CN110978032A - Clamping device and assembling equipment - Google Patents
Clamping device and assembling equipment Download PDFInfo
- Publication number
- CN110978032A CN110978032A CN201911255285.2A CN201911255285A CN110978032A CN 110978032 A CN110978032 A CN 110978032A CN 201911255285 A CN201911255285 A CN 201911255285A CN 110978032 A CN110978032 A CN 110978032A
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- clamping jaw
- clamping
- jaws
- transmission mechanism
- jaw assembly
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- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping device and assembling equipment, relates to the technical field of assembly, and solves the technical problem that a vacuum chuck in the prior art is easy to absorb parts with uneven surfaces, so that the parts are dropped and damaged. The clamping device comprises a driving part, a transmission mechanism and a clamping jaw assembly; the driving part is connected with the transmission mechanism, the clamping jaw assembly comprises at least two clamping jaws, one end of each clamping jaw is connected with and/or abutted against the power output end of the transmission mechanism, so that power output by the driving part can be transmitted to the clamping jaw assembly through the transmission mechanism to enable the other end of each clamping jaw to move oppositely at least. The assembling equipment comprises an assembling equipment body and a clamping device. The invention provides a clamping device and assembling equipment which are not limited by the shape or roughness of the outer surface of a part and can prevent the part from falling and being damaged in the clamping and conveying process.
Description
Technical Field
The invention relates to the technical field of assembly, in particular to a clamping device and assembly equipment provided with the clamping device.
Background
On equipment such as spare part assembly, spare part, need use and snatch spare part device, will wait to assemble spare part and snatch to the assembly station, perhaps will assemble the finished product clamp after the completion and get to the workbin. Snatch the surface that the part adopted air chuck to adsorb at the part to pick more on present equipment, the applicant discovery, air chuck among the prior art needs the smooth plane that the part surface exists and be greater than the sucking disc area, otherwise can produce the gap, can lead to the part to drop the damage because adsorb infirm.
Disclosure of Invention
The invention aims to provide a clamping device and assembling equipment with the clamping device, and aims to solve the technical problem that parts are easy to fall and damaged due to the fact that a vacuum chuck is not firm in adsorption when grabbing the parts with uneven surfaces in the prior art. The technical effects that can be produced by the preferred technical scheme in the technical schemes of the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the clamping device provided by the invention comprises a driving part, a transmission mechanism and a clamping jaw assembly; wherein,
the power output end of the driving piece is connected with the power input end of the transmission mechanism, the clamping jaw assembly comprises at least two clamping jaws, one end of each clamping jaw is connected with the power output end of the transmission mechanism and/or is in butt joint with the power output end of the transmission mechanism, so that power output by the driving piece can be transmitted to the clamping jaw assembly through the transmission mechanism to enable each clamping jaw assembly to move at least in opposite directions.
In a preferred or optional embodiment, the transmission mechanism comprises an ejector and a fixed frame, wherein one end of each clamping jaw abuts against the ejector, each clamping jaw is rotatably connected with the fixed frame, and the driving piece drives the ejector to extend out so that the other end of each clamping jaw moves towards each other.
In a preferred or optional embodiment, one end of the top piece, which is abutted against the clamping jaw, is in an inverted triangular prism shape or an inverted cone shape, and one end of the clamping jaw, which is abutted against the top piece, is in an inclined surface or an arc surface which is matched with the inverted triangular prism shape or the shape of the conical side surface.
In a preferred or optional embodiment, the clamping jaw assembly comprises two clamping jaws, one end, abutted against the clamping jaw, of the top piece is in an inverted triangular prism shape, each clamping jaw is abutted against an inclined surface of the inverted triangular prism respectively, and one end, abutted against the top piece, of each clamping jaw is in an arc surface.
In a preferred or alternative embodiment, the rotational connection of each of the jaws to the mounting bracket is located in a region proximate the top member.
In a preferred or alternative embodiment, a spring is connected between each of the jaws, the spring being located in a region proximate the top member.
In a preferred or alternative embodiment, the spring is a compression spring.
In a preferred or alternative embodiment, the fixing frame comprises a first fixing plate and a second fixing plate, the first fixing plate and the second fixing plate are connected with a gap existing therebetween, and the top piece and the partial section of the clamping jaw assembly are arranged in the gap between the first fixing plate and the second fixing plate.
In a preferred or alternative embodiment, each clamping jaw is distributed symmetrically or in an annular array, and one end of each clamping jaw, which is far away from the transmission mechanism, extends towards a symmetrical center line or an array center line.
