CN115319791A - Clamping mechanism, machining equipment and detection method - Google Patents
Clamping mechanism, machining equipment and detection method Download PDFInfo
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- CN115319791A CN115319791A CN202211250480.8A CN202211250480A CN115319791A CN 115319791 A CN115319791 A CN 115319791A CN 202211250480 A CN202211250480 A CN 202211250480A CN 115319791 A CN115319791 A CN 115319791A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 238000003754 machining Methods 0.000 title description 4
- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 238000007789 sealing Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a clamping mechanism, processing equipment and a detection method, wherein the clamping mechanism comprises: a mounting seat; the clamping jaw assembly is arranged on the mounting seat and comprises at least two clamping jaws capable of being clamped in a centering mode; the driving device is arranged on the mounting seat and can drive the clamping jaw assembly to open and close; the linear displacement sensor comprises a sensor body and a rod piece telescopically arranged on the sensor body, the driving device can drive the sensor body to synchronously move with one clamping jaw, a limiting plate is arranged on the mounting seat corresponding to the rod piece, and the limiting plate is used for limiting the rod piece to move relative to the mounting seat; and the control device is electrically connected with the driving device and the linear displacement sensor respectively. The position of the clamping jaw can be detected by only one sensor, so that the processing cost is reduced, the control system is simplified, and when the size of a workpiece needing to be clamped is changed, the position of the sensor does not need to be readjusted, so that the processing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of workpiece clamping, in particular to a clamping mechanism, machining equipment and a detection method.
Background
Among the prior art, clamping equipment mainly used centre gripping work piece, in order to realize the transport to the work piece, the assembly, processing, work such as detection, clamping equipment's form is more, wherein can center the form of centre gripping with the clamping jaw, in addition, clamping equipment is at the in-process that uses, it detects the position of clamping jaw to need supporting sensor usually, so that judge the operating condition of clamping jaw, judge whether the clamping jaw has moved to preset position at the in-process of work promptly, however, traditional clamping equipment needs supporting a plurality of sensors usually just can detect the position of clamping jaw, the processing cost has been increased, control system's complexity has been increased simultaneously, and when the size of the work piece of required centre gripping changes, need readjust the position of sensor, machining efficiency has been reduced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the clamping mechanism provided by the invention can detect the position of the clamping jaw by only matching with one sensor, is favorable for reducing the processing cost and simplifying a control system, and is favorable for improving the processing efficiency without readjusting the position of the sensor when the size of a workpiece to be clamped is changed.
The invention also provides a processing device with the clamping mechanism.
The invention also provides a detection method applied to the clamping mechanism.
A clamping mechanism according to an embodiment of the first aspect of the invention comprises: a mounting seat; the clamping jaw assembly is arranged on the mounting seat and comprises at least two clamping jaws capable of being clamped in a centering mode; the driving device is arranged on the mounting seat and can drive the clamping jaw assembly to open and close; the linear displacement sensor comprises a sensor body and a rod piece telescopically arranged on the sensor body, the driving device can drive the sensor body to synchronously move with one clamping jaw, a limiting plate is arranged on the mounting seat corresponding to the rod piece, and the limiting plate is used for limiting the rod piece to move relative to the mounting seat; and the control device is electrically connected with the driving device and the linear displacement sensor respectively.
According to the clamping mechanism provided by the embodiment of the invention, at least the following beneficial effects are achieved: the position of the clamping jaw can be detected by only one sensor, so that the processing cost is reduced, a control system is simplified, and when the size of a workpiece needing to be clamped changes, the position of the sensor does not need to be readjusted, so that the processing efficiency is improved.
