Clamping device

Abstract

The utility model relates to the technical field of clamping equipment, and provides a clamping device which comprises a base, a driving assembly, a first clamping jaw assembly, a second clamping jaw assembly and a tension piece, the driving assembly comprises a motor and a wheel disc which are arranged on the base, and an output shaft of the motor is connected with the wheel disc and used for driving the wheel disc to rotate; the wheel disc is provided with a first guide groove and a second guide groove which are opposite. One end of the first clamping jaw assembly is slidably connected into the first guide groove, one end of the second clamping jaw assembly is slidably connected into the second guide groove, and the first guide groove and the second guide groove are used for enabling the first clamping jaw assembly and the second clamping jaw assembly to move in the direction close to each other or away from each other; the two ends of the tension piece are connected with one end of the first clamping jaw assembly and one end of the second clamping jaw assembly in a one-to-one correspondence mode. Stable clamping force can be provided through the tension piece, the safety and reliability of workpiece clamping are ensured, the service life of the motor can be prolonged, and electric power is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamping devices, and particularly provides a clamping device. BACKGROUND

[0002] At present, the existing clamping device mainly drives the clamping jaw through the motor to clamp or release the workpiece, so as to realize the storage of the workpiece.

[0003] However, when the enable signal of the motor is unstable, the clamping force of the motor acting on the clamping jaw is unstable, which may cause the clamping jaw to clamp or release the workpiece, and the safety and reliability are low. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiment of the present application is to provide a clamping device, which aims to solve the problem that the existing motor enable signal is unstable, resulting in unstable clamping force.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0006] Some embodiments of the present application provide a clamping device, comprising:

[0007] a base;

[0008] a driving assembly comprising a motor and a wheel disc arranged on the base, an output shaft of the motor being connected with the wheel disc for driving the wheel disc to rotate, the wheel disc being provided with opposite first and second guide grooves;

[0009] a first clamping jaw assembly and a second clamping jaw assembly, one end of the first clamping jaw assembly being slidably connected in the first guide groove, and one end of the second clamping jaw assembly being slidably connected in the second guide groove, the first and second guide grooves being used to move the first and second clamping jaw assemblies in the direction of approaching or moving away from each other;

[0010] a tension member, two ends of the tension member being connected with one end of the first clamping jaw assembly and one end of the second clamping jaw assembly respectively.

[0011] The clamping device provided by the embodiment of the present application can drive the wheel disc to rotate through the motor, so as to drive the two clamping jaw assemblies to move in the direction of approaching or moving away from each other through the two guide grooves on the wheel disc, so as to realize closing or opening. During the closing process of the clamping jaw assembly, the motor can be idling, and there is basically no load, and the workpiece is mainly clamped by the tension of the tension member. The stable clamping force can be provided by the tension member, and is not affected by the output state of the motor, so as to ensure the safety and reliability of the clamping of the workpiece. In addition, since the torque required to be output by the motor during the clamping stage is reduced, the working strength of the motor can be reduced, which is helpful to prolong the service life of the motor and save power.

[0012] In some embodiments, a guide rod is arranged on the base, and the first jaw assembly and the second jaw assembly are respectively slidably connected to the guide rod.

[0013] In some embodiments, the base comprises:

[0014] The seat body is provided with the motor on one side in the thickness direction, and the wheel disc is arranged on the other side of the seat body opposite to the motor;

[0015] The first limiting part is arranged on one side of the seat body in the length direction, and the second limiting part is arranged on the other side of the seat body in the length direction and opposite to the first limiting part. Both the first limiting part and the second limiting part extend towards the other side of the seat body opposite to the motor, and the guide rod is connected between the first limiting part and the second limiting part.

[0016] In some embodiments, the first jaw assembly comprises:

[0017] The first sliding block is slidably connected to the guide rod;

[0018] The first follower is arranged at one end of the first sliding block, one end of the first follower is slidably connected in the first guide slot, and the other end of the first follower away from the first guide slot is connected to one end of the tension member;

[0019] The first jaw is connected to the other end of the first sliding block away from the first follower.

[0020] In some embodiments, the first jaw assembly further comprises:

[0021] The first oil-free lubricating sleeve is used to slidably connect the first sliding block and the guide rod.

[0022] By using the first oil-free lubricating sleeve, the low friction coefficient can be maintained without using external lubricating grease, so as to avoid the problem of lubricating grease condensation under low temperature conditions, and ensure that the first jaw assembly can work reliably. Moreover, since it is not necessary to regularly add or replace lubricating grease, the maintenance cost can be reduced.

