Clamping device and clamping system

Abstract

The utility model provides a clamping device and a clamping system, the clamping device comprises a driving piece, material taking clamping jaws and an automatic aligning mechanism, and the driving piece drives the material taking clamping jaws to be close to or far away from each other; the automatic aligning mechanism is arranged at the end, away from the material taking clamping jaw, of the driving piece. The automatic aligning mechanism comprises an equipment main body connecting plate, a floating plate and at least four buffers; the floating plate is slidably connected with the driving part in the first direction, the equipment body connecting plate is slidably connected with the floating plate in the second direction, and the first direction is perpendicular to the second direction. In the first direction, at least one buffer is arranged on each of the two sides of the floating plate, and the buffers abut against the floating plate in the first direction. In the second direction, at least one buffer is arranged on each of the two sides of the equipment main body connecting plate, and the buffers abut against the equipment main body connecting plate in the second direction. The clamping device has the function of automatically achieving center alignment, the success rate of automatic feeding of the lower cover is increased, and the product quality is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a clamping device field, specifically, relate to a clamping device and clamping system. BACKGROUND

[0002] With the continuous progress of technology, human resource cost is increasing, industrial production automation has become a trend, the application of automation not only can improve production efficiency, reduce labor intensity, can also improve product quality consistency, to reduce the quality abnormality and safety accident caused by human factors.

[0003] In the compressor production process, the material taking clamp jaw for pressing the compressor lower cover into the automatic feeding equipment does not have the functions of automatic leveling and center alignment, and is prone to cause the lower cover feeding to be inclined and the lower cover to be pressed in badly, resulting in product scrap. UTILITY MODEL CONTENTS

[0004] The first purpose of the utility model is to provide a clamping device with the functions of automatically realizing center alignment, improving the success rate of lower cover automatic feeding and improving product quality.

[0005] The second purpose of the utility model is to provide a clamping system with the above-mentioned clamping device.

[0006] To achieve the above-mentioned first purpose, the utility model provides a clamping device, which comprises a driving part and a material taking clamp jaw, the number of the material taking clamp jaws is two or more, and the driving part drives the material taking clamp jaws to move close to or away from each other; the clamping device further comprises an automatic centering mechanism, which is arranged at one end of the driving part away from the material taking clamp jaws; the automatic centering mechanism comprises an equipment main body connecting plate, a floating plate and at least four buffers; the floating plate is slidably connected with the driving part along a first direction, the equipment main body connecting plate is slidably connected with the floating plate along a second direction, and the first direction and the second direction are perpendicular to each other; in the first direction, at least one buffer is arranged on each side of the floating plate, and the buffer and the floating plate abut in the first direction; in the second direction, at least one buffer is arranged on each side of the equipment main body connecting plate, and the buffer and the equipment main body connecting plate abut in the second direction.

[0007] As can be seen from the above scheme, when the clamping device clamps the material, when the material and the clamp jaw group are not concentric, the clamp jaw group will generate a force along the first direction or the second direction when clamping the material, at this time, the corresponding buffer is retracted under pressure, and the relative movement between the equipment main body connecting plate, the floating plate and the driving part makes the clamp jaw group can change the center position according to the position of the material, realize stable clamping, after the clamping action is completed, the buffer resets, pushes the clamp jaw back to the initial position, so that the clamping device can be concentric with the material when clamping, improve the success rate of lower cover automatic feeding, and further improve the quality of the product.

[0008] Preferably, the automatic centering mechanism further comprises a first cross roller guide and a second cross roller guide, the floating plate is slidably connected with the driving member through the first cross roller guide, and the device main body connecting plate is slidably connected with the floating plate through the second cross roller guide.

[0009] Therefore, the cross roller guide has the advantages of small rolling friction, large contact area, more effective moving bodies, flexible structure design, small mechanical energy consumption, long service life, etc., and can reduce the overall thickness of the clamping device and realize miniaturization.

[0010] Preferably, the clamping device further comprises an automatic leveling mechanism, the driving member is provided with a fixed plate, and the automatic leveling mechanism is arranged on the fixed plate and located on the same side of the material taking clamp jaw as the fixed plate.

[0011] Therefore, by arranging the automatic leveling mechanism, the material can be automatically leveled when the material is inclined, thereby facilitating clamping. In combination with the automatic centering mechanism, the flexibility of the clamping device as a whole is realized, and the material can be quickly clamped even when the material is inclined or eccentric to the clamp jaw set, thereby preventing the problem of machine collision and workpiece scrap caused by clamping failure of the lower cover and other materials due to position deviation and inclination.

