CN106313091B - A kind of workpiece clamping device - Google Patents
A kind of workpiece clamping device Download PDFInfo
- Publication number
- CN106313091B CN106313091B CN201610964173.4A CN201610964173A CN106313091B CN 106313091 B CN106313091 B CN 106313091B CN 201610964173 A CN201610964173 A CN 201610964173A CN 106313091 B CN106313091 B CN 106313091B
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- China
- Prior art keywords
- clamping jaw
- inner shaft
- ear
- shaft
- interior
- Prior art date
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- 239000000758 substrate Substances 0.000 claims abstract description 22
- 210000000883 ear external Anatomy 0.000 claims abstract description 10
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000001727 in vivo Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a kind of workpiece clamping device, including interior clamping jaw, outer clamping jaw, inner shaft, outer shaft, inner shaft ear, outer shaft ear, outer vertical rod, interior upright bar, gusset piece, driving device, preceding substrate and the rear panel being symmetrical set；The both ends of outer vertical rod are movably connected respectively with gusset piece and outer shaft ear；The both ends of interior upright bar are movably connected respectively with gusset piece and inner shaft ear；Outer clamping jaw is fixedly connected by outer shaft with outer shaft ear；Interior clamping jaw is fixedly connected by inner shaft with inner shaft ear；Driving device driving gusset piece moves up and down；The front end of substrate before interior clamping jaw and outer clamping jaw are arranged at, inner shaft and outer shaft are connected through preceding substrate with the inner shaft ear and outer shaft ear of preceding substrate rear end；Driving device is then fixed on rear panel.The device of the invention is simple in structure, and actuating length is small, occupies little space, particularly suitable for taking out the in vivo semi-cylindrical workpiece of tube.
Description
Technical field
The present invention relates to technical field of mechanical processing, more particularly to a kind of cross section that surface is removed in small space inner clip
For the clamp device of the workpiece of semicircle or outer convex.
Background technology
Workpiece grabbing mechanism is used for piece-holder, and is transported to suitable position.When needs are pressed from both sides from tubulose type objects
When taking similar semi-cylindrical workpiece, since the gap between semi-cylindrical workpiece and tubular articles is smaller, operable space is smaller,
General clamp device can not be operated, and the stability gripped is not high.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of workpiece clamping device, the gripping top for being capable of fast and stable is wide
The narrow workpiece in lower part.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：A kind of workpiece clamping device, including left and right pair
Claim set interior clamping jaw, outer clamping jaw, inner shaft, outer shaft, inner shaft ear, outer shaft ear, outer vertical rod, interior upright bar, gusset piece, driving device,
Preceding substrate and rear panel；The both ends of the outer vertical rod are movably connected respectively with gusset piece and outer shaft ear；The both ends of the interior upright bar
It is movably connected with gusset piece and inner shaft ear respectively；The outer clamping jaw is fixedly connected by outer shaft with the outer shaft ear；In described
Clamping jaw is fixedly connected by inner shaft with the inner shaft ear；The driving device driving gusset piece moves up and down, through interior upright bar
It is driven with outer vertical rod, inner shaft ear and outer shaft ear are around inner shaft and the axis rotation of outer shaft, and inner shaft ear and outer shaft ear are by inner shaft and outside
Clamping jaw and outer clamping jaw are around inner shaft and the axis rotation of outer shaft in axis drive；
After the front end of substrate before the interior clamping jaw and outer clamping jaw are arranged at, inner shaft and outer shaft pass through preceding substrate and preceding substrate
The inner shaft ear at end is connected with outer shaft ear；The driving device is then fixed on rear panel.
Further, the workpiece clamping device further includes bearing, which is set on the outer shaft；Described
Outer shaft is hollow structure, is set in the inner shaft, the outer shaft and inner shaft can relatively rotate；The bearing is fixed on
On the preceding substrate.
Further, the preceding substrate is U-shaped mechanism, is connected with rear panel, forms a cavity volume；Inner shaft ear, outer shaft ear,
Outer vertical rod, interior upright bar, gusset piece and driving device may be contained in the cavity volume.
Further, the interior clamping jaw is identical with the structure of outer clamping jaw, handgrip and axis connection arm including arc plate；
The handgrip of interior clamping jaw and outer clamping jaw is set in mirror image；The inner shaft and outer shaft is consolidated with the axis connection arm on interior clamping jaw and outer clamping jaw
Fixed link；When the handgrip of interior clamping jaw and outer clamping jaw holds workpiece tightly, the handgrip besieged city wide lower part in one top of interior clamping jaw and outer clamping jaw
Narrow workpiece accommodating chamber.
