Clamping device

Abstract

The utility model provides a clamping device, and relates to the field of clamps. The clamping device comprises a base plate, a linear driving piece vertically installed on one face of the base plate and at least three clamping pieces arranged on the other face of the base plate in a linear sliding mode, the clamping pieces jointly define a containing space used for containing materials to be clamped, and the clamping pieces are connected with the output portion of the linear driving piece through a connecting rod mechanism. The output part is configured to drive the connecting rod mechanisms to drive the corresponding clamping pieces to be close to or away from the center of the containing space. According to the clamping device, one linear driving piece can drive a plurality of clamping pieces to move, and the number of the driving pieces is small, so that the cost is low, and the occupied space is small; moreover, according to the clamping device, the clamping actions in different directions are combined through the connecting rod mechanism, so that the action time is greatly saved, and the efficiency can be greatly improved; in addition, according to the clamping device, the to-be-clamped materials are aligned to the center of the containing space, and accurate positioning of the to-be-clamped materials can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of clamp, specifically, relate to a clamping device. BACKGROUND

[0002] In prior art, in the process of clamping and positioning material or product to carry out process operation, usually adopt the form that multiple driving members drive multiple clamping members such as clamping jaw respectively, and in order to avoid the motion interference between each driving member, usually need multiple driving members to drive corresponding clamping member action in turn, not only high cost, large space occupation, but also low efficiency. SUMMARY

[0003] The utility model discloses a clamping device to solve the technical problem of high cost, large space occupation, low efficiency of clamping device in prior art.

[0004] The utility model discloses a clamping device, including the base plate, the linear drive piece of vertical installation in one side of base plate, and at least three clamping members that are all along linear sliding and set up in the other side of base plate, each clamping member surrounds the containing space for containing the material to be clamped in common, and with the output part of linear drive piece is connected through connecting rod mechanism, the output part is configured as: drive each connecting rod mechanism drives corresponding clamping member to be close to the center of containing space or away from the center of containing space.

[0005] Further, the number of clamping members is two pairs, one pair is oppositely arranged along the first linear direction, and the other pair is oppositely arranged along the second linear direction, and the second linear direction is perpendicular to the first linear direction.

[0006] Further, the base plate is square, and each of the two pairs of clamping members is arranged along a diagonal of the base plate.

[0007] Further, the number of clamping members is three, and the three clamping members are arranged in a triangular shape.

[0008] Further, the connecting rod mechanism includes a driving plate, a follower plate, and a fixed plate. The driving plate is fixedly connected to the output portion perpendicularly. The fixed plate is fixedly connected to the corresponding clamping member. One end of the follower plate is hingedly connected to the driving plate about a first shaft. The other end of the follower plate is hingedly connected to the fixed plate about a second shaft. The first shaft and the second shaft are parallel and both perpendicular to the output portion.

[0009] Further, the clamping member includes a fixedly arranged bearing portion and a clamping portion. The bearing portion is provided with a bearing surface parallel to the base plate, and each bearing surface is coplanar. The clamping portion is provided with a clamping surface facing the containing space, and each clamping surface and each bearing surface jointly enclose the containing space.

[0010] Further, the bearing part is in a flat plate shape, and the fixed plate is fixedly connected with the bearing part perpendicularly.

[0011] Further, the linear driving part is a cylinder, a gas rod of the cylinder forms the output part, or the linear driving part is a hydraulic cylinder, a piston rod of the hydraulic cylinder forms the output part, or the linear driving part is a linear motor, an output shaft of the linear motor forms the output part.

[0012] Further, the linear driving part is further provided with at least one guide rod parallel to the output part.

[0013] Further, the clamping part and the base plate are connected through a sliding assembly, the sliding assembly comprises a guide rail, the guide rail comprises a fixed guide rail and a movable guide rail matched with each other, the fixed guide rail is fixedly arranged on the base plate, and the movable guide rail is fixedly arranged on the clamping part, or the sliding assembly comprises a sliding groove and a sliding block matched with each other, the sliding groove is arranged on the base plate, and the sliding block is fixedly arranged on the clamping part, or the sliding assembly comprises a sliding rod and a sliding hole matched with each other, the sliding rod is arranged on one of the base plate and the clamping part, and the sliding hole is arranged on the other one of the base plate and the clamping part.