[0012] Further, the automatic leveling mechanism comprises a movable plate, a guide rod and an elastic member, the guide rod extends along a third direction, the two ends of the guide rod are connected with the movable plate and the fixed plate respectively, the elastic member is located between the fixed plate and the movable plate, the elastic recovery force of the elastic member forces the movable plate away from the fixed plate, the guide rod is slidably connected with the fixed plate along the third direction, the movable plate is provided with a clearance hole, and the clamping end of the material taking clamp jaw can pass through the clearance hole; the first direction, the second direction and the third direction are perpendicular to each other.

[0013] Therefore, when clamping the material in an inclined state, the movable plate first contacts the material, the clamp jaw continues to descend, the elastic member is compressed and applies a force to the movable plate, forcing the material to adjust to a horizontal state, thereby facilitating clamping of the clamp jaw.

[0014] Further, the number of guide rods is two or more, and each guide rod is arranged along the circumference of the clearance hole.

[0015] Therefore, the arrangement of multiple guide rods can ensure that the movable plate moves more stably relative to the fixed plate in the vertical direction.

[0016] Further, the elastic member is sleeved on the guide rod.

[0017] Therefore, by sleeving the elastic member on the guide rod, the stability of the elastic member can be ensured, and the elastic member can be elastically deformed along the extension direction of the guide rod.

[0018] A preferred solution is that the side wall of the movable plate away from the fixed plate is perpendicular to the extension direction of the guide rod.

[0019] Therefore, the side wall of the movable plate away from the fixed plate can be parallel to the horizontal plane during leveling, so that the material is adjusted to a horizontal state.

[0020] A preferred solution is that the guide rod is provided with a limiting piece at one end close to the fixed plate, and the limiting piece is located on the side of the fixed plate away from the movable plate and is in limiting cooperation with the fixed plate in the third direction.

[0021] Therefore, the limiting piece can limit the movable plate and prevent the movable plate from falling off.

[0022] A preferred solution is that the driving direction of the driving piece for moving the material taking clamping jaw is perpendicular to the third direction.

[0023] To achieve the above-mentioned second purpose, the utility model provides a clamping system, including equipment main part and above-mentioned clamping device, equipment main part connecting plate of clamping device is connected with equipment main part.

[0024] From the above-mentioned scheme, the clamping device is an important part of the compressor production process, which presses the compressor lower cover into the automatic material supply equipment. The clamping device with automatic centering function provided by the utility model can automatically level the position offset lower cover in the storage rack, and then clamps and moves after leveling, improves the success rate of automatic material supply of the lower cover, prevents the lower cover from being pressed into the lower cover due to the inclination of the lower cover feeding, and reduces the cost of scrap. BRIEF DESCRIPTION OF DRAWINGS

[0025] Fig. 1 It is the structure diagram of the clamping device embodiment of the utility model.

[0026] Fig. 2 It is the structure exploded view of the clamping device embodiment of the utility model.

[0027] Fig. 3 It is the structure exploded view of the automatic centering mechanism in the clamping device embodiment of the utility model.

[0028] The utility model will be further described below in combination with the drawings and embodiments. DETAILED DESCRIPTION

[0029] Referring to Figs. 1 to 3 The clamping system of the embodiment includes an equipment main body and a clamping device, the equipment main body connecting plate 31 of the clamping device is connected with the equipment main body, the equipment main body can be a robot, and the clamping device is connected to the end of the robot arm through the equipment main body connecting plate 31.

[0030] The clamping device comprises a driving member 1, a material taking clamp jaw group, an automatic aligning mechanism 3 and an automatic leveling mechanism 4. The material taking clamp jaw group comprises two or more material taking clamp jaws 2. In the embodiment, the driving member 1 is a cylinder, the number of the material taking clamp jaws 2 is three, the driving member 1 is in a cylindrical shape, the axial direction of the driving member 1 is parallel to the Z-axis direction (i.e. the third direction), and the driving member 1 can drive the material taking clamp jaws 2 to move away from each other along the radial direction of the driving member 1 to clamp the material such as the lower cover 10 of the compressor, and can also drive the material taking clamp jaws 2 to move close to each other along the radial direction of the driving member 1 to release the material.

