store elastic potential energy. Thus, when it is necessary to release workpiece A, the electromagnetic attraction force of the electromagnetic attraction component 400 disappears, and the pressure cover 100 moves to the initial position in the direction away from the base 500 under the reaction force of the elastic component 200.
[0053] Optional, please refer to Figure 4 and Figure 5 , Figure 4 This is an exploded view of a workpiece clamping device provided in an embodiment of this application. Figure 5 This is an exploded view of another workpiece clamping device provided in this application embodiment. The electromagnetic attraction component 400 in the workpiece clamping device may include: a frame 401, a coil 402 wound around the outside of the frame 401, and an iron core 403 disposed inside the frame 401. The end of the iron core 403 facing the base 500 can be fastened to the base 500, and the axis of the iron core 403 is parallel to the arrangement direction of the pressure cover 100 and the base 500. When the coil 402 is energized, the iron core 403 can generate an axial magnetic attraction force. Thus, through the electromagnetic effect, when a certain current is passed through the coil 402, the iron core 403 will generate a certain axial electromagnetic attraction force. At this time, the pressure cover 100 will move against the elastic force of the elastic component 200 under the attraction of the electromagnetic force. Then, the pressure cover 100 moves to abut against the outer side of the multiple clamping arms 301 in the elastic collet component 300 to clamp the workpiece A through the multiple clamping arms 301.
[0054] In the embodiments of this application, such as Figure 4 and Figure 5As shown, one of the ends of the iron core 403 facing the base 500 and the base 500 may have a first positioning post B1, and the other end of the iron core 403 facing the base 500 and the base 500 may have a first positioning hole B2 that is fastened to the first positioning post B1. Here, after the first positioning post B1 is engaged with the first positioning hole B2, at least a portion of the first positioning post B1 is located within the first positioning hole B2. In this way, the engagement of the first positioning post B1 and the first positioning hole B2 can effectively ensure the installation position accuracy of the iron core 403 and the base 500, thereby ensuring the installation position accuracy of the electromagnetic suction component 400 and the base 500.
[0055] For example, in one possible implementation, the end of the iron core 403 facing the base 500 may have a first positioning post B1, and the base 500 may have a first positioning hole B2. Alternatively, in another possible implementation, the base 500 may have a first positioning post B1, and the end of the iron core 403 facing the base 500 may have a first positioning hole B2.
[0056] Optional, please refer to Figure 4 , Figure 5 and Figure 6 , Figure 6 This is a schematic diagram of another workpiece clamping device provided in this application embodiment. The pressure cap 100 may also have a guide hole a2. The elastic component 200 may include: a guide post 201, a spring 202 sleeved on the guide post 201, and a fastener 203. One end of the guide post 201 may be fixedly connected to the base 500, and the other end of the guide post 201 passes through the guide hole a2 in the pressure cap 100 and is located on the side of the pressure cap 100 away from the base 500. The fastener 203 may be fastened to the other end of the guide post 201. In this way, the pressure cap 100 can move along the guide post 201 in the direction toward the base 500 under the action of magnetic attraction, and the guide post 201 can play a good guiding role in the movement of the pressure cap 100. Furthermore, the pressure cap 100 can compress the spring 202 during the movement, and when the workpiece A is released, the pressure cap 100 can move along the guide rod 201 away from the base 500 under the reaction force of the spring 202. The fastener 203 can limit the pressure cap 100 after it rebounds.
[0057] It should be noted that, in other possible implementations, the elastic component 200 can be an elastic element distributed between the pressure cap 100 and the base 500, with both ends of the elastic element fixedly connected to the pressure cap 100 and the base 500, respectively. For example, the elastic element can be a sheet or a spring.
[0058] In the embodiments of this application, please refer to Figure 7 , Figure 8 and Figure 9 , Figure 7This is a front view of a workpiece clamping device provided in an embodiment of this application. Figure 8 yes Figure 7 Sectional view at A-A' Figure 9 yes Figure 7 A cross-sectional view at B-B'. The outer surface of each clamping arm 301 is a first conical surface z1 and is inclined toward the central axis of the elastic collet component 300. The side of the pressure cap 100 facing the elastic collet component 300 may have a conical hole a3 communicating with the connecting hole a1, and the inner surface of the conical hole a3 may be a second conical surface z2 that mates with the first conical surface z1. Thus, after the pressure cap 100 moves until the second conical surface z2 of the conical hole a3 in the pressure cap 100 abuts against the first conical surface z1 of the clamping arm 301, the pressure cap 100 applies a certain pressure to the plurality of clamping arms 301, causing the clamping arms 301 to elastically deform for clamping workpiece A.
[0059] Optional, such as Figure 4 and Figure 5 As shown, the elastic collet component 300 may include an elastic collet 302 and a collet fixing seat 303. The end of the elastic collet 302 may have multiple clamping arms 301, and the two ends of the collet fixing seat 303 may be fastened to the elastic collet 302 and the base 500 respectively. In this way, the elastic collet 302 can be easily fixed to the base 500 by means of the collet fixing seat 300.