The assembling equipment comprises an assembling equipment body and the clamping device provided by any technical scheme of the invention, wherein at least partial sections of the transmission mechanism are connected with the assembling equipment body.
Based on the technical scheme, the embodiment of the invention can at least produce the following technical effects:
the clamping device provided by the invention comprises a driving part, a transmission mechanism and a clamping jaw assembly, wherein the clamping jaw assembly comprises at least two clamping jaws, the transmission mechanism is used for connecting the driving part with one end of the clamping jaw assembly and transmitting the power output by the driving part to the clamping jaw assembly to drive the other end of each clamping jaw to move at least in opposite directions, and when clamping parts, the clamping device is not limited by the surface shape or roughness of the parts, is firm in clamping and prevents the parts from falling and being damaged in the clamping and conveying process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows an internal structure of a grasping apparatus according to the present invention;
fig. 2 is a schematic view of an explosive structure of the gripping device provided by the present invention;
FIG. 3 is a schematic view of a clamping state of the clamping device according to the present invention;
fig. 4 is a schematic structural view of a loosening state of the gripping device provided by the present invention.
In the figure, 1, a driving part; 2. a transmission mechanism; 21. a top piece; 22. a fixed mount; 221. a first fixing plate; 222. a second fixing plate; 3. a jaw assembly; 31. a clamping jaw; 32. a spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The invention provides a clamping device which can firmly clamp parts without being limited by the shape or roughness of the outer surface of the parts and prevent the parts from falling and being damaged in the clamping and conveying process, and assembling equipment provided with the clamping device.
The technical solution provided by the present invention is explained in more detail with reference to fig. 1 to 4.
As shown in fig. 1 to 4, the gripping device provided by the present invention comprises a driving member 1, a transmission mechanism 2 and a clamping jaw assembly 3; wherein,
the power output end of the driving part 1 is connected with the power input end of the transmission mechanism 2, the clamping jaw assembly 3 comprises at least two clamping jaws 31, one end of each clamping jaw 31 is connected with and/or abutted against the power output end of the transmission mechanism 2, so that the power output by the driving part 1 can be transmitted to the other end of each clamping jaw 31 of the clamping jaw assembly 3 through the transmission mechanism 2 and can move oppositely at least.
The clamping device provided by the invention comprises a driving part 1, a transmission mechanism 2 and a clamping jaw assembly 3, wherein the driving part 1 can be an air cylinder, the clamping jaw assembly 3 comprises at least two clamping jaws 31, the transmission mechanism 2 is used for connecting the driving part 1 with one end of the clamping jaw assembly 3 and transmitting the power output by the driving part 1 to the clamping jaw assembly 3 to drive the other end of each clamping jaw 31 to move at least in opposite directions, and when clamping parts, the clamping device is not limited by the surface shape or roughness of the parts, is firm in clamping and prevents the parts from falling and being damaged in the clamping and conveying process.
In a preferred or alternative embodiment, the transmission mechanism 2 includes a top member 21 and a fixing frame 22, one end of each clamping jaw 31 abuts against the top member 21, each clamping jaw 31 is rotatably connected with the fixing frame 22, and the driving member 1 drives the top member 21 to extend so as to enable the other end of each clamping jaw 31 to move towards each other.
Specifically, as shown in fig. 1-2, each clamping jaw 31 is rotatably connected to the fixing frame 22 through a bolt-nut assembly, and the extension and retraction of the top member 21 allows each clamping jaw 31 to rotate around the bolt-nut assembly to move the other ends thereof toward or away from each other.
In a preferred or alternative embodiment, one end of the top piece 21, which is abutted against the clamping jaw 31, is in an inverted triangular prism shape or an inverted cone shape, and one end of the clamping jaw 31, which is abutted against the top piece 21, is in an inclined surface or an arc surface which is matched with the inverted triangular prism shape or the shape of the conical side surface.
Specifically, since the end of the top member 21 abutting against the clamping jaws 31 is in the shape of an inverted triangular prism or an inverted cone, and therefore, an inclined surface exists, when the top member 21 is pushed out, the section of the inverted triangular prism or the inverted cone is increased, and since the top member 21 always abuts against the clamping jaws 31, the top member 21 increases the distance between the abutted ends of each clamping jaw 31, and the rotational connection between the clamping jaws 31 and the fixing frame 22 serves as a fulcrum to move the other end of each clamping jaw 31 toward each other.