[0023] In some embodiments, the first jaw is provided with a first anti-skid structure on the inner wall of the end away from the first sliding block.

[0024] In some embodiments, the second jaw assembly comprises:

[0025] The second sliding block is slidably connected to the guide rod;

[0026] A second follower is arranged in one end of the second sliding block, and one end of the second follower is slidingly connected in the second guide slot, and the other end of the second follower away from the second guide slot is connected with the other end of the tension member.

[0027] A second clamping jaw is connected with the other end of the second sliding block away from the second follower.

[0028] In some embodiments, the second clamping jaw assembly further comprises:

[0029] A second oil-free lubricating sleeve is used to slidingly connect the second sliding block with the guide rod.

[0030] By using the second oil-free lubricating sleeve, the embodiments of the present application can maintain a low friction coefficient without using external lubricating grease, thereby avoiding the problem of lubricating grease condensation under low temperature conditions, and ensuring that the second clamping jaw assembly can work reliably. Moreover, since it is not necessary to regularly add or replace lubricating grease, the maintenance cost can be reduced.

[0031] In some embodiments, the second clamping jaw is provided with a second anti-skid structure on the inner wall of one end away from the second sliding block.

[0032] In some embodiments, the first guide slot and the second guide slot are both arc-shaped. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0034] Figure 1 A structural schematic diagram of the clamping device provided by the embodiments of the present application is shown in the figure.

[0035] Figure 2 An assembly schematic diagram of the wheel disc and the clamping jaw assembly provided by the embodiments of the present application is shown in the figure.

[0036] Figure 3 A structural schematic diagram of the first sliding block provided by the embodiments of the present application is shown in the figure.

[0037] Figure 4 A structural schematic diagram of the second sliding block provided by the embodiments of the present application is shown in the figure.

[0038] Figure 5 A structural schematic diagram of the wheel disc provided by the embodiments of the present application is shown in the figure.

[0039] In the figure, various reference signs are as follows:

[0040] 1. a base;

[0041] 101. a seat body; 102. a first limiting part; 103. a second limiting part;

[0042] 2. a driving assembly;

[0043] 201. a motor; 202. a wheel disc; 203. a first guide slot; 204. a second guide slot;

[0044] 205. a first end; 206. a second end; 207. a third end; 208. a fourth end;

[0045] 3. a first clamping jaw assembly;

[0046] 301. a first sliding block; 302. a first follower; 303. a first clamping jaw;

[0047] 304. a first oil-free lubricating sleeve; 305. a first sliding part; 306. a first transmission part;

[0048] 307. a first through hole; 308. a first connecting hole; 309. a first anti-skid structure;

[0049] 310. a first fixed part; 311. a first clamping part;

[0050] 4. a second clamping jaw assembly;

[0051] 401. a second sliding block; 402. a second follower; 403. a second clamping jaw;

[0052] 404. a second oil-free lubricating sleeve; 405. a second sliding part; 406. a second transmission part;

[0053] 407. a second through hole; 408. a second connecting hole; 409. a second anti-skid structure;

[0054] 410. a second fixed part; 411. a second clamping part;

[0055] 5. a tensioning member;

[0056] 6. a guide rod. DETAILED DESCRIPTION

[0057] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals and letters throughout the figures denote the same or like elements or elements with the same or similar function. The embodiments described below are exemplary and are intended to explain the present application, and are not to be understood as limiting the present application.

[0058] In the description of the embodiments of the present application, it should be understood that the terms "length", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the embodiments of the present application.

[0059] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0060] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0061] At present, the existing clamping device mainly drives the clamping jaw through the motor to clamp or release the workpiece, so as to realize the storage of the workpiece. However, when the enable signal of the motor is unstable, the clamping force of the motor acting on the clamping jaw will be unstable, which will cause the workpiece to be clamped or loosened, and the safety and reliability are low.

[0062] To solve the above technical problems, the present application introduces a tension member 5 to provide stable clamping force and ensure the safety and reliability of workpiece clamping.

