A synchronous parallel centering clamping mechanism

Abstract

The utility model discloses a synchronous parallel centering and clamping mechanism, including clamping seat, centering drive arrangement and parallel clamping structure, centering drive arrangement includes centering drive part, first centering connecting rod part and second centering connecting rod part, and first centering connecting rod part and second centering connecting rod part are about the center plane symmetry of over clamping seat axis, and centering drive part drives first centering connecting rod part and second centering connecting rod part synchronous telescoping, parallel clamping structure includes two groups about the center plane symmetry setting clamping arm group, and clamping arm group includes swing arm, pincer arm and parallel definition part, and first centering connecting rod part and second centering connecting rod part drive the synchronous swing of the swing arm of two groups clamping arm group, and swing arm swings and drives pincer arm to remove, and parallel definition part limits the clamping plane of pincer arm parallel to center plane, the utility model sets up centering drive arrangement and parallel clamping structure, realizes centering and synchronous parallel movement, guarantees the position accuracy and clamping force balance of clamping object.

Description

Technical Field

[0001] This utility model relates to the field of clamping mechanism technology, and in particular to a synchronous parallel centering clamping mechanism. Background Technology

[0002] Currently, existing clamping mechanisms typically employ a scissor-type gripping structure. Most of these mechanisms lack centering capabilities, making it easy for the absolute position of the clamped object to shift. Only a few mechanisms achieve centering through the use of synchronizing gears. However, the angles on both sides of such mechanisms continuously change during clamping or releasing, easily leading to uneven clamping forces and excessively high local contact stress, which can damage the clamped workpiece.

[0003] Meanwhile, the structure of synchronous gear pairs is relatively complex, resulting in high manufacturing costs. Furthermore, the gear pair must be installed in the center, occupying the central position of the clamping mechanism, making it impossible to expand and install other degrees of freedom motion mechanisms, such as clamp lifting mechanisms or clamp rotation mechanisms.

[0004] Therefore, it is necessary to design a clamping mechanism that can achieve centering and synchronous parallel movement. Utility Model Content

[0005] This invention provides a synchronous parallel centering clamping mechanism to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows: A synchronous parallel centering clamping mechanism includes: a clamping base, a centering drive device, and a parallel clamping structure; The centering drive device includes: a centering drive component, a first centering linkage component and a second centering linkage component. The first centering linkage component and the second centering linkage component are symmetrical about the central plane passing through the axis of the clamping seat, and the line connecting their hinge points forms a rhombus structure. The centering drive component drives the diagonal hinge points of the rhombus formed by the first centering linkage component and the second centering linkage component to extend and retract synchronously. The parallel clamping structure includes two sets of clamping arm groups symmetrically arranged about the central plane. Each clamping arm group includes a swing arm, a clamping arm, and a parallel limiting component. The first centering link component and the second centering link component respectively drive the swing arms of the two sets of clamping arm groups to swing synchronously. The swing arms swing and drive the clamping arms to move. The parallel limiting component limits the clamping plane of the clamping arms to be parallel to the central plane.

[0007] Preferably, the parallel limiting component and the hinge point of the clamp arm form a parallelogram mechanism, with the clamp arm acting as a connecting rod, so that the clamping plane of the clamp arm is parallel to the central plane.

[0008] Preferably, the parallel limiting component includes a translation link and a translation hinge seat; the translation hinge seat is fixed on the clamping seat, and the translation hinge seat has a first hinge seat hole and a second hinge seat hole; the swing arm has a first swing arm hole and a second swing arm hole, the first swing arm hole is aligned with the first hinge seat hole and rotatably connected; one end of the translation link is rotatably connected to the second hinge seat hole; the clamp arm has a first clamp arm hole and a second clamp arm hole, the second swing arm hole is aligned with the first clamp arm hole and rotatably connected, and the other end of the translation link is rotatably connected to the second clamp arm hole; the hinge points of the translation hinge seat, the translation link, the swing arm and the clamp arm form a parallelogram mechanism, the clamp arm serves as a link, the translation hinge seat serves as a frame, and the angle between the line connecting the midpoints of the first hinge seat hole and the second hinge seat hole and the central plane is equal to the angle between the line connecting the midpoints of the first clamp arm hole and the second clamp arm hole and the clamping plane of the clamp arm.

[0009] Preferably, the clamping arm assembly includes two sets of parallel limiting components located on the upper and lower sides of the swing arm.

[0010] Preferably, at least three contact shoe components are rotatably connected to one side of the clamping plane of the clamping arm. The rotation axes of the at least three contact shoe components are all located within the clamping plane of the clamping arm. The rotation axes of at least two of the three contact shoe components are parallel, and the contact shoe components contact the object being clamped.

[0011] Preferably, it further includes a safety pin device, which includes at least two sets of safety pin components. Each safety pin component includes a safety pin driver, a safety pin, and a safety pin detector. The safety pin driver includes a safety pin insertion / removal cylinder and a hydraulic lock. The end of the safety pin is ball-jointed to the end of the piston rod of the safety pin insertion / removal cylinder. Under the guidance of the horizontal pin hole of the contact shoe seat, the safety pin driver drives the safety pin to move horizontally, passing through the contact shoe component of one set of clamping arm groups and inserting into the contact shoe component of the opposite set of clamping arm groups. The safety pin detector is used to detect whether the safety pin is inserted into the contact shoe component of the other set of clamping arm groups.