As a preferred or alternative embodiment, the clamping jaw assembly 3 includes two clamping jaws 31, one end of the top piece 21 abutting against the clamping jaw 31 is in an inverted triangular prism shape, each clamping jaw 31 abuts against an inclined surface of the inverted triangular prism shape, and one end of each clamping jaw 31 abutting against the top piece 21 is in an arc shape.
Specifically, the section of the inverted triangular prism is an isosceles triangle, and each clamping jaw 31 abuts against two surfaces with the same length, so that the two clamping jaws 31 can move symmetrically.
In a preferred or alternative embodiment, the rotary connection of each jaw 31 to the holder 22 is located in the region close to the head 21. The structure can be more compact on the premise of ensuring that the clamping jaw 31 clamps the opening size of one end of the part.
In a preferred or alternative embodiment, a spring 32 is connected between each jaw 31, the spring 32 being located in a region adjacent the top member 21.
Specifically, when the top member 21 is retracted, each of the jaws 31 can be returned due to the elastic action of the spring 32, releasing the clamping action on the component.
In a preferred or alternative embodiment, the spring 32 is a compression spring. Since the spring 32 is provided between each of the jaws 31 for compressing the spring to apply a supporting force to a region of each of the jaws close to the top 21, the automatic return of the jaws 31 can be achieved when the top 21 is retracted.
In a preferred or alternative embodiment, the fixing frame 22 includes a first fixing plate 221 and a second fixing plate 222, the first fixing plate 221 is connected with the second fixing plate 222 with a gap therebetween, and the top member 21 and a partial section of the jaw assembly 3 are disposed in the gap between the first fixing plate 221 and the second fixing plate 222.
Specifically, the first fixing plate 221 and the second fixing plate 222 are connected by a bolt and nut assembly, and the top member 21 and a part of the clamping jaw assembly 3 are disposed in the gap between the first fixing plate 221 and the second fixing plate 222, so that each component can be protected from being damaged, and the structure is more compact. The drive element 1 can be fixed on a holder 22.
In a preferred or alternative embodiment, each clamping jaw 31 is arranged symmetrically or in an annular array, and the end of each clamping jaw 31 remote from the transmission mechanism 2 extends towards the centre line of symmetry or the centre line of the array.
Specifically, when the end of the top piece 21 abutting against the clamping jaw 31 is in an inverted triangular prism shape, the clamping jaws 31 may be symmetrically distributed, and when the end of the top piece 21 abutting against the clamping jaw 31 is in an inverted cone shape, the clamping jaws 31 may be annularly distributed; the end of each clamping jaw 31 far away from the transmission mechanism 2 extends towards the symmetrical center line or the array center line, so that the extending part can generate upward supporting force on the part when clamping the part, and further prevent the part from falling.
The assembling equipment comprises an assembling equipment body and the clamping device provided by any technical scheme of the invention, wherein at least partial sections of the transmission mechanism are connected with the assembling equipment body. The fixing frame 22 may be fixedly connected with the mounting apparatus body.
Any embodiment disclosed herein above is meant to disclose, unless otherwise indicated, all numerical ranges disclosed as being preferred, and any person skilled in the art would understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Since the numerical values are too numerous to be exhaustive, some of the numerical values are disclosed in the present invention to illustrate the technical solutions of the present invention, and the above-mentioned numerical values should not be construed as limiting the scope of the present invention.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the terms "first" and "second" are used merely to distinguish one element from another in a descriptive sense and are not intended to have a special meaning unless otherwise stated.
Meanwhile, if the invention as described above discloses or relates to parts or structural members fixedly connected to each other, the fixedly connected parts can be understood as follows, unless otherwise stated: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connection (such as riveting and welding), of course, the mutual fixed connection can also be an integral structure (for example, the mutual fixed connection is manufactured by casting and integral forming instead (except that the integral forming process can not be adopted obviously).
In addition, terms used in any technical solutions disclosed in the present invention to indicate positional relationships or shapes include approximate, similar or approximate states or shapes unless otherwise stated. Any part provided by the invention can be assembled by a plurality of independent components or can be manufactured by an integral forming process.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (10)
1. A clamping device is characterized by comprising a driving piece, a transmission mechanism and a clamping jaw assembly; wherein,
the power output end of the driving piece is connected with the power input end of the transmission mechanism, the clamping jaw assembly comprises at least two clamping jaws, one end of each clamping jaw is connected with the power output end of the transmission mechanism and/or is in butt joint with the power output end of the transmission mechanism, so that power output by the driving piece can be transmitted to the clamping jaw assembly through the transmission mechanism to enable each clamping jaw assembly to move at least in opposite directions.