Further, the cross section of the workpiece accommodating chamber is in integrally semi-circular structure.
Further, postive stop baffle is additionally provided on the interior clamping jaw and outer clamping jaw, postive stop baffle is arranged at handgrip
Top.
Further, the driving device includes cylinder body and cylinder rod, and the cylinder body is fixed on described
Rear panel on, piston motion is made in one end of the cylinder rod in cylinder body, and the other end is fixed with gusset piece, gusset piece
It is connected respectively with outer vertical rod and interior upright bar by coupling board shaft.
Beneficial effects of the present invention：The workpiece clamping device of the present invention, it is simple in structure, it occupies little space, actuating length is small,
It is suitble to operate in small space, suitable for the narrow workpiece in the gripping wide lower part in top, it is in vivo is particularly suitable for taking-up tube
Semi-cylindrical workpiece, gripping stability are high.
Description of the drawings
Fig. 1 is the stereogram of the present invention.
Fig. 2 is the top view of the present invention.
Fig. 3 is D to sectional view.
Fig. 4 is A to sectional view.
Fig. 5 is C to sectional view.
Specific embodiment
It elaborates below in conjunction with the accompanying drawings to technical scheme.
As shown in Figs. 1-5, it is a kind of workpiece clamping device of the present invention, including a kind of workpiece clamping device, including left and right
Symmetrically arranged interior clamping jaw 1, outer clamping jaw 2, inner shaft 3, outer shaft 4, inner shaft ear 5, outer shaft ear 6, outer vertical rod 7, interior upright bar 8, gusset piece
9th, driving device, preceding substrate 10 and rear panel 11；The both ends of outer vertical rod 7 are respectively by coupling board shaft 16 and outer shaft trunnion 17 and connection
Fishplate bar 9 and outer shaft ear 6 movably connect；The both ends of interior upright bar 8 respectively by couple board shaft 16 and Inner axis trunnion 18 and gusset piece 9 and
Inner shaft ear 5 movably connects；Outer clamping jaw 2 is fixedly connected by outer shaft 4 with outer shaft ear 5；Interior clamping jaw 1 is solid by inner shaft 3 and inner shaft ear 5
Fixed connection；Driving device driving gusset piece 9 moves up and down, and is driven through interior upright bar 8 and outer vertical rod 7, inner shaft ear 5 and outer shaft ear 6 around
The axis rotation of inner shaft 3 and outer shaft 4, inner shaft ear 5 and outer shaft ear 6 by inner shaft 3 and outer shaft 4 drive interior clamping jaw 1 and outer clamping jaw 2 around
The axis rotation of inner shaft 3 and outer shaft 4；
The front end of substrate 10 before interior clamping jaw 1 and outer clamping jaw 2 are arranged at, inner shaft 3 and outer shaft 4 pass through preceding substrate 10 and preceding substrate
The inner shaft ear 5 and outer shaft ear 6 of 10 rear ends connect；Driving device is then fixed on rear panel 11.
In grabbing workpiece, driving device driving gusset piece 9 moves up and down the workpiece clamping device of the present invention, in gusset piece
During 9 move up and down, upright bar 8 and outer vertical rod 7 are above carried and pulled down in drive, so that inner shaft ear 5 and outer shaft ear 6 are around interior
The axis rotation of axis 3 and outer shaft 4, interior clamping jaw 1 and outer clamping jaw 2 are rotated synchronously with inner shaft ear 5 and outer shaft ear 6；When interior upright bar 8 and outside
When upright bar 7 pulls down, the angle between inner shaft ear 5 and outer shaft ear 6 gradually increases so that interior clamping jaw 1 and outer clamping jaw 2 open, and prepare
Grabbing workpiece, when interior upright bar 8 and outer vertical rod 7 above carry, the angle between inner shaft ear 5 and outer shaft ear 6 is gradually reduced, interior clamping jaw 1
It is drawn close with outer clamping jaw 2, holds workpiece tightly, workpiece can be taken out.
Workpiece clamping device in present embodiment, actuating length is small, occupies little space, and is suitble to grasp in small space
Make, also Shi Yongyu not take out workpiece in tubulose class object.
In the present embodiment, workpiece clamping device further includes bearing 12, which is set on the outer shaft 4；
Outer shaft 4 is hollow structure, is set in inner shaft 3, outer shaft 4 and inner shaft 3 can relatively rotate；Before bearing 12 is fixed on substrate 10.