[0012] Preferably, the clamping seat is provided with a centering groove vertically arranged along the central plane; the centering drive component includes a clamping cylinder and a centering member, the clamping cylinder is vertically arranged along the central plane, and the centering member is a roller with rolling bearings, mounted on a hinge shaft at one end of the clamping cylinder, the roller rolls in the centering groove, and the centering groove guides and limits the centering member; the first centering linkage component includes a first centering linkage and a second centering linkage, one end of the first centering linkage is rotatably connected to the upper end of the clamping cylinder, and the other end is rotatably connected to one end of the second centering linkage, the other end of the second centering linkage is rotatably connected to the lower end of the clamping cylinder, and the rotatably connected end of the first centering linkage and the second centering linkage drives the swing arm of a set of clamping arms to swing; the second centering linkage component includes a third pair of... The third pair of central connecting rods is rotatably connected at one end to the upper end of the clamping cylinder and at the other end to one end of the fourth pair of central connecting rods. The other end of the fourth pair of central connecting rods is rotatably connected to the lower end of the clamping cylinder. The rotatably connected ends of the third and fourth pairs of central connecting rods drive the swing arm of another set of clamping arms to swing. The first, second, third, and fourth pairs of central connecting rods form a rhombus. The hinge points at both ends of the vertical diagonal of this rhombus are connected to the clamping cylinder, and the hinge points at both ends of the horizontal diagonal of the rhombus are connected to the swing arm. The first and third pairs of central connecting rods are rotatably connected, and the second and fourth pairs of central connecting rods are rotatably connected. The center of the centering component corresponds to the rotation axis of the first and third pairs of central connecting rods.

[0013] Preferably, the centering component is a rotating roller with a rolling bearing coaxially embedded inside. The centering component is rotatably connected to the upper end of the clamping cylinder and rolls along the centering groove.

[0014] Preferably, the clamping cylinder is provided with spherical bearings at both the upper and lower ends, and a hinge shaft is provided through the inner ring of the spherical bearing. The first centering link and the third centering link are rotatably connected to the hinge shaft at the upper end of the clamping cylinder, and the centering component is rotatably connected to the hinge shaft at the upper end of the clamping cylinder; the second centering link and the fourth centering link are rotatably connected to the hinge shaft at the lower end of the clamping cylinder. One end of the first and second centering links is rotatably connected to a set of clamping arm swing arms via a cross joint. The other end of the third and fourth centering links is rotatably connected to another set of clamping arm swing arms via a cross joint.

[0015] Preferably, the centering drive component further includes a hydraulic lock, a displacement sensor, and an oil pressure sensor. The hydraulic lock is used for bidirectional oil cut-off locking, the displacement sensor detects the clamping thickness, and the oil pressure sensor is used to detect the clamping force, providing conditions for intelligent clamping control.

[0016] Beneficial effects: The synchronous parallel centering clamping mechanism disclosed in this application achieves centering by setting a centering drive device, which drives the first centering linkage component and the second centering linkage component to extend and retract synchronously; and by setting a parallel clamping structure, the swing arm drives the clamping arm to move, and the parallel limiting component limits the clamping plane of the clamping arm to always be parallel to the center plane, ensuring that the clamping angle remains unchanged; thus, this application can achieve centering and synchronous parallel movement, ensuring the positional accuracy of the clamped object and ensuring the balance of clamping force. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the structure of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 3 ; Figure 4 This is a schematic diagram of the structure of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 4 ; Figure 5 This is a schematic diagram of the structure of a combination of a clamping seat and a set of clamping arms of a synchronous parallel centering clamping mechanism disclosed in this utility model; Figure 6 This is a schematic diagram of the centering drive device of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 1 ; Figure 7 This is a schematic diagram of the centering drive device of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 2 ; Figure 8 This is a schematic diagram of the structure of the clamping seat of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 1 ; Figure 9 This is a schematic diagram of the structure of the clamping seat of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 2 ; Figure 10This is a schematic diagram of the swing arm of a synchronous parallel centering clamping mechanism disclosed in this utility model; Figure 11 This is a schematic diagram of the clamp arm of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 1 ; Figure 12 This is a schematic diagram of the clamp arm of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 2 ; Figure 13 This is a schematic diagram of the clamp arm of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 3 ; Figure 14 This is a schematic diagram of the clamp arm of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 4 ; Figure 15 This is a schematic diagram of the structure of the clamp arm, contact shoe component, and safety pin component assembly of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 1 ; Figure 16 This is a schematic diagram of the structure of the clamp arm, contact shoe component, and safety pin component assembly of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 2 ; Figure 17 This is a schematic diagram of the contact shoe component of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 1 ; Figure 18 This is a schematic diagram of the contact shoe component of a synchronous parallel centering clamping mechanism disclosed in this utility model. Figure 2 ; Figure 19 This is a schematic diagram illustrating the working principle of a synchronous parallel centering clamping mechanism disclosed in this utility model.