[0063] In some embodiments, with reference to Figure 1 and Figure 2As shown, the application provides a clamping device, comprising a base 1, a driving assembly 2, a first clamping jaw assembly 3, a second clamping jaw assembly 4 and a tension member 5. Wherein the driving assembly 2 comprises a motor 201 and a wheel disc 202 arranged on the base 1, the output shaft of the motor 201 is connected with the wheel disc 202, for driving the wheel disc 202 to rotate, the wheel disc 202 is provided with a first guide slot 203 and a second guide slot 204 opposite to each other; one end of the first clamping jaw assembly 3 is slidingly connected in the first guide slot 203, one end of the second clamping jaw assembly 4 is slidingly connected in the second guide slot 204, the first guide slot 203 and the second guide slot 204 are used for moving the first clamping jaw assembly 3 and the second clamping jaw assembly 4 along the direction of approaching or moving away from each other; the two ends of the tension member 5 are respectively connected with one end of the first clamping jaw assembly 3 and one end of the second clamping jaw assembly 4 one by one.

[0064] Specifically, the base 1 is the basic part of the whole device, which can provide a mounting platform for other components to realize integrated design.

[0065] In the driving assembly 2, the output shaft of the motor 201 can be drivingly connected with the center of the wheel disc 202, which can directly drive the wheel disc 202 to rotate. The wheel disc 202 is provided with two opposite guide slots, which are used to guide the movement direction of the two clamping jaw assemblies.

[0066] One end of the two clamping jaw assemblies is respectively slidingly connected in the corresponding guide slot on the wheel disc 202. This design makes the two clamping jaw assemblies move along the guide path under the constraint of the corresponding guide slot when the wheel disc 202 rotates, realizing the action of approaching (closing) or moving away (opening) each other.

[0067] The tension member 5 is connected between the first clamping jaw assembly 3 and the second clamping jaw assembly 4, which can provide a stable clamping force when the clamping jaw assemblies are closed, clamping the workpiece. The specific type of the tension member 5 of the application is not particularly limited, as long as it can produce a pulling force on the two clamping jaw assemblies, for example, it can be a tension spring, a tension rope, a rubber band, etc.

[0068] When the motor 201 rotates forward or reversely, it will drive the wheel disc 202 to rotate synchronously, thereby driving the two clamping jaw assemblies to slide along the corresponding guide slots, realizing the closing or opening action between the clamping jaw assemblies.

[0069] For example, as Figure 1As shown, when the motor 201 reverses, the jaw assembly switches from the open state to the closed state, the motor 201 drives the wheel disc 202 to reverse, and at the same time the tension member 5 applies tension to make the first jaw assembly 3 and the second jaw assembly 4 close to each other and clamp the workpiece. At this time, the motor 201 can be idling, basically without load, because the main clamping force comes from the tension member 5. Conversely, when the motor 201 is forward, the jaw assembly switches from the closed state to the open state, the motor 201 overcomes the tension of the tension member 5, and rotates the wheel disc 202 to achieve the opening of the jaw assembly, completing the release of the workpiece.

[0070] It can be understood that the presence of the tension member 5 ensures that even in the case of insufficient load capacity of the motor 201 or unstable output state of the motor 201, sufficient stable clamping force can still be maintained to ensure that the workpiece will not be clamped or loosened. And because the torque that the motor 201 needs to output during clamping is reduced, the working strength of the motor 201 can be reduced, which helps to prolong the service life of the motor 201 and save power.

[0071] In addition, in some working conditions, if the tension of the tension member 5 is not enough to completely clamp the workpiece, the motor 201 can also be controlled to load and run to output the necessary torque to cooperate with the tension member 5 to complete the clamping operation, thereby increasing the flexibility and applicability of the equipment.

[0072] Therefore, the clamping device provided by the embodiments of the present application not only improves the stability and reliability of clamping, but also enhances the ability of the equipment to cope with different working conditions by skillfully combining mechanical structure and power source.

[0073] In some embodiments, referring to Figure 1 As shown, the base 1 is provided with guide rods 6, and the first jaw assembly 3 and the second jaw assembly 4 are respectively slidingly connected to the guide rods 6.

[0074] Specifically, the length direction of the guide rod 6 is consistent with the clamping direction of the jaw assembly; the number of guide rods 6 can be at least two, and in a direction perpendicular to the clamping direction, the guide rods 6 are arranged in parallel and spaced apart, and the jaw assembly is slidingly connected to each guide rod.

[0075] The embodiments of the present application can ensure that the two jaw assemblies move linearly along the direction of approaching or moving away from each other by the guide rods 6, avoiding lateral deviation or rotation, which helps to maintain the alignment between the jaw assemblies, thereby achieving more accurate and stable workpiece clamping.