According to some embodiments of the present invention, the mounting base is provided with a base claw corresponding to each clamping jaw, the base claws are movably arranged on the mounting base, the clamping jaws are fixedly arranged on the base claws, the driving device includes a linkage member and a driving member, the linkage member is arranged on the mounting base in a vertically movable manner, all the base claws are distributed around the linkage member in an annular array manner, a T-shaped connection block is arranged at an edge of the linkage member corresponding to each base claw, a T-shaped connection groove is arranged on the base claw corresponding to the T-shaped connection block, the T-shaped connection block is slidably arranged in the T-shaped connection groove, a first inclined surface is arranged on an outer side of the T-shaped connection block, a second inclined surface parallel to and abutted against the first inclined surface is arranged in the T-shaped connection groove, so that the base claws can be driven to move outwards when the linkage member moves upwards, a third inclined surface is arranged on an inner side of the T-shaped connection block, a fourth inclined surface parallel to and abutted against the third inclined surface is arranged in the T-shaped connection groove, so that the linkage member can drive the base claws to move inwards when the linkage member moves downwards, and the driving member can move upwards and the driving member.
According to some embodiments of the invention, a positioning structure is provided between the base jaw and the clamping jaw.
According to some embodiments of the invention, a guide structure is disposed between the base jaw and the mount.
According to some embodiments of the invention, the base jaw is provided with a holding groove for holding the sensor main body, the sensor main body is fixedly arranged in the holding groove, and the base jaw is provided with an avoidance hole which is communicated with the holding groove and is used for penetrating through the rod piece.
According to some embodiments of the present invention, a cover plate is detachably disposed at the notch of the receiving groove, and a sealing structure is disposed between the cover plate and the base jaw.
According to some embodiments of the invention, the limiting plate is detachably arranged on the mounting seat.
According to some embodiments of the invention, the control device is a PC or a PLC.
A processing apparatus according to an embodiment of the second aspect of the present invention includes a clamping mechanism according to the above-described embodiment of the first aspect of the present invention.
The processing equipment provided by the embodiment of the invention at least has the following beneficial effects: by adopting the clamping mechanism, the position of the clamping jaw can be detected only by matching with one sensor, the processing cost is favorably reduced, the control system is favorably simplified, and when the size of a workpiece to be clamped is changed, the position of the sensor is not required to be readjusted, so that the processing efficiency is favorably improved.
A detection method according to an embodiment of a third aspect of the present invention, which is applied to the chucking mechanism according to the above-described embodiment of the first aspect of the present invention, includes the steps of: presetting position data when the clamping jaw is opened according to the size of a workpiece to be clamped, and recording the position data as a first limit position of the clamping jaw; presetting position data when the clamping jaw clamps the workpiece according to the size of the workpiece to be clamped, and recording the position data as a second limit position of the clamping jaw; detecting real-time position data of the clamping jaw when the clamping jaw is opened through the linear displacement sensor, and recording the real-time position data as a first real-time position of the clamping jaw; detecting real-time position data of the clamping jaw when the clamping jaw clamps a workpiece through the linear displacement sensor, and recording the real-time position data as a second real-time position of the clamping jaw; comparing, by the control device, the first extreme position and the first real-time position to determine whether the jaw has been fully opened; and comparing the second extreme position with the second real-time position through the control device to judge whether the clamping jaw clamps the workpiece.
The detection method provided by the embodiment of the invention at least has the following beneficial effects: by adopting the detection method, the position of the clamping jaw can be detected only by matching with one sensor, the processing cost is favorably reduced, meanwhile, the control system is favorably simplified, and when the size of a workpiece needing to be clamped is changed, the position of the sensor is not required to be readjusted, so that the processing efficiency is favorably improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic top view of a clamping mechanism according to an embodiment of the invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic cross-sectional view B-B of FIG. 1;
FIG. 4 is an enlarged view of a portion of FIG. 3 at C;
FIG. 5 is an exploded schematic view of the base jaw and linkage of an embodiment of the present invention.