[0019] In the diagram: 51. Clamping seat; 511. Centering groove; 52. Centering drive device; 521. Centering drive component; 5211. Clamping cylinder; 5212. Centering component; 5213. Hydraulic lock; 522. First centering linkage component; 5221. First centering linkage; 5222. Second centering linkage; 523. Second centering linkage component; 5231. Third centering linkage; 5232. Fourth centering linkage; 524. Cross joint; 53. Parallel clamping structure; 531. Swing arm; 5311. First swing arm hole; 5312. Second swing arm hole; 5313. Third swing arm hole; 532. Clamping arm; 5321. First clamping arm hole; 5322, Second clamp arm hole; 5323, Upper clamp arm plate; 5324, Lower clamp arm plate; 5325, Side clamp arm plate; 5326, First angle steel; 5327, Second angle steel; 5328, Clamp arm support plate; 5329, Contact shoe mounting plate; 533, Parallel limiting component; 5331, Translation linkage; 5332, Translation hinge seat; 5333, First hinge seat hole; 5334, Second hinge seat hole; 534, Contact shoe component; 5341, Contact shoe seat; 5342, Contact shoe mounting plate; 5343, Clamping contact shoe; 54, Safety pin component; 541, Safety pin actuator; 542, Safety pin; 543, Safety pin detector. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] A synchronous parallel centering clamping mechanism, combined with Figures 1-19 As shown, it includes: a clamping base 51, a centering drive device 52, and a parallel clamping structure 53; The centering drive device 52 includes: a centering drive component 521, a first centering link component 522, and a second centering link component 523. The first centering link component 522 and the second centering link component 523 are symmetrical about the central plane passing through the axis of the clamping seat 51, and the line connecting their hinge points forms a rhombus structure. The centering drive component 521 drives the diagonal hinge points of the rhombus formed by the first centering link component 522 and the second centering link component 523 to extend and retract synchronously. The parallel clamping structure 53 includes two sets of clamping arm groups symmetrically arranged about the central plane. Each clamping arm group includes a swing arm 531, a clamping arm 532, and a parallel limiting component 533. The first centering link component 522 and the second centering link component 523 respectively drive the swing arms 531 of the two sets of clamping arm groups to swing synchronously. The swing arms 531 swing and drive the clamping arms 532 to move. The parallel limiting component 533 limits the clamping plane of the clamping arms 532 to be parallel to the central plane.

[0022] This application achieves centering by setting up a centering drive device 52, which enables the centering drive component 521 to drive the first centering link component 522 and the second centering link component 523 to extend and retract synchronously; and by setting up a parallel clamping structure 53, the swing arm 531 drives the clamping arm 532 to move, and the parallel limiting component 533 limits the clamping plane of the clamping arm 532 to always be parallel to the center plane, ensuring that the clamping angle remains unchanged; thus, this application can achieve centering and synchronous parallel movement, ensuring the positional accuracy of the clamped object and ensuring balanced clamping force.

[0023] Preferably, the parallel limiting component 533 and the hinge point of the clamp arm 532 form a parallelogram mechanism, and the clamp arm 532 acts as a connecting rod, so that the clamping plane of the clamp arm 532 is parallel to the central plane.

[0024] Specifically, the parallel limiting component 533 includes two translation links. One end of each translation link is hinged to the clamping seat 51, but the hinge positions do not coincide. The other end of each translation link is hinged to the clamp arm 532, but the hinge positions do not coincide. The clamping seat 51, the two translation links, and the clamp arm 532 form a parallelogram mechanism. The clamping seat 51 serves as a frame, the two translation links serve as rockers, and the clamp arm 532 serves as a connecting rod. The swing arm 531 can drive one of the translation links to rotate, thereby driving the clamp arm 532 to move. Since the hinge points of the two translation links and the clamping base 51 are fixed relative to the virtual central plane on the clamping base 51, the line connecting the hinge points of the two translation links and the clamping arms 532 is parallel to the line connecting the hinge points of the two translation links and the clamping base 51. This ensures that the angle of the clamping arms 532 relative to the central plane of the clamping base 51 remains unchanged. Therefore, by designing the shape of the clamping arms 532, the clamping plane of the clamping arms 532 can always be parallel to the central plane, thus ensuring that when the two clamping arms 532 approach each other, they always move parallel to the central plane. Furthermore, throughout the clamping or releasing process, aligning the central plane with the workpiece to be clamped allows the two clamping arms 532 to synchronously and parallelly clamp the workpiece.

[0025] Preferably, to simplify the structure and reduce its weight, the parallel limiting component 533 is optimized in this embodiment. The parallel limiting component 533 includes a translation link 5331 and a translation hinge seat 5332; the translation hinge seat 5332 is fixed to the clamping seat 51, and has a first hinge seat hole 5333 and a second hinge seat hole 5334; the swing arm 531 has a first swing arm hole 5311 and a second swing arm hole 5312, the first swing arm hole 5311 aligns with and is rotatably connected to the first hinge seat hole 5333; one end of the translation link 5331 is rotatably connected to the second hinge seat hole 5334; the clamping arm 532 has a first clamping arm hole 5321 and a second clamping arm hole 5322, the second... The swing arm hole 5312 is aligned with and rotatably connected to the first clamp arm hole 5321, and the other end of the translation link 5331 is rotatably connected to the second clamp arm hole 5322. The hinge points of the translation hinge seat 5332, the translation link 5331, the swing arm 531 and the clamp arm 532 form a parallelogram mechanism. The clamp arm 532 serves as a link, and the translation hinge seat 5332 serves as a frame. The angle between the line connecting the midpoint of the first hinge seat hole 5333 and the second hinge seat hole 5334 and the central plane is equal to the angle between the line connecting the midpoint of the first clamp arm hole 5321 and the second clamp arm hole 5322 and the clamping plane of the clamp arm 532.