[0076] In some embodiments, referring to Figure 1As shown, the base 1 comprises a seat body 101, a first limiting part 102 and a second limiting part 103. The seat body 101 is provided with a motor 201 on one side along the thickness direction X, and a wheel disc 202 on the other side away from the motor 201. The first limiting part 102 is arranged on one side of the seat body 101 along the length direction Y, and the second limiting part 103 is arranged on the other side of the seat body 101 along the length direction Y and relative to the first limiting part 102. Both the first limiting part 102 and the second limiting part 103 extend towards the other side of the seat body 101 away from the motor 201, and a guide rod 6 is connected between the first limiting part 102 and the second limiting part 103.

[0077] Specifically, the first limiting part 102 and the second limiting part 103 are located on both sides of the seat body 101 along the length direction Y and extend towards the side of the wheel disc 202. They not only provide a limiting boundary for the two jaw assemblies to prevent excessive movement, but also increase the structural rigidity of the entire device. The guide rod 6 connected between the limiting parts further enhances the overall stability of the structure, and also provides precise guidance for the linear motion of the jaw assemblies.

[0078] For example, the seat body 101, the first limiting part 102 and the second limiting part 103 can all be plate bodies. The seat body 101 is provided with the motor 201 on the upper side, and the wheel disc 202 on the lower side. The first limiting part 102 and the second limiting part 103 are vertically connected to the left and right sides of the seat body 101 and extend towards the lower side of the seat body 101. The guide rod 6 is connected between the two limiting parts along the length direction Y of the seat body 101. The two jaw assemblies are slidingly connected to the guide rod 6. The two ends of the tension member 5 are respectively connected to one end of the two jaw assemblies.

[0079] The embodiments of the present application can reasonably allocate the spatial positions of various components, so that the motor 201 is located on one side of the base 1, and the wheel disc 202, the guide rod 6, the jaw assemblies and the tension member 5 are located on the other side of the base 1. This can simplify the wiring of the motor 201, avoid interfering with the movement components on the lower side, thereby ensuring the safety of operation, and can improve the compactness of the equipment, thereby facilitating the integration of the equipment into an automated system, such as a robot.

[0080] In some embodiments, referring to Figure 1 and Figure 2 As shown, the first jaw assembly 3 comprises a first sliding block 301, a first follower 302 and a first jaw 303. The first sliding block 301 is slidingly connected to the guide rod 6. The first follower 302 is arranged on one end of the first sliding block 301, and one end of the first follower 302 is slidingly connected in the first guide slot 203. The other end of the first follower 302 away from the first guide slot 203 is connected to one end of the tension member 5. The first jaw 303 is connected to the other end of the first sliding block 301 away from the first follower 302.

[0081] Specifically, the first guide slot 203 on the wheel disc 202 cooperates with the first follower 302, when the motor 201 drives the wheel disc 202 to rotate, the first guide slot 203 guides the first follower 302 to slide along the guide path of the slot. This design ensures that the movement of the first follower 302 is controlled.

[0082] With the sliding of the first follower 302 in the first guide slot 203, it will push or pull the first slider 301 to make a linear motion along the guide rod 6, and the guide rod 6 ensures that the movement trajectory of the first slider 301 is linear, avoiding lateral deviation. When the first slider 301 is moved by the first follower 302, it drives the first jaw 303 to move synchronously, realizing the opening and closing action of the first jaw 303. The tension member 5 is connected to the first follower 302, which provides stable clamping force when the jaw assembly is closed, helping the two jaw assemblies to approach each other and clamp the workpiece. This design can maintain sufficient clamping force in the case of motor 201 idling, improving the stability and reliability of the device.

[0083] Therefore, through the coordinated work of various components, the first jaw assembly 3 can realize precise, stable and reliable movement.

[0084] In the prior art, the linear bearing or guide rail of the traditional electric jaw usually needs to use lubricating grease to reduce friction and ensure smooth sliding of the slider. However, in low temperature environment, the lubricating grease may condense, causing the slider to freeze and affecting the normal operation of the equipment.

[0085] To solve the above technical problems, referring to FIGS. 1-3, some embodiments of the present application provide a first jaw assembly 3, which comprises a first follower 302, a first slider 301, a guide rod 6, a first jaw 303, a tension member 5 and a motor 201. Figure 1 and Figure 3 The first jaw assembly 3 further comprises a first oil-free lubrication sleeve 304, and the first slider 301 is slidably connected with the guide rod 6 through the first oil-free lubrication sleeve 304.