Reference numerals:
the sensor comprises a mounting seat 100, a closed chamber 110, a clamping jaw 200, a sensor body 300, a rod piece 400, a limiting plate 500, a base jaw 600, a T-shaped connecting groove 610, a second inclined surface 611, a fourth inclined surface 612, an accommodating groove 620, an avoiding hole 630, a linkage piece 700, a T-shaped connecting block 710, a first inclined surface 711, a third inclined surface 712, a driving piece 800, a cover plate 900 and a sealing ring 910.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that if an orientation description is referred to, for example, the directions or positional relationships indicated by upper, lower, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if several, more than, less than, more than, above, below, or within words appear, several means are one or more, several means are two or more, more than, less than, more than, etc. are understood as not including the number, and more than, less than, within, etc. are understood as including the number.
In the description of the present invention, if the first, second, etc. terms appear, they are only used for distinguishing technical features, but are not to be interpreted as indicating or implying relative importance or implying number of indicated technical features or implying precedence of indicated technical features.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 4, a clamping mechanism according to an embodiment of the present invention includes a mount 100, a jaw assembly, a driving device, a linear displacement sensor, and a control device (not shown in the drawings).
The clamping jaw assembly is arranged on the mounting seat 100, the clamping jaw assembly comprises at least two clamping jaws 200 capable of centering and clamping, a driving device is arranged on the mounting seat 100 and can drive the clamping jaw assembly to open and close, the linear displacement sensor comprises a sensor body 300 and a rod 400 telescopically arranged on the sensor body 300, the driving device can drive the sensor body 300 and one of the clamping jaws 200 to synchronously move, a limiting plate 500 is arranged on the mounting seat 100 corresponding to the rod 400, the limiting plate 500 is used for limiting the movement of the rod 400 relative to the mounting seat 100, and the linear displacement sensor without a reset function, namely KTC, KTM and other pull rod type linear displacement sensors, one end, far away from the sensor body 300, of the rod 400 needs to be connected to the limiting plate 500, the linear displacement sensor with the reset function, namely the pull rod type linear displacement sensor without the reset function is provided with a built-in or external reset spring for the rod 400, one end, far away from the sensor body 300, of the rod 400 only needs to abut against the limiting plate 500, and the control device is respectively electrically connected with the driving device and the linear displacement sensor.
The position of the clamping jaw 200 can be detected by only one sensor, so that the processing cost is reduced, the control system is simplified, and when the size of a workpiece to be clamped is changed, the position of the sensor does not need to be readjusted, so that the processing efficiency is improved.
Referring to fig. 3 and 5, in some embodiments, a base jaw 600 is disposed on the mounting base 100 corresponding to each clamping jaw 200, the base jaw 600 is movably disposed on the mounting base 100, the clamping jaws 200 are fixedly disposed on the base jaw 600, specifically, the base jaw 600 is connected to the clamping jaws 200 through screws, the driving device includes a link 700 and a driving member 800, the link 700 is disposed on the mounting base 100 to be movable up and down, all the base jaws 600 are annularly and annularly arranged on the periphery of the link 700, a T-shaped connection block 710 is disposed at the edge of the link 700 corresponding to each base jaw 600, a T-shaped connection block 610 is disposed on the base jaw 600 corresponding to the T-shaped connection block 710, the T-shaped connection block 710 is slidably disposed in the T-shaped connection groove 610, a first inclined surface is disposed on the outer side of the T-shaped connection block 710, a second inclined surface 611 parallel to and aligned with the first inclined surface 711 is disposed in the T-shaped connection groove 610, so that the link 700 can drive the base jaw 600 to move outward when moving upward, a third inclined surface 712 is disposed on the inner side of the T-shaped connection block 610, and a fourth inclined surface 712 is disposed in parallel to drive the base jaw 700 to move up and move, so that the clamping jaw 700 is capable of the base jaw 800, and the driving member can move up and downward movement of the base jaw structure, and the vertical connection structure, and the driving member 800, and the driving member is formed by a vertical movement of the vertical connection structure.
Referring to fig. 3, in some embodiments, the mounting base 100 is provided with a closed chamber 110 therein, the driving member 800 is a piston rod slidably disposed in the closed chamber 110 up and down, an upper end of the piston rod extends out of the closed chamber 110 and is connected to a bottom of the link member 700, and the above structure forms a pneumatic system with an air pump electrically connected to the control device or forms a hydraulic system with a matching pipeline and a hydraulic oil pump electrically connected to the control device, so that the driving member 800 can drive the link member 700 up and down.