[0026] The translational hinge seat 5332 provided in this application creates installation space to facilitate the installation of the swing arm 531 and the translational link 5331, thereby ensuring the swing of the swing arm 531 and the translational link 5331. Furthermore, the swing arm 531 serves as the connecting rod of the parallelogram mechanism, eliminating the need for a connecting rod; this makes the swing of the swing arm 531 the active component in the parallelogram mechanism, while also limiting the angle of the clamp arm 532 through the cooperation of the swing arm 531 and the translational link 5331.

[0027] Specifically, the two sets of translating hinge seats 5332 of the clamping arm assemblies are fixed on the clamping seat 51 and located on both sides of the central plane. They can be fixed to the outer wall of the clamping seat 51 by welding. The translating hinge seat 5332 includes upper and lower plates, which are supported by a supporting hinge sleeve and a support plate. The first hinge seat hole 5333 is located at the front of the translating hinge seat 5332 (i.e., the side away from the centering drive component 521), and the second hinge seat hole 5334 is located at the rear of the middle of the translating hinge seat 5332. The line connecting the first hinge seat hole 5333 and the second hinge seat hole 5334 forms an acute angle with the central plane. The first hinge seat hole 5333 is closer to the clamping seat 51 than the second hinge seat hole 5334.

[0028] The clamp arm 532 includes an upper clamp arm plate 5323, a lower clamp arm plate 5324, a side clamp arm plate 5325, and a clamp arm support assembly. The side clamp arm plate 5325 is welded and fixed between the upper clamp arm plate 5323 and the lower clamp arm plate 5324 and is located on the side away from the centering drive component 521. The clamp arm support assembly is located between the upper clamp arm plate 5323 and the lower clamp arm plate 5324 to provide support and is positioned between the upper clamp arm plate 5323 and the lower clamp arm plate 5324. At the front end (i.e. the end facing the center plane), a mounting space with an opening facing the centering drive component 521 is formed between the upper plate 5323 and the lower plate 5324 of the clamp arm, and between the side plate 5325 of the clamp arm and the clamp arm support assembly. The first clamp arm hole 5321 is located in the middle of the upper plate 5323 and the lower plate 5324 of the clamp arm and corresponds to the mounting space. The second clamp arm hole 5322 is located at the tail end of the upper plate 5323 and the lower plate 5324 of the clamp arm.

[0029] The swing arm 531 has a protrusion on one side facing the clamping seat 51, with its sides designed to be arc-shaped to allow for swinging. A first swing arm hole 5311 is machined into the protrusion, a second swing arm hole 5312 is machined into the front end of the swing arm 531, and a third swing arm hole 5313 is machined into the rear end of the swing arm 531. The front end of the swing arm 531 extends into the mounting space of the clamp arm 532. After the second swing arm hole 5312 is aligned with the first clamp arm hole 5321, it is hinged by a shaft. After the first swing arm hole 5311 is aligned with the first hinge seat hole 5333, it is hinged by a shaft. The swing arm 531 rotates about the axis of the second swing arm hole 5312, and the front end of the swing arm 531 can rotate within the mounting space of the clamp arm 532.

[0030] Preferably, the clamping arm assembly includes two sets of parallel limiting components 533, which are located on the upper and lower sides of the swing arm 531.

[0031] Specifically, two vertically spaced translational hinge seats 5332 are arranged on both outer walls of the clamping base 51. The translational connecting rods 5331 of the two sets of parallel limiting components 533 are located between the upper and lower plates of the translational hinge seats 5332 and are hinged. The front end of the upper set of translational connecting rods 5331 is hinged to the second clamping arm hole 5322 of the upper clamping arm plate 5323, and the front end of the lower set of translational connecting rods 5331 is hinged to the second clamping arm hole 5322 of the lower clamping arm plate 5324. This layout allows the dimensions of the swing arm 531 to be designed according to the load requirements, improving the rigidity of the swing arm 531 and the clamping arm 532, and increasing the load capacity of the clamping mechanism. The parallel limiting components 533 on the upper and lower sides result in a more uniform force distribution, making the angle limitation of the clamping arm 532 more reliable and accurate.

[0032] Preferably, at least three contact shoe components 534 are rotatably connected to one side of the clamping plane of the clamping arm 532. The rotation axes of the at least three contact shoe components 534 are all located within the clamping plane of the clamping arm 532, and the rotation axes of at least two of the three contact shoe components 534 are parallel. The contact shoe components 534 contact the object being clamped. By swinging the contact shoe components 534 at a small angle, they can automatically adapt to irregularities in the clamping surface of the workpiece.

[0033] Specifically, the contact shoe component 534 includes: a contact shoe base 5341, a contact shoe mounting plate 5342, and a clamping contact shoe 5343. The contact shoe base 5341 is rotatably connected to the clamp arm support assembly of the clamp arm 532. The contact shoe mounting plate 5342 is fixedly welded to the contact shoe base 5341, and the clamping contact shoe 5343 covers the contact shoe mounting plate 5342. The contact shoe mounting plate 5342 is made of polyurethane rubber and provides a cushioning effect by clamping the contact shoe 5343 in contact with the workpiece.