[0086] Specifically, the first oil-free lubrication sleeve 304 can be made of engineering plastics or composite materials with excellent wear resistance and self-lubricating properties, such as polytetrafluoroethylene, nylon, polyformaldehyde, etc. These materials not only have good mechanical strength, but also can maintain stable performance in a wide temperature range.

[0087] It can be understood that the first oil-free lubrication sleeve 304 can maintain a low friction coefficient without using external lubricating grease, thereby avoiding the problem of lubricating grease condensation under low temperature conditions and ensuring that the first jaw assembly 3 can work reliably. And because there is no need to regularly add or replace lubricating grease, maintenance costs can be reduced.

[0088] Therefore, by introducing the first oil-free lubricating sleeve 304, the embodiments of the present application not only overcome the limitations of the conventional electric clamping jaw in low-temperature environments, but also improve the overall performance and application range of the device, and are particularly suitable for use in low-temperature environments, such as in laboratories, refrigerators, or other occasions requiring operation at extremely low temperatures.

[0089] In one embodiment, referring to Figures 1 to 3 , the first sliding block 301 includes a first sliding part 305 and a first transmission part 306 connected thereto. The first sliding part 305 is provided with a first through hole 307, and the first through hole 307 is provided with a first oil-free lubricating sleeve 304. The first oil-free lubricating sleeve 304 is sleeved on the guide rod 6. The first transmission part 306 is provided with a first connecting hole 308 at an end away from the first sliding part 305, and the first follower 302 is arranged in the first connecting hole 308. Through the above structural design, the assembly of various components is realized, which is conducive to improving the stability and reliability of transmission.

[0090] In some embodiments, referring to Figure 1 and Figure 2 , the first clamping jaw 303 is provided with a first anti-slip structure 309 on the inner wall of an end away from the first sliding block 301.

[0091] Specifically, the first anti-slip structure 309 can realize the anti-slip function in various ways, such as using a rough surface, a texture design (such as a diamond grid or a wave pattern), a rubber pad, etc.

[0092] The first anti-slip structure 309 can increase the friction between the inner wall of the first clamping jaw 303 and the surface of the workpiece, so that the first clamping jaw 303 can more firmly grasp the workpiece, and reduce the risk of loosening of the workpiece due to external forces (such as vibration and impact), thereby improving the stability and safety of clamping.

[0093] In one embodiment, referring to Figure 2 and Figure 3 , the first clamping jaw 303 includes a first fixed part 310 and a first clamping part 311 connected thereto. The first fixed part 310 and the first sliding part 305 of the first sliding block 301 can be fixedly connected by screws or other fasteners. The first clamping part 311 can be perpendicularly connected to an end of the first fixed part 310 away from the first sliding part 305, and the inner wall of the distal end of the first clamping part 311 is provided with the first anti-slip structure 309. In this way, the stable assembly and clamping effect of the first clamping jaw 303 can be achieved.

[0094] In some embodiments, referring to Figure 1 and Figure 2As shown, the second jaw assembly 4 comprises a second slider 401, a second follower 402 and a second jaw 403. The second slider 401 is slidingly connected to the guide rod 6. The second follower 402 is arranged at one end of the second slider 401, and one end of the second follower 402 is slidingly connected to the second guide groove 204. The other end of the second follower 402, which is away from the second guide groove 204, is connected to the other end of the tension member 5. The second jaw 403 is connected to the other end of the second slider 401, which is away from the second follower 402.

[0095] Specifically, the second guide groove 204 on the wheel 202 cooperates with the second follower 402. When the motor 201 drives the wheel 202 to rotate, the second guide groove 204 guides the second follower 402 to slide along the guide path of the groove. This design ensures that the movement of the second follower 402 is controlled.

[0096] With the sliding of the second follower 402 in the second guide groove 204, it pushes or pulls the second slider 401 to move linearly along the guide rod 6. The guide rod 6 ensures that the movement trajectory of the second slider 401 is linear, avoiding lateral deviation. When the second slider 401 is moved by the second follower 402, it drives the second jaw 403 to move synchronously, realizing the opening and closing action of the second jaw 403. The tension member 5 is connected to the second follower 402. When the jaw assembly is closed, the tension member 5 provides a stable clamping force, helping the two jaw assemblies to move close to each other and clamp the workpiece. This design can maintain sufficient clamping force when the motor 201 is idling, improving the stability and reliability of the device.