[0014] The clamping device provided by the utility model has the following beneficial effects:

[0015] The clamping device provided by the utility model adopts linear driving parts and connecting rod mechanisms to work in cooperation, one linear driving part can drive multiple clamping parts to move, compared with the mode that one clamping part is driven to move by multiple driving parts respectively, the number of driving parts is small, so the cost is low, and the occupied space is small; moreover, the clamping device provided by the utility model combines clamping actions in different directions through connecting rod mechanisms, multiple clamping parts move synchronously in multiple directions, and the action time is greatly saved, so that the efficiency can be greatly improved; in addition, in addition to being capable of clamping materials to be clamped, the clamping device provided by the utility model also aligns the materials to be clamped to the center of the containing space, that is, the clamping device can also realize accurate positioning of the materials to be clamped. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only the embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to the provided drawings without paying creative labor.

[0017] Figure 1The structure schematic diagram of the clamping device provided by the utility model embodiment, wherein the clamping member is in the open state.

[0018] Figure 2 The structure schematic diagram of the clamping device provided by the utility model embodiment and the material to be clamped, wherein the clamping member is in the open state.

[0019] Figure 3 The structure schematic diagram of the clamping device provided by the utility model embodiment clamping the material.

[0020] Figure 4 The structure schematic diagram of the clamping device provided by the utility model embodiment, wherein the clamping member is in the open state.

[0021] Explanation of reference signs:

[0022] 100 - substrate;

[0023] 200 - cylinder; 210 - air rod; 220 - guide rod; 230 - connecting plate;

[0024] 300 - clamping member; 310 - bearing part; 311 - bearing surface; 320 - clamping part; 330 - rubber coating; 301 - long-side clamping block; 302 - short-side clamping block;

[0025] 400 - connecting rod mechanism; 410 - driving plate; 411 - support frame; 420 - follow-up plate; 430 - fixed plate; 440 - first shaft; 450 - second shaft;

[0026] 500 - guide rail;

[0027] 600 - material to be clamped. DETAILED DESCRIPTION

[0028] In order to make the above objectives, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the utility model and do not limit the utility model.

[0029] The utility model provides a kind of clamping device, as shown in Figures 1 to 4 The clamping device includes substrate 100, linear drive member vertically installed on one surface of substrate 100, and at least three clamping members 300 are arranged on the other surface of substrate 100 along linear sliding, each clamping member 300 collectively encloses accommodating space for accommodating material to be clamped 600, and the output part of linear drive member is connected with each connecting rod mechanism 400, and the output part is configured to drive each connecting rod mechanism 400 to drive corresponding clamping member 300 to the center of accommodating space or away from the center of accommodating space.

[0030] The clamping device provided in the embodiment is matched with the connecting rod mechanism 400 for operation by a linear driving member, one linear driving member can drive multiple clamping members 300 to move, compared with multiple driving members respectively driving one clamping member 300 to move, the number of driving members is small, so the cost is low and the occupied space is small; moreover, the clamping device provided in the embodiment combines different direction clamping actions through the connecting rod mechanism 400, multiple clamping members 300 move synchronously in multiple directions, which greatly saves the action time, so that the efficiency can be greatly improved; in addition, in addition to being able to clamp the material to be clamped 600, the clamping device provided in the embodiment also aligns the material to be clamped 600 to the center of the containing space, that is, it can also realize accurate positioning of the material to be clamped 600.

[0031] Specifically, in the embodiment, as shown in the figure, Figures 1 to 4 the number of clamping members 300 is two pairs, one pair is oppositely arranged along the first linear direction, and the other pair is oppositely arranged along the second linear direction, and the second linear direction is perpendicular to the first linear direction. Compared with the traditional mode of stacking two groups of clamping cylinders and clamping mechanisms, in this setting, one group of clamping cylinders and structures such as gas circuit, electromagnetic valve, exhaust throttle valve are reduced, saving cost and space by about 50%, greatly reducing the operation space requirement, which is very suitable for scenes with compact structure and limited space; moreover, it can also save about 50% of the action time; in addition, in addition to being able to clamp the material to be clamped 600, it can also realize the center alignment of the material to be clamped 600 in the first linear direction and the second linear direction, that is, it can realize accurate positioning of the material to be clamped 600.