By the setting of bearing 12, outer shaft 4 and inner shaft 3 are co-axially mounted, improve the stability of device operating.
In the present embodiment, preceding substrate 10 is U-shaped mechanism, is connected with rear panel 11, forms a cavity volume；It is inner shaft ear 5, outer
Axis ear 6, outer vertical rod 7, interior upright bar 8, gusset piece 9 and driving device may be contained in the cavity volume.
In the present embodiment, interior clamping jaw 1 is identical with the structure of outer clamping jaw 2, and handgrip 21 and axis including arc plate connect
Connect arm 22；The handgrip 21 of interior clamping jaw 1 and outer clamping jaw 2 is set in mirror image；In inner shaft 3 and outer shaft 4 and interior clamping jaw 1 and outer clamping jaw 2
22 fixed-link of axis connection arm；When the handgrip 21 of interior clamping jaw 1 and outer clamping jaw 2 holds workpiece tightly, the handgrip of interior clamping jaw 1 and outer clamping jaw 2
The narrow workpiece accommodating chamber in the 21 besieged cities wide lower part in one top, it is preferred that the cross section of the workpiece accommodating chamber is in integrally semi-circular knot
Structure, and the bottom of workpiece accommodating chamber can be open.
The setting of the interior clamping jaw 1 and outer clamping jaw 2 of the present invention, is primarily adapted for use in that top is wide, the workpiece of narrow base, and especially half
The workpiece of cylinder dress, just holds the bottom of workpiece when both sides handgrip 21 embraces workpiece, the wider position of workpiece top then position
In the larger space encircled a city in both sides handgrip 21, workpiece can not be skidded off from the gap among two clamping jaws, have fabulous grab
Take stability.
In the present embodiment, postive stop baffle 13 is additionally provided on interior clamping jaw 1 and outer clamping jaw 2, postive stop baffle 13 is arranged at
The top of handgrip.The top of workpiece is blocked by postive stop baffle 13, part workpiece clamping is prevented during pickup, workpiece rocks.
In the present embodiment, driving device includes cylinder body 14 and cylinder rod 15, behind cylinder body 14 is fixed on
On plate 11, piston motion is made in one end of cylinder rod 15 in cylinder body 14, and the other end is fixedly connected with gusset piece 9, gusset piece 9
It is connected respectively with outer vertical rod 7 and interior upright bar 8 by coupling board shaft 16.Cylinder rod 15 moves up and down in cylinder body 14, drives
Gusset piece 9 moves up and down.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the design of the present invention
It is defined with scope, on the premise of design concept of the present invention is not departed from, ordinary skill technical staff is to this hair in this field
The all variations and modifications that bright technical solution is made should all fall into protection scope of the present invention, claimed skill of the invention
Art content is all documented in technology claim.
Claims (7)
1. a kind of workpiece clamping device, it is characterised in that：Including be symmetrical set interior clamping jaw, outer clamping jaw, inner shaft, outer shaft,
Inner shaft ear, outer shaft ear, outer vertical rod, interior upright bar, gusset piece, driving device, preceding substrate and rear panel；The both ends of the outer vertical rod point
It is not connected movably with gusset piece and outer shaft ear；The both ends of the interior upright bar are movably connected respectively with gusset piece and inner shaft ear；It is described
Outer clamping jaw is fixedly connected by outer shaft with the outer shaft ear；The interior clamping jaw is fixed by inner shaft with the inner shaft ear to be connected
It connects；The driving device driving gusset piece moves up and down, and is driven through interior upright bar and outer vertical rod, inner shaft ear and outer shaft ear are around inner shaft
With the axis rotation of outer shaft, inner shaft ear and outer shaft ear by inner shaft and outer shaft drive in clamping jaw and outer clamping jaw around inner shaft and outer shaft
Axis rotation；
The front end of substrate before the interior clamping jaw and outer clamping jaw are arranged at, inner shaft and outer shaft pass through preceding substrate and preceding substrate rear end
Inner shaft ear is connected with outer shaft ear；The driving device is then fixed on rear panel.
2. a kind of workpiece clamping device according to claim 1, it is characterised in that：The workpiece clamping device further includes
Bearing, the bearing are set on the outer shaft；The outer shaft is hollow structure, is set in the inner shaft, described
Outer shaft and inner shaft can relatively rotate；The bearing is fixed on the preceding substrate.