[0097] Therefore, through the coordinated work of various components, the embodiments of the present application can realize the precise, stable and reliable movement of the second jaw assembly 4.

[0098] In some embodiments, referring to Figure 1 and Figure 4 As shown, the second jaw assembly 4 further comprises a second oil-free lubrication sleeve 404, and the second slider 401 is slidingly connected to the guide rod 6 through the second oil-free lubrication sleeve 404.

[0099] Specifically, the second oil-free lubrication sleeve 404 can be made of engineering plastics or composite materials with excellent wear resistance and self-lubricating properties, such as polytetrafluoroethylene, nylon, polyformaldehyde, etc. These materials not only have good mechanical strength, but also can maintain stable performance in a wide temperature range.

[0100] It can be understood that the second oil-free lubrication sleeve 404 can maintain a low friction coefficient without using external lubricating grease, thereby avoiding the problem of lubricating grease condensation under low temperature conditions and ensuring that the second jaw assembly 4 can work reliably. Moreover, since it is not necessary to regularly add or replace lubricating grease, the maintenance cost can be reduced.

[0101] Therefore, by introducing the second oil-free lubricating sleeve 404, the embodiments of the present application not only overcome the limitations of the conventional electric clamping jaw in low-temperature environments, but also improve the overall performance and application range of the device.

[0102] In one embodiment, as shown in Figure 1 , Figure 2 and Figure 4 , the second sliding block 401 comprises a second sliding part 405 and a second transmission part 406 connected thereto. The second sliding part 405 is provided with a second through hole 407, and the second through hole 407 is provided with a second oil-free lubricating sleeve 404, which is sleeved on the guide rod 6. The second transmission part 406 is provided with a second connecting hole 408 at an end away from the second sliding part 405, and the second follower 402 is arranged in the second connecting hole 408. Through the above structural design, the assembly of various components is realized, which is conducive to improving the stability and reliability of transmission.

[0103] In some embodiments, as shown in Figure 1 and Figure 2 , the second clamping jaw 403 is provided with a second anti-skid structure 409 on the inner wall of an end away from the second sliding block 401.

[0104] Specifically, the second anti-skid structure 409 can realize the anti-skid function in various ways, such as using rough surfaces, texture design (such as diamond grid, wave pattern), rubber pads, etc.

[0105] The embodiments of the present application can increase the friction between the inner wall of the second clamping jaw 403 and the surface of the workpiece through the second anti-skid structure 409, so that the second clamping jaw 403 can more firmly grasp the workpiece, and the risk of loosening of the workpiece caused by external forces (such as vibration and impact) can be reduced, thereby improving the stability and safety of clamping.

[0106] In one embodiment, as shown in Figure 2 and Figure 4 , the second clamping jaw 403 comprises a second fixed part 410 and a second clamping part 411 connected thereto. The second fixed part 410 and the second sliding part 405 of the second sliding block 401 can be fixedly connected through screws or other fasteners. The second clamping part 411 can be perpendicularly connected to an end of the second fixed part 410 away from the second sliding part 405. The second clamping part 411 is arranged in opposite relation to the first clamping part 311 of the first clamping jaw 303, and the inner wall of the end of the second clamping part 411 is provided with the second anti-skid structure 409. In this way, stable assembly and clamping effect of the second clamping jaw 403 can be achieved.

[0107] In some embodiments, as shown in Figure 2 and Figure 5 , the first guide groove 203 and the second guide groove 204 are both arc-shaped.

[0108] Specifically, the arc-shaped guide groove is located on the wheel 202. When the motor 201 drives the wheel 202 to rotate, the sliding of the corresponding follower in the arc-shaped guide groove converts the rotational motion into the linear motion of the gripper assembly. This conversion mechanism ensures that the gripper assembly can move precisely along a predetermined path.

[0109] Furthermore, the arc-shaped design makes the movement of the servo smoother, reduces sudden acceleration and deceleration, and avoids the impact of impact forces on the mechanical structure. This helps to improve the response speed and stability of the entire device, which is especially important under high-speed operating conditions.