[0034] Specifically, the clamp arm support assembly includes: a first angle steel 5326, a second angle steel 5327, a clamp arm support plate 5328, and two contact shoe mounting plates 5329. The first angle steel 5326 and the second angle steel 5327 are fixedly disposed between the upper clamp arm plate 5323 and the lower clamp arm plate 5324 at intervals, and are located near the front end of the upper clamp arm plate 5323 and the lower clamp arm plate 5324. The openings of the first angle steel 5326 and the second angle steel 5327 both face the front of the upper clamp arm plate 5323 and the lower clamp arm plate 5324, and also face the sides of the upper clamp arm plate 5323 and the lower clamp arm plate 5324. The clamp arm support plate 5328 is arc-shaped and welded and fixed between the upper clamp arm plate 5323 and the lower clamp arm plate 5324, and between the first angle steel 5326 and the second angle steel 5327, to support the upper clamp arm plate 5323 and the lower clamp arm plate 5324, as well as the first angle steel 5326 and the second angle steel 5327. Two contact shoe mounting plates 5329 are parallel to the upper clamp arm plate 5323 and spaced vertically. The two contact shoe mounting plates 5329 intersect with the first angle steel 5326, the second angle steel 5327, and the clamp arm support plate 5328 to form a ribbed reinforcement structure. The upper clamp arm plate 5323, the lower clamp arm plate 5324, and the two contact shoe mounting plates 5329 all have first and second contact shoe mounting holes. The first contact shoe mounting hole corresponds to the opening of the first angle steel 5326, and the second contact shoe mounting hole corresponds to the opening of the second angle steel 5327. Each clamp arm 532 is equipped with four contact shoe components 534. The contact shoe seat 5341 of the first contact shoe component 534 is hinged to the upper plate 5323 of the clamp arm and the first contact shoe seat mounting hole of the upper contact shoe seat mounting plate 5329 via a shaft, and the contact shoe seat 5341 extends into the corner space of the first angle steel 5326. The contact shoe seat 5341 of the second contact shoe component 534 is hinged to the upper plate 5323 of the clamp arm and the second contact shoe seat mounting hole of the upper contact shoe seat mounting plate 5329 via a shaft, and the contact shoe seat 5341 extends into the corner space of the second angle steel 5327. The contact shoe seat 5341 of the third contact shoe component 534 is hinged to the lower plate 5324 of the clamp arm and the first contact shoe seat mounting hole of the lower contact shoe seat mounting plate 5329 via a shaft, and the contact shoe seat 5341 extends into the corner space of the first angle steel 5326. The fourth contact shoe component 534's contact shoe seat 5341 is hinged via a shaft to the second contact shoe seat mounting hole of the lower plate 5324 of the clamp arm and the lower contact shoe seat mounting plate 5329 below. The contact shoe seat 5341 extends into the corner space of the second angle steel 5327. The four contact shoe components 534 are arranged in a rectangular shape, and the rotation axis of the contact shoe seats 5341 of the four contact shoe components 534 forms a virtual clamping plane of the clamp arm 532. The four contact shoe components 534 of the clamp arms 532 of the two sets of clamping arm groups are arranged symmetrically, that is, the eight contact shoe components 534 are symmetrical in pairs. To prevent the contact shoe seat 5341 from rotating too much due to shaking or other reasons, the contact shoe seat 5341 extends into the corner space of the angle steel, and the swing angle of the contact shoe seat 5341 is limited by the contact between the contact shoe seat 5341 and the inner wall of the angle steel.

[0035] Preferably, the device further includes a safety pin device, which comprises at least two sets of safety pin components 54. Each safety pin component 54 includes a safety pin driver 541, a safety pin 542, and a safety pin detector 543. The safety pin driver 541 drives the safety pin 542 through the contact shoe component 534 of one set of clamping arms and inserts it into the contact shoe component 534 of another set of clamping arms. The safety pin detector 543 is used to detect whether the safety pin 542 is inserted into the contact shoe component 534 of the other set of clamping arms. The workpiece has two pin holes arranged vertically. By driving the safety pin 542 through the pin holes and then inserting it into the contact shoe component 534 of the other set of clamping arms, positioning can be achieved when gripping the workpiece, and safety protection can be achieved.

[0036] Specifically, each of the eight shoe holders 5341 has a through hole for a vertical shoe mounting plate 5342, and corresponding clearance holes are also provided in the shoe mounting plate 5342 and the clamping shoe 5343. After the safety pin 542 extends from the through hole of one shoe holder 5341, it penetrates the pin hole in the workpiece and then inserts into the through hole of the opposite shoe holder 5341. For each clamping arm 532 of a set of clamping arms, the upper and lower shoe holders 5341 corresponding to the first angle steel 5326 are welded and fixed to the side away from the other set of clamping arms. The safety pin actuator 541 is a hydraulic cylinder equipped with a hydraulic lock. The safety pin actuator 541 is mounted on the end of the mounting sleeve via a flange connection. The cylinder rod extends into the mounting sleeve and is connected to the safety pin 542 via a ball joint. On the side of each of the two corresponding shoe seats 5341 of the other set of clamping arms, away from the safety pin actuator 541, a guide sleeve is welded and fixed. After the safety pin 542 is inserted into the shoe seat 5341, it continues to be inserted into the guide sleeve, thereby increasing the engagement length. Each of the two corresponding shoe seats 5341 of the other set of clamping arms has a detection hole perpendicular to the through hole. The safety pin detector 543 uses two pairs of photoelectric limit switches, which are installed inside the detection holes. When the safety pin 542 is inserted into the shoe seat 5341 and blocks the light from the photoelectric switch, the detection signal changes, and the electronic control system can determine that the safety pin 542 is in the inserted state. The safety pin device structure of this application can reliably realize the insertion and removal action of the safety pin 542, thereby assisting in clamping the workpiece.