In other embodiments, the driving member is a linear driver, such as an air cylinder or an electric push rod, disposed on the mounting seat and electrically connected to the control device.
It should be noted that, in some embodiments, a positioning structure is disposed between the base jaw 600 and the clamping jaw 200 to facilitate assembly, and specifically, one of the base jaw 600 and the clamping jaw 200 is provided with a positioning protrusion, and the other is provided with a positioning groove capable of being positioned in cooperation with the positioning protrusion. Of course, the positioning structure may be a positioning groove only disposed on the base jaw 600 and used for embedding the lower portion of the clamping jaw 200, and is not limited herein.
It should be noted that, in some embodiments, a guiding structure is disposed between the base jaw 600 and the mounting seat 100, and specifically, one of the base jaw 600 and the mounting seat 100 is provided with a sliding slot, and the other is provided with a sliding block slidably connected to the sliding slot. Of course, the guide structure may be a linear module disposed between the base jaw 600 and the mounting seat 100, and is not limited herein.
Referring to fig. 3 and 4, in some embodiments, an accommodating groove 620 for accommodating the sensor body 300 is formed in the base jaw 600, the sensor body 300 is fixedly disposed in the accommodating groove 620, specifically, the body of the linear displacement sensor is fixed in the accommodating groove 620 through a screw, and an avoiding hole 630 communicated with the accommodating groove 620 and used for penetrating through the rod 400 is formed in the base jaw 600.
Referring to fig. 3 and 4, in some embodiments, a cover plate 900 is detachably disposed at the notch of the receiving groove 620, and a sealing structure is disposed between the cover plate 900 and the base jaw 600 to prevent solution and fine debris from entering the receiving groove 620 to contaminate or damage the linear displacement sensor. Specifically, the cover plate 900 is fixed to the notch of the receiving groove 620 through a screw, and certainly, the cover plate 900 may also be fixed to the notch of the receiving groove 620 through a clamping structure, which is not limited herein, wherein the sealing structure is a sealing ring 910, and certainly, the sealing structure may also be a sealant, which is not limited herein.
It should be noted that, in some other embodiments, the driving device may also be another existing structure capable of driving the clamping jaws 200 to clamp in a centered manner, for example, when the number of the clamping jaws 200 is two, the clamping jaws 200 may be driven to clamp in a centered manner by a lead screw, wherein a screw of the lead screw has two sections of threads with opposite directions, the two sections of threads are provided with nut seats, the two nut seats are connected to the two clamping jaws 200 in a one-to-one correspondence manner, when the number of the clamping jaws 200 is three or more, the plurality of clamping jaws 200 may be driven to clamp in a one-to-one correspondence manner by a plurality of mutually independent drivers, wherein the plurality of mutually independent drivers are controlled by the control device to synchronously drive the plurality of clamping jaws 200, which is not limited herein.
It should be noted that in some embodiments, the limiting plate 500 is detachably disposed on the mounting base 100 to facilitate production and assembly, and specifically, the limiting plate 500 is fixed on the mounting base 100 by screws, but of course, the limiting plate 500 may also be fixed on the mounting base 100 by a snap-fit structure, which is not limited herein.
In some embodiments, the control device is a PC (Personal Computer) or a PLC (Programmable Logic Controller), and of course, the control device may also be a single chip or other controllers, which is not limited herein.
According to an embodiment of the invention, the processing equipment comprises the clamping mechanism. By adopting the clamping mechanism, the position of the clamping jaw 200 can be detected only by matching with one sensor, the processing cost is favorably reduced, the control system is favorably simplified, and when the size of a workpiece to be clamped is changed, the position of the sensor is not required to be readjusted, so that the processing efficiency is favorably improved.