[0110] In some embodiments, refer to Figure 2 and Figure 5 As shown, the wheel 202 can be a cam disk. The first guide groove 203 on the wheel 202 has a first end 205 and a second end 206. The first end 205 and the second end 206 are located on the radial sides of the center of the wheel 202, and the distance between any point on the trajectory of the first guide groove 203 from the first end 205 to the second end 206 and the center of the wheel 202 gradually decreases from the direction from the first end 205 to the second end 206. The second guide groove 204 on the wheel 202 has a third end 207 and a fourth end 208. The third end 207 and the fourth end 208 are located on the radial sides of the center of the wheel 202, and the distance between any point on the trajectory of the second guide groove 204 from the third end 207 to the fourth end 208 and the center of the wheel 202 gradually decreases from the direction from the third end 207 to the fourth end 208. Furthermore, the first end 205 and the third end 207 are respectively disposed on the radial sides of the center of the wheel 202, and the second end 206 and the fourth end 208 are respectively disposed on the radial sides of the center of the wheel 202.

[0111] It is understandable that the distance between the two gripper assemblies is greatest when the first follower 302 of the first gripper assembly 3 is located at the first end 205 of the first guide groove 203 and the second follower 402 of the second gripper assembly 4 is located at the third end 207 of the second guide groove 204; and the distance between the two gripper assemblies is smallest when the first follower 302 of the first gripper assembly 3 is located at the second end 206 of the first guide groove 203 and the second follower 402 of the second gripper assembly 4 is located at the fourth end 208 of the second guide groove 204.

[0112] The present application embodiment, through the design of the guide groove structure, enables the wheel 202 to smoothly drive the two gripper assemblies to open or close when rotating, thereby ensuring a stable gripping effect and simplifying the overall structure, thereby improving the compactness of the device.

[0113] The above merely preferred embodiments of the present application and are not intended to limit the embodiments of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A gripping device, characterized in that The utility model relates to a kind of clamping device, including: Base; Driving assembly, including motor and wheel disc on the base, the output shaft of the motor is connected with the wheel disc, for driving the wheel disc rotation, the wheel disc is opened with opposite first guide slot and second guide slot; First jaw assembly and second jaw assembly, one end of the first jaw assembly is slidably connected in the first guide slot, one end of the second jaw assembly is slidably connected in the second guide slot, the first guide slot and the second guide slot are used to make the first jaw assembly and the second jaw assembly move along the direction of approaching or moving away from each other; Tension member, both ends of the tension member are connected with one end of the first jaw assembly and one end of the second jaw assembly respectively.

2. The gripping device according to claim 1, characterized in that The base is provided with guide rod, and the first jaw assembly and the second jaw assembly are slidably connected on the guide rod respectively.

3. The gripping device according to claim 2, characterized in that The base includes: The seat body is provided with the motor on one side along the thickness direction, and the wheel disc is provided on the other side of the seat body away from the motor; First limiting part and second limiting part, the first limiting part is provided on one side of the seat body along the length direction, and the second limiting part is provided on the other side of the seat body along the length direction and relative to the first limiting part, and the first limiting part and the second limiting part both extend to the other side of the seat body away from the motor, and the guide rod is connected between the first limiting part and the second limiting part.

4. The gripping device according to claim 3, characterized in that The first jaw assembly includes: First slider, slidably connected on the guide rod; First follower, through one end of the first slider, and one end of the first follower is slidably connected in the first guide slot, and the other end of the first follower away from the first guide slot is connected with one end of the tension member; First jaw, connected with the other end of the first slider away from the first follower.

5. The gripping device according to claim 4, characterized in that The first jaw assembly further includes: First oil-free lubrication sleeve, the first slider is slidably connected with the guide rod through the first oil-free lubrication sleeve.

6. The gripping device according to claim 4, characterized in that The first jaw is provided with first anti-slip structure on the inner wall of one end away from the first slider.

7. The gripping device of claim 3, wherein The second jaw assembly includes: Second slider, slidably connected on the guide rod; Second follower, through one end of the second slider, and one end of the second follower is slidably connected in the second guide slot, and the other end of the second follower away from the second guide slot is connected with the other end of the tension member; Second jaw, connected with the other end of the second slider away from the second follower.

8. The gripping device according to claim 7, characterized in that The second jaw assembly further includes: Second oil-free lubrication sleeve, the second slider is slidably connected with the guide rod through the second oil-free lubrication sleeve.

9. The gripping device according to claim 7, characterized in that The second jaw is provided with second anti-slip structure on the inner wall of one end away from the second slider.

10. The gripping device according to any one of claims 1 to 9, characterized in that The shape of the first guide slot and the second guide slot is arc-shaped.

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