[0037] Specifically, each of the two sets of clamping arms 532 is equipped with a pin hole recognition camera, located near the safety pin device. Before the clamping shoe 5343 contacts the workpiece, the pin hole recognition camera determines the relative position of the pin hole and the safety pin 542. If it is within the allowable deviation range, the clamping action continues until the clamping shoe 5343 contacts the workpiece and compresses the clamping shoe 5343 to reach the preset clamping force. The safety pin actuator 541 has a built-in displacement sensor and a hydraulic pressure sensor. Based on three data points—the hydraulic pressure of the safety pin actuator 541 being within a predetermined safety range, the displacement sensor indicating that the hydraulic cylinder is in the clamping position, and the safety pin detector 543 being triggered—a comprehensive judgment is made to ensure the safe and reliable clamping of the workpiece. This ensures the clamping and releasing actions of the clamping shoe 5343 and the insertion and removal actions of the safety pin 542.

[0038] Preferably, the clamping seat 51 is provided with a centering groove 511 vertically arranged along the central plane; the centering drive component 521 includes a clamping cylinder 5211 and a centering member 5212, the clamping cylinder 5211 is vertically arranged along the central plane, the centering member 5212 is connected to the clamping cylinder 5211 and slides along the centering groove 511, and the centering groove 511 guides and limits the centering member 5212; the first centering connecting rod component 522 includes a first centering connecting rod 5221 and a second centering connecting rod. 5222, one end of the first centering link 5221 is rotatably connected to the upper end of the clamping cylinder 5211, and the other end is rotatably connected to one end of the second centering link 5222. The other end of the second centering link 5222 is rotatably connected to the lower end of the clamping cylinder 5211. The rotatably connected end of the first centering link 5221 and the second centering link 5222 drives the swing arm 531 of a set of clamping arms to swing. The second centering link component 523 includes the third centering link 5231 and the fourth centering link 5222. The third pair of central connecting rods 5232 and 5231 are rotatably connected at one end to the upper end of the clamping cylinder 5211 and at the other end to one end of the fourth pair of central connecting rods 5232. The other end of the fourth pair of central connecting rods 5232 is rotatably connected to the lower end of the clamping cylinder 5211. The rotatably connected ends of the third and fourth pairs of central connecting rods 5231 and 5232 drive the swing arm 531 of another set of clamping arms to swing. The first pair of central connecting rods 5221 and 5222 are also connected. The third and fourth centering links 5231 and 5232 form a rhombus. The two ends of the vertical diagonal of this rhombus are connected to the clamping cylinder, and the two ends of the horizontal diagonal of the rhombus are connected to the swing arm. The first and third centering links 5221 and 5231 are rotatably connected, and the second and fourth centering links 5222 and 5232 are rotatably connected. The center of the centering member 5212 corresponds to the rotation axis of the first and third centering links 5221 and 5231. This application utilizes a four-bar linkage mechanism consisting of four equal-length centering links 5221, 5222, 5231, and 5232 connected end-to-end to form a rhombus shape. The upper and lower hinge points are connected to the cylinder barrel and cylinder rod of the clamping cylinder 5211, respectively. By sliding the centering component 5212 within the centering groove 511, the upper hinge point is kept within the central plane, thus ensuring that the vertical diagonal of the rhombus-shaped four-bar linkage lies within the central plane. When the clamping cylinder 5211 extends and retracts, the two lateral hinge points extend and retract synchronously. These two lateral hinge points are connected to the swing arms 531 of two sets of clamping arms. Due to the centering and synchronous extension and retraction of the rhombus-shaped four-bar linkage, the two swing arms 531 also swing synchronously. Finally, through the action of the parallel clamping structure 53, the two clamping arms 532 can synchronously press against the two sides of the central vertical plate on the workpiece.

[0039] Preferably, the centering groove 511 is formed by welding steel plates and reinforcing ribs, and is welded to the upper region of the rear outer wall of the clamping seat 51. The centering component 5212 is a rotating roller, which is rotatably connected to the upper end of the clamping cylinder 5211, and rolls along the centering groove 511. This ensures both accurate centering and smooth operation of the clamping cylinder 5211.

[0040] Preferably, the clamping cylinder 5211 is provided with spherical bearings at both the upper and lower ends, and a hinge shaft passes through the inner ring of the spherical bearing. The first centering link 5221 and the third centering link 5231 are rotatably connected to the hinge shaft at the upper end of the clamping cylinder 5211, and the centering member 5212 is rotatably connected to the hinge shaft at the upper end of the clamping cylinder 5211; the second centering link 5222 and the fourth centering link 5232 are rotatably connected to the hinge shaft at the lower end of the clamping cylinder 5211. One end of the first centering link 5221 and the second centering link 5222 is rotatably connected to a set of clamping arm swing arms 531 via a cross joint 524. The other end of the third centering link 5231 and the fourth centering link 5232 is rotatably connected to another set of clamping arm swing arms 531 via a cross joint 524. The use of spherical bearings eliminates the influence of machining and assembly errors, ensuring smooth movement at the hinge points and preventing the mechanism from becoming stiff. The cross joint 524 enables variable-angle power transmission, ensuring smooth driving of the swing arms 531 to swing.