[0032] More specifically, in the embodiment, the two pairs of clamping members 300 include a pair of long-side clamping blocks 301 and a pair of short-side clamping blocks 302, which are respectively used for positioning and clamping the long side and short side of the material to be clamped 600. However, it should be noted that in other embodiments of the present application, the structural form of the clamping member 300 is not limited thereto, for example: in order to realize the center positioning and clamping of the square material to be clamped, the length of each clamping member 300 is consistent, that is, the clamping device provided by the present application can realize accurate center positioning and clamping of materials or products of different sizes by adjusting the length of the clamping member 300, so it has wide application range and strong applicability.

[0033] In the embodiment, the substrate 100 is square, and the two pairs of clamping members 300 are respectively arranged along one diagonal line of the substrate 100. In this way, the size of the substrate 100 is relatively small, so the occupied space is small and the cost is low. Of course, in other embodiments of the present application, the two pairs of clamping members 300 can also be respectively arranged along one center line of the substrate 100. In addition, in other embodiments of the present application, the shape of the substrate 100 is not limited to square, for example: the substrate 100 can also be circular or other shapes.

[0034] It should be noted that in other embodiments of the present application, the number of clamping members 300 is not limited to two pairs of four, for example, the number of clamping members 300 can also be three, and the three clamping members 300 are arranged in a triangular shape to position and clamp triangular materials or products.

[0035] In the embodiment, as shown in Figure 1 The connecting rod mechanism 400 includes a driving plate 410, a follower plate 420, and a fixed plate 430. The driving plate 410 is fixedly connected to the output portion perpendicularly. The fixed plate 430 is fixedly connected to the corresponding clamping member 300. One end of the follower plate 420 is hingedly connected to the driving plate 410 about a first shaft 440. The other end of the follower plate 420 is hingedly connected to the fixed plate 430 about a second shaft 450. The first shaft 440 and the second shaft 450 are parallel and perpendicular to the output portion. The first shaft 440 and the second shaft 450 can be, but are not limited to, equal-height bolts. In this arrangement, the output portion of the linear drive member drives the driving plate 410 to extend or retract. The driving plate 410 synchronously pulls or pushes each follower plate 420. Each follower plate 420 drives the corresponding clamping member 300 to converge or diverge, i.e., to move towards or away from the center of the accommodation space.

[0036] Specifically, in the embodiment, as shown in Figure 1 The driving plate 410 is uniformly provided with a plurality of upwardly extending support frames 411 circumferentially. The follower plate 420 is hingedly connected to the first shaft 440 via the support frames 411.

[0037] In the embodiment, as shown in Figure 1 and Figure 4 The clamping member 300 includes a fixedly arranged bearing portion 310 and a clamping portion 320. The bearing portion 310 is provided with a bearing surface 311 parallel to the base plate 100. Each bearing surface 311 is coplanar. The clamping portion 320 is provided with a clamping surface facing the accommodation space. Each clamping surface and each bearing surface 311 collectively enclose the accommodation space. Specifically, the size of the bearing portion 310 of each clamping member 300 along the movement direction can be adjusted according to the length and width of the material 600 to be clamped, so as to match the material 600 to be clamped. Each clamping surface is provided with a rubber coating 330, such as a silicone rubber, for protecting the material or product. When clamping the material, first spread apart the clamping members 300, place the material 600 to be clamped on each bearing surface 311, and then drive the clamping members 300 to converge, thereby positioning and clamping the material 600 to be clamped.

[0038] It should be noted that, although in the embodiment, the clamping member 300 is in the form of "L" shape rotated 90° counterclockwise and is in the form of block, in other embodiments of the present application, the clamping member 300 is not limited to this form of arrangement, for example: the clamping portion 320 of the clamping member 300 can also be in the form of multiple clamping fingers. That is, as long as it can clamp the material to be clamped 600 during aggregation and release the clamped material during dispersion, the specific structure of the clamping member 300 can not be limited in the present application.