[0031] The automatic aligning mechanism 3 is arranged at the end of the driving member 1 away from the material taking clamp jaws 2. The automatic aligning mechanism 3 comprises a device main body connecting plate 31, a floating plate 32, four buffers 33, two first cross roller guides 34 and two second cross roller guides 35.

[0032] The two first cross roller guides 34 extend along the X-axis direction (i.e. the first direction), the floating plate 32 is slidably connected with the driving member 1 through the first cross roller guides 34 along the X-axis direction, one first cross roller guide 34 is arranged on each side of the floating plate 32 in the X-axis direction, and the two buffers 33 abut against the floating plate 32 in the X-axis direction.

[0033] The two second cross roller guides 35 extend along the Y-axis direction (i.e. the second direction), the device main body connecting plate 31 is slidably connected with the floating plate 32 through the second cross roller guides 35 along the Y-axis direction, one second cross roller guide 35 is arranged on each side of the device main body connecting plate 31 in the Y-axis direction, and the buffer 33 abuts against the device main body connecting plate in the Y-axis direction. The cross roller guide has the advantages of small rolling friction, large contact area, multiple effective moving bodies, flexible structure design, small mechanical energy consumption and long service life, and can reduce the overall thickness of the clamping device and realize miniaturization.

[0034] The driving member 1 is provided with a fixed plate 5, and the automatic leveling mechanism 4 is arranged on the fixed plate 5 and located on the same side of the material taking clamp jaws 2.

[0035] The automatic leveling mechanism 4 comprises a movable plate 41, a guide rod 42 and an elastic member 43, and the elastic member 43 is preferably a spring. The guide rod 42 extends along the Z-axis direction, the two ends of the guide rod 42 are connected with the movable plate 41 and the fixed plate 5 respectively, the elastic member 43 is located between the fixed plate 5 and the movable plate 41, the restoring force of the elastic member 43 forces the movable plate 41 to move away from the fixed plate 5, the guide rod 42 is slidably connected with the fixed plate 5 along the Z-axis direction, the movable plate 41 is provided with a clearance hole 411, and the clamping end 21 of the material taking clamp jaw 2 can pass through the clearance hole 411.

[0036] The number of guide rods 42 and elastic members 43 is three, each guide rod 42 is arranged along the circumference of the accommodation hole 411 to ensure that the movable plate 41 moves more stably in the vertical direction relative to the fixed plate 5, the guide rod 42 is arranged one by one with the elastic member 43, and each elastic member 43 is sleeved on the corresponding guide rod 42 to ensure the stability of the installation of the elastic member 43 and the elastic deformation of the elastic member 43 along the extension direction of the guide rod 42.

[0037] The side wall 412 of the movable plate 41 away from the fixed plate 5 is perpendicular to the extension direction of the guide rod 42, that is, perpendicular to the Z-axis direction, so that the side wall 412 of the movable plate 41 away from the fixed plate 5 can be parallel to the horizontal plane during leveling, and the material is adjusted to a horizontal state.

[0038] The end of the guide rod 42 close to the fixed plate 5 is provided with a limiting piece 421, the limiting piece 421 is located on the side of the fixed plate 5 away from the movable plate 41 and is limited in cooperation with the fixed plate 5 in the Z-axis direction, and the limiting piece 421 can limit the movable plate 41 to prevent the movable plate 41 from falling off.

[0039] By arranging the automatic centering mechanism 3, when the clamping device clamps the material, when the material is eccentric to the material clamping jaw group, the material clamping jaw 2 will generate an action force along the X-axis direction or the Y-axis direction when clamping the material, at this time, the corresponding buffer 33 is retracted under pressure, and the relative movement between the equipment main body connecting plate 31, the floating plate 32 and the driving member 1 makes the material clamping jaw 2 group can change the center position according to the position of the material, realize stable clamping, after the clamping action is completed, the buffer 33 resets, pushes the material clamping jaw 2 back to the initial position, so that the clamping device can be concentric with the material during clamping, improve the success rate of the automatic feeding of the lower cover, and further improve the quality of the product.

[0040] By arranging the automatic leveling mechanism 4, when clamping the material in an inclined state, the movable plate 41 first contacts the material, the material clamping jaw 2 continues to descend, the elastic member 43 is compressed and applies a force to the movable plate 41, forcing the material to adjust to a horizontal state, facilitating the clamping of the material clamping jaw 2. Cooperating with the automatic centering mechanism 3, the flexibility of the clamping device as a whole is realized, that is, even if the material is inclined or eccentric to the material clamping jaw 2 group, it can also realize rapid clamping, prevent the clamping failure of the material such as the lower cover due to the position deviation and inclination, and prevent the problem of machine collision and workpiece scrap.