[0041] Specifically, the cross joint 524 includes: a transverse hinge sleeve, a hinge connector, and a vertical hinge sleeve. The first centering link 5221 and the second centering link 5222 are hinged to the transverse hinge sleeves of their corresponding cross joints 524 via shafts. The third centering link 5231 and the fourth centering link 5232 are hinged to the transverse hinge sleeves of their corresponding cross joints 524 via shafts. The third swing arm hole 5313 of the swing arm 531 is aligned with the vertical hinge sleeve of the corresponding cross joint 524 and then hinged via a shaft. The hinge shaft at the upper end of the clamping cylinder 5211 passes through the first centering link 5221 and the third centering link 5231 and extends into the centering groove 511. The rotating roller is connected and mounted on the end of the hinge shaft via a bearing.

[0042] Preferably, the centering drive component 521 further includes a hydraulic lock 5213, which is used for bidirectional oil cut-off locking. When the hydraulic system actively stops supplying oil, the hydraulic lock 5213 quickly cuts off the oil circuit to lock the position, thereby maintaining the position of the swing arm 531.

[0043] Specifically, the centering drive component 521 is also equipped with a displacement sensor for detecting the amount of extension and retraction. One end of the displacement sensor is connected to the cylinder barrel, and the other end is connected to the cylinder rod, thereby detecting the amount of extension and retraction of the centering drive component 521, i.e., detecting the clamping thickness. The centering drive component 521 is also equipped with a hydraulic pressure sensor for detecting the clamping force, providing conditions for intelligent clamping control.

[0044] Specifically, the centering drive device 52 is located on the rear side of the clamping seat 51, the swing arm 531 and the parallel limiting component 533 are located on the left and right sides of the clamping seat 51 and extend to the front side of the clamping seat 51, and the clamp arm 532 is located on the front side of the clamping seat 51, forming a layout around the clamping seat 51. This not only enlarges the clamping arm but also makes the structure more compact. The clamping seat 51 has a hollow cylindrical structure, which can accommodate lifting and rotating mechanisms, creating conditions for expanding other degrees of freedom motion mechanisms.

[0045] Specifically, the outer wall surface of the front side of the clamping seat 51 is provided with a buffer pad, which is used to contact the rear end surface of the central vertical plate on the workpiece and provide buffering.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A synchronous parallel centering clamping mechanism, characterized in that, include: Clamping seat (51), centering drive device (52) and parallel clamping structure (53); The centering drive device (52) includes: a centering drive component (521), a first centering link component (522), and a second centering link component (523). The first centering link component (522) and the second centering link component (523) are symmetrical about the central plane passing through the axis of the clamping seat (51), and the connecting line of their hinge points forms a rhombus structure. The centering drive component (521) drives the diagonal hinge points of the rhombus formed by the first centering link component (522) and the second centering link component (523) to extend and retract synchronously. The parallel clamping structure (53) includes two sets of clamping arm groups symmetrically arranged about the central plane. The clamping arm group includes: a swing arm (531), a clamp arm (532), and a parallel limiting component (533). The first centering link component (522) and the second centering link component (523) respectively drive the swing arms (531) of the two sets of clamping arm groups to swing synchronously. The swing arms (531) swing and drive the clamp arms (532) to move. The parallel limiting component (533) limits the clamping plane of the clamp arms (532) to be parallel to the central plane.

2. The synchronous parallel centering clamping mechanism according to claim 1, characterized in that, The parallel limiting component (533) and the hinge point of the clamp arm (532) form a parallelogram mechanism. The clamp arm (532) acts as a connecting rod, so that the clamping plane of the clamp arm (532) is parallel to the central plane.

3. The synchronous parallel centering clamping mechanism according to claim 1, characterized in that, The parallel limiting component (533) includes a translation link (5331) and a translation hinge seat (5332); the translation hinge seat (5332) is fixed on the clamping seat (51), and the translation hinge seat (5332) is provided with a first hinge seat hole (5333) and a second hinge seat hole (5334); the swing arm (531) is provided with a first swing arm hole (5311) and a second swing arm hole (5312), the first swing arm hole (5311) and the first hinge seat hole (5333) are aligned and rotatably connected; one end of the translation link (5331) is rotatably connected at the second hinge seat hole (5334); the clamp arm (532) is provided with a first clamp arm hole (5321) and a second clamp arm hole (5322). The second swing arm hole (5312) is aligned with and rotatably connected to the first clamp arm hole (5321). The other end of the translation link (5331) is rotatably connected to the second clamp arm hole (5322). The hinge points of the translation hinge seat (5332), translation link (5331), swing arm (531) and clamp arm (532) form a parallelogram mechanism. The clamp arm (532) serves as a link, and the translation hinge seat (5332) serves as a frame. The angle between the line connecting the midpoints of the first hinge seat hole (5333) and the second hinge seat hole (5334) and the central plane is equal to the angle between the line connecting the midpoints of the first clamp arm hole (5321) and the second clamp arm hole (5322) and the clamping plane of the clamp arm (532).