According to the embodiment of the invention, the detection method is applied to the clamping mechanism and comprises the following steps: presetting position data when the clamping jaw 200 is opened according to the size of a workpiece to be clamped, and recording the position data as a first limit position of the clamping jaw 200; presetting position data when the clamping jaw 200 clamps the workpiece according to the size of the workpiece to be clamped, and recording the position data as a second limit position of the clamping jaw 200; detecting real-time position data of the clamping jaw 200 when the clamping jaw 200 is opened through a linear displacement sensor, and recording the real-time position data as a first real-time position of the clamping jaw 200; detecting real-time position data of the clamping jaw 200 when clamping a workpiece through a linear displacement sensor, and recording the real-time position data as a second real-time position of the clamping jaw 200; comparing the first limit position with the first real-time position through the control device to judge whether the clamping jaw 200 is completely opened, and if the clamping jaw 200 is not completely opened, driving the clamping jaw 200 to be completely opened through the driving device so as to clamp a workpiece to be clamped; and comparing the second limit position with the second real-time position through the control device to judge whether the clamping jaw 200 clamps the workpiece, and if the clamping jaw 200 does not clamp the workpiece, driving the clamping jaw 200 to clamp the workpiece through the driving device to prevent the clamped workpiece from falling off.
By adopting the detection method, the position of the clamping jaw 200 can be detected only by matching with one sensor, the processing cost is favorably reduced, the control system is favorably simplified, and when the size of a workpiece to be clamped is changed, the position of the sensor is not required to be readjusted, so that the processing efficiency is favorably improved.
It should be noted that, in some embodiments, a display device electrically connected to the control device is further provided, and the display device includes a status indicator light and a display screen, and is used for feeding back the detection results of the detection method to the worker, where the detection results include that the workpiece is fully opened, clamped, and abnormal (not fully opened or not clamped).
In the description of the present specification, if reference is made to the description of "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", and "some examples", etc., reference is made to the terminology, it is intended that a particular feature, structure, material, or characteristic described in connection with the embodiment or example be included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A clamping mechanism, comprising:
a mounting base (100);
the clamping jaw assembly is arranged on the mounting base (100) and comprises at least two clamping jaws (200) capable of being clamped in a centering mode;
the driving device is arranged on the mounting base (100) and can drive the clamping jaw assembly to open and close;
the linear displacement sensor comprises a sensor body (300) and a rod piece (400) telescopically arranged on the sensor body (300), the driving device can drive the sensor body (300) to synchronously move with one clamping jaw (200), a limiting plate (500) is arranged on the mounting seat (100) corresponding to the rod piece (400), and the limiting plate (500) is used for limiting the rod piece (400) to move relative to the mounting seat (100);
and the control device is electrically connected with the driving device and the linear displacement sensor respectively.
2. The clamping mechanism according to claim 1, wherein a base jaw (600) is disposed on the mounting base (100) corresponding to each clamping jaw (200), the base jaw (600) is movably disposed on the mounting base (100), the clamping jaws (200) are fixedly disposed on the base jaw (600), the driving device includes a link member (700) and a driving member (800), the link member (700) is movably disposed on the mounting base (100) up and down, all the base jaws (600) are distributed on the periphery of the link member (700) in an annular array, an edge of the link member (700) is disposed with a T-shaped connecting block (710) corresponding to each base jaw (600), the base jaw (600) is disposed with a T-shaped connecting slot (610) corresponding to the T-shaped connecting block (710), the T-shaped connecting block (710) is slidably disposed in the T-shaped connecting slot (610), an outer side of the T-shaped connecting block (710) is disposed with a first inclined surface (711), a second inclined surface 611) parallel to the first inclined surface (711) is disposed in the T-shaped connecting slot (610), and a second inclined surface 611 parallel to each other is disposed in the T-shaped connecting slot (610) to drive the base jaw (700) to move the inner side, when the T-shaped connecting block (710) moves towards the inner side, a fourth inclined surface (612) which is parallel to the third inclined surface (712) and is abutted against the third inclined surface is arranged in the T-shaped connecting groove (610), so that the linkage piece (700) can be driven to move inwards when moving downwards, and the driving piece (800) is arranged on the mounting seat (100) and can drive the linkage piece (700) to move upwards and downwards.