[0039] Specifically, in the embodiment, the bearing portion 310 is in the form of a flat plate, and the fixed plate 430 is fixedly connected with the bearing portion 310 perpendicularly. In this form of arrangement, the height of the fixed plate 430 is relatively small in the view angle, that is, in the state that the fixed plate 430 is vertically arranged. Of course, in other embodiments of the present application, the fixed plate 430 can also be arranged obliquely, which can be arranged obliquely towards the direction close to the cylinder 200 or arranged obliquely away from the cylinder 200. Figures 1 to 4

[0040] Specifically, in the embodiment, as shown in Figures 1 to 4 , the linear drive member is a cylinder 200, and the air rod 210 of the cylinder 200 forms the output portion. Further, the present application does not limit the specification of the cylinder 200, and a matching cylinder 200 can be selected according to the size of the material or product. In addition, in other embodiments of the present application, the linear drive member is not limited to the cylinder 200, for example: the linear drive member can also be a hydraulic cylinder, and the piston rod of the hydraulic cylinder forms the output portion; or the linear drive member is a linear motor, and the output shaft of the linear motor forms the output portion, that is, as long as it can move along a straight line reciprocatingly to drive the movement of each connecting rod mechanism 400, thereby driving each clamping member 300 to aggregate or disperse to clamp or release the material or product, the specific structure of the linear drive member can not be limited in the present application.

[0041] Specifically, the linear drive member is also provided with at least one guide rod 220 parallel to the output portion. In the embodiment, as shown in Figure 3 and Figure 4 , the cylinder 200 is provided with two guide rods 220 parallel to the air rod 210, and the two guide rods 220 are symmetrically arranged on both sides of the air rod 210. The guide rod 220 plays a guiding role for the movement of the output portion and the driving plate 410, and the guiding role of the two guide rods 220 is stronger, and the symmetric arrangement of the two guide rods 220 makes the guiding role more balanced, so that the movement of the output portion is more stable.

[0042] More specifically, in the embodiment, as shown in Figure 1 , the end of the air rod 210 of the cylinder 200 and the end of the guide rod 220 are fixedly connected to the connecting plate 230, the connecting plate 230 is perpendicular to the air rod 210 and the guide rod 220, and the air rod 210 and the guide rod 220 are connected with the driving plate 410 through the connecting plate 230. ​

[0043] In this embodiment, the clamping pieces 300 and the base plate 100 are connected through a sliding assembly, which includes a guide rail 500 including a fixed guide rail and a movable guide rail, the fixed guide rail is fixedly arranged on the base plate 100, and the movable guide rail is fixedly arranged on the clamping piece 300. First, the sliding assembly plays a limiting and guiding role for the corresponding clamping piece 300, so that each clamping piece 300 only has a translational degree of freedom along the sliding direction, and at the same time, the sliding friction between the clamping piece 300 and the base plate 100 can be minimized.

[0044] Of course, in other embodiments of the present application, the sliding assembly is not limited to the guide rail 500. For example, the sliding assembly can also include a sliding groove and a sliding block matched with each other, the sliding groove is arranged on the base plate 100, and the sliding block is fixedly arranged on the clamping piece 300; or the sliding assembly includes a sliding rod and a sliding hole matched with each other, the sliding rod is arranged on one of the base plate 100 and the clamping piece 300, and the sliding hole is arranged on the other one of the base plate 100 and the clamping piece 300. That is, no matter how the sliding assembly is arranged, as long as it can make the corresponding clamping piece 300 move along the direction defined thereby when subjected to a pushing and pulling force.

[0045] In summary, the embodiment provides a clamping device which can realize accurate center positioning and clamping of the material to be clamped 600, and has low cost, small space occupation, high efficiency and strong applicability, and is very suitable for 3C industry, for example, the clamping device can be used for positioning of a transfer table in a humanoid robot loading and unloading equipment. When working, the action process thereof can be approximately as follows:

[0046] S102, the air cylinder 200 extends the air rod 210;

[0047] S104, the follow-up plate 420 connected with the driving plate 410 pushes the four clamping pieces 300 to be synchronously retracted to the center through the fixed plate 430;

[0048] S106, the clamping piece 300 wrapped with the Optimus glue completes accurate center positioning of the raw material;

[0049] S108, the equipment processes / detects / assemble the raw material;

[0050] S110, the equipment completes the processing / detection / assembly process of the product;

[0051] S112, the equipment clamps the clinker;

[0052] S114, the air cylinder 200 retracts the air rod 210;

[0053] S116, the follow-up plate 420 connected with the driving plate 410 pulls the four clamping pieces 300 to be synchronously opened through the fixed plate 430;

[0054] S118, the equipment takes away the clinker;

[0055] S120, the device re-places the raw material;

[0056] The above steps are repeated, and the related processes of multiple materials from raw materials to clinkers are completed.