3. a kind of workpiece clamping device according to claim 1, it is characterised in that：The preceding substrate is U-shaped mechanism, with
Rear panel connects, and forms a cavity volume；Inner shaft ear, outer shaft ear, outer vertical rod, interior upright bar, gusset piece and driving device may be contained within this
In cavity volume.
4. a kind of workpiece clamping device according to claim 1, it is characterised in that：The interior clamping jaw and the knot of outer clamping jaw
Structure is identical, handgrip and axis connection arm including arc plate；The handgrip of interior clamping jaw and outer clamping jaw is set in mirror image；The inner shaft
With outer shaft respectively with the axis connection arm fixed-link on interior clamping jaw and outer clamping jaw；The handgrip of interior clamping jaw and outer clamping jaw holds workpiece tightly
When, the narrow workpiece accommodating chamber in the handgrip besieged city wide lower part in one top of interior clamping jaw and outer clamping jaw.
5. a kind of workpiece clamping device according to claim 4, it is characterised in that：The cross section of the workpiece accommodating chamber
Whole is in semi-circular structure.
6. a kind of workpiece clamping device according to claim 4, it is characterised in that：On the interior clamping jaw and outer clamping jaw also
Postive stop baffle is provided with, postive stop baffle is arranged at the top of handgrip.
7. a kind of workpiece clamping device according to claim 1, it is characterised in that：The driving device includes cylinder sheet
Body and cylinder rod, the cylinder body are fixed on the rear panel, and one end of the cylinder rod is in cylinder body
Make piston motion, the other end is fixed with gusset piece, and gusset piece is connected by coupling board shaft with outer vertical rod and interior upright bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610964173.4A CN106313091B (en) | 2016-11-04 | 2016-11-04 | A kind of workpiece clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610964173.4A CN106313091B (en) | 2016-11-04 | 2016-11-04 | A kind of workpiece clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106313091A CN106313091A (en) | 2017-01-11 |
| CN106313091B true CN106313091B (en) | 2018-05-18 |
Family
ID=57815922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610964173.4A Active CN106313091B (en) | 2016-11-04 | 2016-11-04 | A kind of workpiece clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313091B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378982A (en) * | 2017-09-12 | 2017-11-24 | 李从宾 | A kind of intelligent robot grabbing device |
| CN113385975B (en) * | 2021-06-10 | 2022-10-14 | 青海高等职业技术学院(海东市中等职业技术学校) | A loading and unloading industrial robot and loading and unloading system combined with CNC machine tools |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4405970A1 (en) * | 1994-02-24 | 1995-08-31 | Stroemungsmaschinen Gmbh | Spindle driven two armed gripper for cylindrical bodies of different diameters |
| CN103442859B (en) * | 2011-03-17 | 2015-08-19 | 哈里公司 | Referring to that root place has the robot gribing device of many power sensing |
| CN105945921A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Load transfer picking mechanism |
| CN106041902A (en) * | 2016-06-23 | 2016-10-26 | 广西大学 | Four-freedom-degree ten-rod controllable mechanism type stacking robot |
| CN206277409U (en) * | 2016-11-04 | 2017-06-27 | 南通艾特软件有限公司 | A kind of workpiece clamping device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5943277B2 (en) * | 1976-06-09 | 1984-10-20 | エヌ・テ−・エヌ東洋ベアリング株式会社 | Nikanical hand |
| JP5682810B2 (en) * | 2010-09-15 | 2015-03-11 | セイコーエプソン株式会社 | robot |
| DE202012012083U1 (en) * | 2012-12-18 | 2013-01-16 | Fipa Gmbh | Gripper, in particular pneumatically operated gripper |
-
2016
- 2016-11-04 CN CN201610964173.4A patent/CN106313091B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4405970A1 (en) * | 1994-02-24 | 1995-08-31 | Stroemungsmaschinen Gmbh | Spindle driven two armed gripper for cylindrical bodies of different diameters |
| CN103442859B (en) * | 2011-03-17 | 2015-08-19 | 哈里公司 | Referring to that root place has the robot gribing device of many power sensing |
| CN105945921A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Load transfer picking mechanism |
| CN106041902A (en) * | 2016-06-23 | 2016-10-26 | 广西大学 | Four-freedom-degree ten-rod controllable mechanism type stacking robot |
| CN206277409U (en) * | 2016-11-04 | 2017-06-27 | 南通艾特软件有限公司 | A kind of workpiece clamping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106313091A (en) | 2017-01-11 |
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