3. Clamping mechanism according to claim 2, wherein a positioning structure is provided between the base jaw (600) and the clamping jaw (200).
4. The clamping mechanism of claim 2, wherein a guide structure is provided between the base jaw (600) and the mounting seat (100).
5. The clamping mechanism as recited in claim 2, characterized in that the base jaw (600) is provided with a receiving groove (620) for receiving the sensor body (300), the sensor body (300) is fixedly arranged in the receiving groove (620), and the base jaw (600) is provided with an avoiding hole (630) communicated with the receiving groove (620) and used for penetrating the rod member (400).
6. The clamping mechanism as recited in claim 5, characterized in that a cover plate (900) is detachably disposed at the notch of the receiving groove (620), and a sealing structure is disposed between the cover plate (900) and the base jaw (600).
7. The clamping mechanism of claim 1, wherein the limiting plate (500) is detachably arranged on the mounting seat (100).
8. A clamping mechanism according to claim 1 wherein said control means is a PC or PLC.
9. A processing apparatus comprising a clamping mechanism as claimed in any one of claims 1 to 8.
10. A detection method applied to the clamping mechanism according to any one of claims 1 to 8, comprising the steps of:
presetting position data when the clamping jaw (200) is opened according to the size of a workpiece to be clamped, and recording the position data as a first limit position of the clamping jaw (200);
presetting position data when the clamping jaw (200) clamps the workpiece according to the size of the workpiece to be clamped, and recording the position data as a second limit position of the clamping jaw (200);
detecting real-time position data of the clamping jaw (200) when the clamping jaw is opened through the linear displacement sensor, and recording the real-time position data as a first real-time position of the clamping jaw (200);
detecting real-time position data of a clamping jaw (200) when clamping a workpiece through the linear displacement sensor, and recording the real-time position data as a second real-time position of the clamping jaw (200);
comparing, by the control device, the first extreme position and the first real-time position to determine whether the jaw (200) has been fully opened;
and comparing the second extreme position with the second real-time position by the control device to judge whether the clamping jaw (200) clamps the workpiece.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211250480.8A CN115319791A (en) | 2022-10-13 | 2022-10-13 | Clamping mechanism, machining equipment and detection method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211250480.8A CN115319791A (en) | 2022-10-13 | 2022-10-13 | Clamping mechanism, machining equipment and detection method |
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| CN115319791A true CN115319791A (en) | 2022-11-11 |
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| US20210008731A1 (en) * | 2019-07-12 | 2021-01-14 | Robostar Co., Ltd. | Gripper |
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|---|---|---|---|---|
| CN1416382A (en) * | 2000-03-15 | 2003-05-07 | 顺科两合公司夹具和抓取工具厂 | Parallel gripper |
| DE10013022A1 (en) * | 2000-03-17 | 2001-09-27 | Schunk Gmbh & Co Kg | Parallel gripper; has casing with guiding recess for two adjustable base jaws, which are moved together or apart by wedge hook gearing that can be adjusted by piston guided in casing |
| CN107530885A (en) * | 2015-04-11 | 2018-01-02 | 马丁·齐默尔 | Accurate gripping device |
| CN204800653U (en) * | 2015-07-06 | 2015-11-25 | 深圳市伙伴气动精密机械有限公司 | Gas claw |
| CN109702762A (en) * | 2019-01-17 | 2019-05-03 | 秦皇岛信越智能装备有限公司 | A kind of dedicated handgrip of the maching of Al wheel |
| US20210008731A1 (en) * | 2019-07-12 | 2021-01-14 | Robostar Co., Ltd. | Gripper |
| CN113199500A (en) * | 2021-06-22 | 2021-08-03 | 太原理工大学 | Elastic finger clamping device and clamping force calculation method thereof |
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