[0057] Of course, in addition to the above structure, the clamping device provided by the embodiment also includes a control system, which controls the movement stroke of the clamping piece 300 by controlling the stroke of the linear driving piece. In addition to the above advantages, since manual positioning and other operations can be replaced, the demand for manual operation can also be reduced, the dependence on manual operation is reduced, the number of personnel required for production is reduced, the labor cost can be reduced, and compared with manual operation, the operation of the robot is simpler, the staff only needs to learn for a short time to operate, so the training cost can also be reduced. In addition, the intervention of human factors is reduced, and the safety risk in the production process is also reduced, so the safety of the clamping device provided by the embodiment is high.

[0058] Finally, it should be noted that in this document, the terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0059] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A clamping device, characterized in that The device comprises a substrate (100), a linear driving element vertically mounted on one side of the substrate (100), and at least three clamping elements (300) arranged on the other side of the substrate (100) along a straight line, each of the clamping elements (300) collectively encloses a containing space for containing materials (600) to be clamped, and each of the clamping elements (300) is connected to the output of the linear driving element through a connecting rod mechanism (400), and the output is configured to drive each of the connecting rod mechanisms (400) to drive the corresponding clamping element (300) to move towards or away from the center of the containing space.

2. The clamping device of claim 1, wherein The number of the clamping elements (300) is two pairs, one pair is arranged opposite along a first straight line direction, and the other pair is arranged opposite along a second straight line direction, and the second straight line direction is perpendicular to the first straight line direction.

3. The clamping device of claim 2, wherein The substrate (100) is square, and each of the two pairs of clamping elements (300) is arranged along a diagonal of the substrate (100).

4. The clamping device of claim 1, wherein The number of the clamping elements (300) is three, and the three clamping elements (300) are arranged in a triangular shape.

5. The clamping device according to any one of claims 1-4, characterized in that The connecting rod mechanism (400) comprises a driving plate (410), a follower plate (420) and a fixed plate (430), the driving plate (410) is fixedly connected to the output, the fixed plate (430) is fixedly connected to the corresponding clamping element (300), one end of the follower plate (420) is hingedly connected to the driving plate (410) about a first shaft (440), the other end of the follower plate (420) is hingedly connected to the fixed plate (430) about a second shaft (450), and the first shaft (440) and the second shaft (450) are parallel and perpendicular to the output.

6. The clamping device of claim 5, wherein The clamping element (300) comprises a fixedly arranged bearing portion (310) and a clamping portion (320), the bearing portion (310) is provided with a bearing surface (311) parallel to the substrate (100), and each of the bearing surfaces (311) is coplanar; the clamping portion (320) is provided with a clamping surface facing the containing space, and each of the clamping surfaces and each of the bearing surfaces (311) collectively enclose the containing space.

7. The clamping device of claim 6, wherein The bearing portion (310) is in the form of a flat plate, and the fixed plate (430) is fixedly connected to the bearing portion (310) perpendicularly.

8. The clamping device according to any one of claims 1-4, characterized in that The linear driving element is a pneumatic cylinder (200), and a pneumatic rod (210) of the pneumatic cylinder (200) forms the output; Alternatively, the linear driving element is a hydraulic cylinder, and a piston rod of the hydraulic cylinder forms the output; Alternatively, the linear driving element is a linear motor, and an output shaft of the linear motor forms the output.

9. The clamping device of claim 8, wherein The linear driving element is further provided with at least one guide rod (220) parallel to the output.

10. The clamping device according to any one of claims 1-4, characterized in that The clamping element (300) and the substrate (100) are connected through a sliding assembly, and the sliding assembly comprises a guide rail (500) comprising a fixed guide rail and a movable guide rail matched with each other, the fixed guide rail is fixedly arranged on the substrate (100), and the movable guide rail is fixedly arranged on the clamping element (300). Alternatively, the sliding assembly comprises a sliding groove and a sliding block matched with each other, the sliding groove is arranged on the base plate (100), and the sliding block is fixedly arranged on the clamping piece (300). Alternatively, the sliding assembly comprises a sliding rod and a sliding hole matched with each other, the sliding rod is arranged on one of the base plate (100) and the clamping piece (300), and the sliding hole is arranged on the other one of the base plate (100) and the clamping piece (300).

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