[0060] In this application, as Figure 4 and Figure 5 As shown, one of the ends of the collet holder 303 opposite to the elastic collet 302 and the base 500 may have a second positioning post B3, and the other end of the collet holder 303 opposite to the elastic collet 302 and the base 500 may have a second positioning hole B4 that is fastened to the second positioning post B3. Here, after the second positioning post B3 is engaged with the second positioning hole B4, at least a portion of the second positioning post B3 is located within the second positioning hole B4. In this way, the engagement of the second positioning post B3 and the second positioning hole B4 can effectively ensure the installation position accuracy of the collet holder 303 and the base 500, thereby ensuring the installation position accuracy of the elastic collet component 300 and the base 500.
[0061] In the embodiments of this application, such as Figure 2 and Figure 3 As shown, the number of electromagnetic suction components 400 in the workpiece clamping device can be multiple and distributed around the circumference of the elastic collet component 300. For example, as shown in the figure, the number of electromagnetic suction components 400 can be four.
[0062] For example, the number of elastic components 200 in the workpiece clamping device can be multiple, with one elastic component 200 between every two adjacent electromagnetic suction components 400. For instance, the number of elastic components 200 can be four.
[0063] This application also provides a workpiece grinding device; please refer to... Figure 10 , Figure 10 This is a partial structural schematic diagram of a workpiece grinding device provided in an embodiment of this application. The workpiece grinding device may include: a robotic arm 001, and a workpiece clamping device 000 installed at the drive end of the robotic arm 001. The workpiece clamping device 000 may be any of the workpiece clamping devices given above.
[0064] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.
[0065] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A workpiece clamping device, characterized in that, include: Pressure cap, elastic component, elastic collet component, electromagnetic suction component, and base; The pressure cap is disposed opposite to the base, and the pressure cap has a through hole for the workpiece to pass through; the elastic collet component, the electromagnetic suction component, and at least a portion of the elastic component are all located between the pressure cap and the base; One end of the elastic component is fixed to the base, and the other end is connected to the pressure cap; One end of the elastic collet component is fixed to the base, and the other end has a plurality of clamping arms distributed around the central axis of the elastic collet component, and a clamping hole located between the plurality of clamping arms and communicating with the communicating hole. One end of the electromagnetic attraction component is fixed to the base, and the other end has a gap with the cover. The electromagnetic attraction component is configured to generate a magnetic attraction force when it is energized, so that the cover moves toward the base by the magnetic attraction force. During the movement of the pressure cap toward the base, it can abut against the outer side of the plurality of clamping arms to clamp the workpiece, and at the same time compress the elastic member.
2. The workpiece clamping device according to claim 1, characterized in that, The electromagnetic attraction component includes: a frame, a coil wound around the outside of the frame, and an iron core disposed inside the frame. The end of the iron core facing the base is fastened to the base, and the axial direction of the iron core is parallel to the arrangement direction of the cover and the base. When the coil is energized, the iron core generates an axial magnetic attraction force.
3. The workpiece clamping device according to claim 2, characterized in that, The iron core has a first positioning post at one end facing the base and at the other end facing the base, and a first positioning hole that is fastened to the first positioning post at the other end facing the base.
4. The workpiece clamping device according to claim 1, characterized in that, The pressure cap also has a guide hole; the elastic component includes: a guide post, a spring sleeved on the guide post, and a fastener, one end of the guide post being fixedly connected to the base, the other end of the guide post passing through the guide hole and located on the side of the pressure cap opposite to the base, and the fastener being fastened to the other end of the guide post.
5. The workpiece clamping device according to any one of claims 1-4, characterized in that, The outer surface of each clamping arm is a first conical surface and is inclined toward the central axis of the elastic collet component; The pressure cap has a tapered hole on the side facing the elastic collet component that communicates with the connecting hole, and the inner surface of the tapered hole is a second tapered surface that mates with the first tapered surface.
6. The workpiece clamping device according to claim 5, characterized in that, The elastic collet component includes an elastic collet and a collet fixing seat. The end of the elastic collet has the plurality of clamping arms, and the two ends of the collet fixing seat are respectively fastened to the elastic collet and the base.
7. The workpiece clamping device according to claim 6, characterized in that, The collet fixing seat has a second positioning post at one end opposite to the elastic collet and at one end opposite to the base, and a second positioning hole that is fastened to the second positioning post at the other end opposite to the elastic collet and at one end opposite to the base.
8. The workpiece clamping device according to any one of claims 1-4 and 6-7, characterized in that, The number of electromagnetic suction components is multiple and they are distributed circumferentially around the elastic collet component.
9. The workpiece clamping device according to claim 8, characterized in that, The workpiece clamping device further includes: a housing, one end of which is fastened to the base; wherein at least a portion of the elastic collet component, the electromagnetic suction component, and the elastic component are distributed within the cavity of the housing.
10. A workpiece grinding device, characterized in that, include: A robotic arm, and a workpiece clamping device mounted on the drive end of the robotic arm, wherein the workpiece clamping device is the workpiece clamping device according to any one of claims 1-9.