[0041] The clamping device is an important part of the automatic feeding equipment for the lower cover of the compressor in the production process of the compressor. The clamping device with automatic centering function provided by the utility model can automatically level the lower cover with position deviation in the storage rack, and then clamps and moves the lower cover, improves the success rate of the automatic feeding of the lower cover, prevents the lower cover from being pressed in due to the inclination of the lower cover feeding, and reduces the cost of scrap.

[0042] In addition, the number of the material taking clamps and the number of the buffers can be changed as required, a plurality of the material taking clamps are arranged along the circumference, a plurality of the buffers can also be arranged on the outer side of the device body connecting plate and the floating plate, for example, two buffers are arranged on each side of the device body connecting plate in the first direction, the two buffers on the same side are arranged along the second direction, two buffers are arranged on each side of the floating plate in the second direction, the two buffers on the same side are arranged along the first direction, the number of the buffers on each side can be set as required. The number of the guide rods and the elastic members can also be changed as required, the number of the guide rods can also be more than two, the number of the elastic members can be one or more than two. The elastic member can also be made of an elastic material such as rubber. The elastic member can also not be sleeved on the guide rod. The buffer can be a spring buffer, and the specific type can be selected as required. The above changes can also achieve the purpose of the present application.

[0043] Finally, it should be emphasized that the above is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A gripping device, comprising a driving member and a plurality of gripping claws, the driving member being capable of driving the gripping claws to move towards or away from each other, characterized in that: the gripping device further comprises an automatic centering mechanism, the automatic centering mechanism being arranged at an end of the driving member away from the gripping claws; the automatic centering mechanism comprises a device body connecting plate, a floating plate and at least four buffers; the floating plate is slidably connected with the driving member along a first direction, the device body connecting plate is slidably connected with the floating plate along a second direction, and the first direction and the second direction are perpendicular to each other; in the first direction, at least one buffer is arranged on each side of the floating plate, and the buffer abuts against the floating plate in the first direction; in the second direction, at least one buffer is arranged on each side of the device body connecting plate, and the buffer abuts against the device body connecting plate in the second direction. 2.The gripping device according to claim 1, characterized in that: the automatic centering mechanism further comprises a first cross roller guide and a second cross roller guide, the floating plate is slidably connected with the driving member through the first cross roller guide, and the device body connecting plate is slidably connected with the floating plate through the second cross roller guide. 3.The gripping device according to claim 1, characterized in that: the gripping device further comprises an automatic leveling mechanism, a fixed plate is arranged on the driving member, and the automatic leveling mechanism is arranged on the fixed plate and located on the same side of the gripping claws as the fixed plate. 4.The gripping device according to claim 3, characterized in that: the automatic leveling mechanism comprises a movable plate, a guide rod and an elastic member, the guide rod extends along a third direction, two ends of the guide rod are connected with the movable plate and the fixed plate respectively, the elastic member is located between the fixed plate and the movable plate, an elastic restoring force of the elastic member forces the movable plate to move away from the fixed plate, the guide rod is slidably connected with the fixed plate along the third direction, a clearance hole is formed in the movable plate, and a gripping end of the gripping claw can pass through the clearance hole; and the first direction, the second direction and the third direction are perpendicular to each other. 5.The gripping device according to claim 4, characterized in that: the number of the guide rods is two or more, and each guide rod is arranged along a circumferential direction of the clearance hole. 6.The gripping device according to claim 4, characterized in that: the elastic member is sleeved on the guide rod. 7.The gripping device according to any one of claims 4 to 6, characterized in that: a side wall of the movable plate away from the fixed plate is perpendicular to an extension direction of the guide rod. 8.The gripping device according to any one of claims 4 to 6, characterized in that: an end of the guide rod close to the fixed plate is provided with a limiting member, the limiting member is located on a side of the fixed plate away from the movable plate and is limitingly connected with the fixed plate in the third direction. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 9. The gripping device according to any one of claims 4 to 6, characterized in that: The driving direction of the driving member for moving the material gripping jaw is perpendicular to the third direction.

10. Gripping system, characterized in that The device body is connected to the device body connecting plate of the gripping device according to any one of claims 1 to 9.

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