4. The synchronous parallel centering clamping mechanism according to claim 3, characterized in that, The clamping arm assembly includes two sets of parallel limiting components (533), which are located on the upper and lower sides of the swing arm (531).

5. A synchronous parallel centering clamping mechanism according to claim 4, characterized in that, A shoe component (534) is rotatably connected to one side of the clamping plane of the clamping arm (532). The rotation axis of the shoe component (534) is located on the side of the clamping arm (532) close to the clamping plane. The rotation axes of the shoe component (534) are parallel, and the shoe component (534) contacts the object being clamped.

6. The synchronous parallel centering clamping mechanism according to claim 5, characterized in that, It also includes a safety pin device, which includes a safety pin component (54), the safety pin component (54) including: a safety pin driver (541), a safety pin (542) and a safety pin detector (543); the safety pin driver (541) includes a safety pin insertion and removal cylinder and a hydraulic lock, and the end of the safety pin (542) is ball-jointed to the end of the piston rod of the safety pin insertion and removal cylinder; under the guidance of the horizontal pin hole of the contact shoe seat (5341), the safety pin driver (541) drives the safety pin (542) to move horizontally, pass through the contact shoe component (534) of one set of clamping arm groups and insert into the contact shoe component (534) of another set of clamping arm groups on the opposite side, and the safety pin detector (543) is used to detect whether the safety pin (542) is inserted into the contact shoe component (534) of another set of clamping arm groups.

7. A synchronous parallel centering clamping mechanism according to any one of claims 1-6, characterized in that, The clamping seat (51) is provided with a centering groove (511) vertically arranged along the central plane; the centering drive component (521) includes a clamping cylinder (5211) and a centering component (5212). The clamping cylinder (5211) is vertically arranged along the central plane, and the centering component (5212) is a roller with a rolling bearing, which is mounted on a hinge shaft at one end of the clamping cylinder (5211). The roller rolls in the centering groove (511), and the centering groove (511) guides and limits the centering component (5212); the first centering connecting rod component (522) The first pair of centering links (5221) and the second pair of centering links (5222) are included. One end of the first pair of centering links (5221) is rotatably connected to the upper end of the clamping cylinder (5211), and the other end is rotatably connected to one end of the second pair of centering links (5222). The other end of the second pair of centering links (5222) is rotatably connected to the lower end of the clamping cylinder (5211). The rotatably connected ends of the first pair of centering links (5221) and the second pair of centering links (5222) drive the swing arm (531) of a set of clamping arms to swing. The second pair of centering link components (523) include... The third pair of connecting rods (5231) and the fourth pair of connecting rods (5232) are connected in the following ways: one end of the third pair of connecting rods (5231) is rotatably connected to the upper end of the clamping cylinder (5211), and the other end is rotatably connected to one end of the fourth pair of connecting rods (5232). The other end of the fourth pair of connecting rods (5232) is rotatably connected to the lower end of the clamping cylinder (5211). The rotatably connected end of the third pair of connecting rods (5231) and the fourth pair of connecting rods (5232) drives the swing arm (531) of another set of clamping arms to swing. The first pair of connecting rods (5221) and the second pair of connecting rods (5232) are connected in the following ways. The central connecting rod (5222), the third pair of central connecting rods (5231), and the fourth pair of central connecting rods (5232) form a rhombus. The two ends of the vertical diagonal of this rhombus are connected to the clamping cylinder, and the two ends of the horizontal diagonal of the rhombus are connected to the swing arm. The first pair of central connecting rods (5221) and the third pair of central connecting rods (5231) are rotatably connected, and the second pair of central connecting rods (5222) and the fourth pair of central connecting rods (5232) are rotatably connected. The center of the centering member (5212) corresponds to the rotation axis of the first pair of central connecting rods (5221) and the third pair of central connecting rods (5231).

8. A synchronous parallel centering clamping mechanism according to claim 7, characterized in that, The centering component (5212) is a rotating roller with a rolling bearing coaxially embedded inside. The centering component (5212) is rotatably connected to the upper end of the clamping cylinder (5211) and rolls along the centering groove (511).

9. A synchronous parallel centering clamping mechanism according to claim 8, characterized in that, The clamping cylinder (5211) is provided with spherical bearings at both its upper and lower ends. A hinge shaft passes through the inner ring of the spherical bearing. The first centering link (5221) and the third centering link (5231) are rotatably connected to the hinge shaft at the upper end of the clamping cylinder (5211). The centering member (5212) is rotatably connected to the hinge shaft at the upper end of the clamping cylinder (5211). The second centering link (5222) and the fourth centering link (5232) are rotatably connected to the hinge shaft at the lower end of the clamping cylinder (5211). One end of the first pair of center links (5221) and the second pair of center links (5222) is rotatably connected to a set of clamping arm arms (531) via a cross connector (524). One end of the third pair of center links (5231) and the fourth pair of center links (5232) is rotatably connected to another set of clamping arm arms (531) via a cross connector (524).

10. A synchronous parallel centering clamping mechanism according to claim 9, characterized in that, The centering drive component (521) also includes a hydraulic lock (5213), a displacement sensor, and an oil pressure sensor. The hydraulic lock (5213) is used for oil cut-off locking. The displacement sensor detects the clamping thickness, and the oil pressure sensor is used to detect the clamping force, providing conditions for intelligent clamping control.

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