2. The gripping device of claim 1, wherein the actuator includes a top member and a mounting bracket, one end of each of the jaws abuts against the top member, each of the jaws is rotatably coupled to the mounting bracket, and the actuator drives the top member to extend such that the other ends of the jaws move toward each other.
3. The clamping device as claimed in claim 2, wherein the end of the top member abutting against the clamping jaw is an inverted triangular prism or an inverted cone, and the end of the clamping jaw abutting against the top member is an inclined surface or an arc surface adapted to the shape of the inverted triangular prism or the tapered side surface.
4. The clamping device as claimed in any one of claims 2 or 3, wherein the clamping jaw assembly comprises two clamping jaws, one end of the top piece, which is abutted against the clamping jaws, is in the shape of an inverted triangular prism, each clamping jaw is abutted against an inclined surface of the inverted triangular prism, and one end of each clamping jaw, which is abutted against the top piece, is in the shape of an arc.
5. The grasping apparatus according to claim 2, wherein each of the jaws is pivotally connected to the mount at an area proximate the head member.
6. The grasping apparatus according to claim 5, wherein a spring is connected between each of the jaws, the spring being located in a region proximate the head member.
7. The grasping device according to claim 6, wherein the spring is a compression spring.
8. The grasping apparatus according to claim 2, wherein the mount includes a first mounting plate and a second mounting plate, the first mounting plate being connected to the second mounting plate with a space therebetween, the top member and the partial section of the jaw assembly being disposed in the space between the first mounting plate and the second mounting plate.
9. The grasping apparatus according to claim 1, wherein each of the jaws is disposed symmetrically or in an annular array, and an end of each of the jaws remote from the drive mechanism extends toward a center line of symmetry or an array center line.
10. A mounting apparatus, comprising a mounting apparatus body to which at least a partial section of the transmission mechanism is connected, and a gripper device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911255285.2A CN110978032A (en) | 2019-12-10 | 2019-12-10 | Clamping device and assembling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911255285.2A CN110978032A (en) | 2019-12-10 | 2019-12-10 | Clamping device and assembling equipment |
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| Publication Number | Publication Date |
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| CN110978032A true CN110978032A (en) | 2020-04-10 |
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| CN201911255285.2A Pending CN110978032A (en) | 2019-12-10 | 2019-12-10 | Clamping device and assembling equipment |
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| CN (1) | CN110978032A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113291513A (en) * | 2021-05-27 | 2021-08-24 | 中山市德宇自动化科技有限公司 | Cover twisting device and hose cover twisting equipment |
| CN113478468A (en) * | 2021-07-21 | 2021-10-08 | 温州职业技术学院 | Truss robot-assisted automatic handling system |
| CN113942190A (en) * | 2021-10-19 | 2022-01-18 | 盐城友生汽车配件有限公司 | Car dust cover injection molding extracting device |
| CN114749565A (en) * | 2022-04-25 | 2022-07-15 | 滁州市中诺设备模具制造有限公司 | Automatic die change assembly based on die change |
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| CN201950675U (en) * | 2010-12-27 | 2011-08-31 | 东莞市新泽谷机械有限公司 | Structurally-improved manipulator claw |
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| CN211541259U (en) * | 2019-12-10 | 2020-09-22 | 格力电器（武汉）有限公司 | Clamping device and assembling equipment |
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| TW200307591A (en) * | 2002-06-04 | 2003-12-16 | Koganei Ltd | Hydraulic cylinder and clamping apparatus |
| CN201950675U (en) * | 2010-12-27 | 2011-08-31 | 东莞市新泽谷机械有限公司 | Structurally-improved manipulator claw |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113291513A (en) * | 2021-05-27 | 2021-08-24 | 中山市德宇自动化科技有限公司 | Cover twisting device and hose cover twisting equipment |
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| CN113478468A (en) * | 2021-07-21 | 2021-10-08 | 温州职业技术学院 | Truss robot-assisted automatic handling system |
| CN113942190A (en) * | 2021-10-19 | 2022-01-18 | 盐城友生汽车配件有限公司 | Car dust cover injection molding extracting device |
| CN114749565A (en) * | 2022-04-25 | 2022-07-15 | 滁州市中诺设备模具制造有限公司 | Automatic die change assembly based on die change |
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