CN105500366B - A kind of clamping device and robot system - Google Patents
A kind of clamping device and robot system Download PDFInfo
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- CN105500366B CN105500366B CN201410495956.3A CN201410495956A CN105500366B CN 105500366 B CN105500366 B CN 105500366B CN 201410495956 A CN201410495956 A CN 201410495956A CN 105500366 B CN105500366 B CN 105500366B
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- bayonet
- locating shaft
- clamping device
- bayonet socket
- workpiece
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Abstract
The present invention relates to field of machining, more particularly to a kind of clamping device and robot system.The clamping structure that embodiment of the present invention provides can include：Drive mechanism, two rotated locating shafts, two groups of link assemblies, and two groups of bayonet components；Wherein, each group of bayonet component, which is rotated, is assembled in a rotated locating shaft, and each group of bayonet component has clamp；Drive mechanism drives bayonet component described in two groups to rotate about the rotated locating shaft rotation of assembling so that two clamp are done relative motion with two relative arcuate movement tracks respectively by link assembly described in two groups.Clamping device provided in an embodiment of the present invention, can be used in robot system.
Description
Technical field
The present invention relates to field of machining, more particularly to a kind of clamping device and robot system.
Background technology
Clamping device is also referred to as fixture, and with economic development and the raising of productivity, in modern production, fixture turns into one
Kind indispensable technological equipment, be widely used in the machining of machine-building process, heat treatment, assembling, welding and
The links such as detection, directly affect manufacturing cost of the precision of work pieces process, labor productivity and product etc..
According to purposes, clamping device includes machine tool clamping device, assembling clamping device, weld clamp device and detection and clamped
The different types such as device.Special clamping device, general clamping device and can be also divided into according to the handling characteristics of clamping device
Adjust clamping device etc..No matter which kind of clamping device, be required for the process operation for being thought of as next step to reserve enough operating spaces,
It is small in view of the space of clamping device can be accommodated than relatively limited, therefore on the basis of clip stability and clamping accuracy is ensured
Type is that and on the basis of miniaturization, clamping device also needs to be applied to various installation environments the problem of needing to consider, and
And the clamp of clamping device is needed to complete the switching action for clamping and giving up the throne along arc trajectory.
The content of the invention
Embodiment of the present invention provides a kind of clamping device, it is possible to achieve the folding that clamp is clamped and given up the throne along arc trajectory
Operation.
To achieve the above object, a kind of clamping device, including：Drive mechanism, two rotated locating shafts, two groups of connection rod sets
Part, and two groups of bayonet components, wherein：
In bayonet component described in two groups, bayonet component described in each group, which is rotated, is assembled to a rotated locating shaft
On, bayonet component described in each group has the clamp for clamping workpiece；
The drive mechanism by link assembly described in one group, drives bayonet component described in one of which to rotate about respectively
The rotated locating shaft rotation of assembling so that two clamp front ends are done relative motion with two relative arcuate movement tracks.
Further, described two arcuate movement tracks are vertical with the axis of the rotated locating shaft positioned at one respectively
The both sides of the axis of symmetry, and the arc that the clamp front end of each rotated locating shaft and the bayonet component for rotating assembling is formed
Movement locus is not in the same side of the axis of symmetry.
Wherein, link assembly described in each group includes a drive link, one end difference of each drive link
It is fixedly connected between the bayonet component connected by first axle, the other end is fixedly attached to drive mechanism by the second axle
On, the axis of described two first axles and two the second axles, the diameter parallel with the rotated locating shaft.
Wherein, each group of bayonet component includes bayonet socket connecting rod and bayonet socket block, and the bayonet socket is packaged to fit over bayonet socket connecting rod one end
And its front end forms the clamp, the bayonet socket connecting rod other end is fixedly connected with drive link, one of drive link and
Its bayonet socket connecting rod being fixedly connected, and axle of the bayonet socket connecting rod that is fixedly connected with it of another drive link along rotated locating shaft
Line directional spreding, with the superposition assembling structure of the shape nesting of mutual cooperation.
Further, each group of bayonet component also includes an anti-splashing plate, and the front end of the anti-splashing plate is to lean out clamp
The mode of front end is securely fitted on the bayonet socket block.
Further, described drive mechanism includes power set and escapement, and the power set driving escapement is done back and forth
Swinging, one end of described two drive links is fixedly connected on the escapement with deviateing the position in escapement wheel shaft axle center respectively,
And the diameter parallel of the axle axis of the escapement and the rotated locating shaft.
And described drive mechanism also includes rocking arm, the rocking arm is connected between power set and escapement, described dynamic
Power apparatus drives the escapement to do reciprocating rotation by the rocking arm.
In above-mentioned embodiment, between the assembling position that link assembly described in the drive mechanism and each group offsets, folder
Flexible part；And the rotated locating shaft is securely fitted in the floating structure that can be stretched along the axis direction of rotated locating shaft
On.
A kind of specific relocation mechanism can include axle sleeve and elastic component, and the elastic component is located in axle sleeve, the rotation
One end of locating shaft is sleeved in axle sleeve and is pushed against on the elastic component.
Embodiment of the present invention also provides a kind of robot system, including robot, in addition to foregoing any clamping dress
Put, the gripping means grips workpiece, the robot carries out operation to the workpiece.
The clamping device that embodiment of the present invention provides, can cause two clamp with two relative arcuate movement tracks
Do relative motion.
Brief description of the drawings
Fig. 1 and Fig. 2 show can utilize the Workpiece structure that is clamped of clamping device described in the embodiment of the present invention with
And assembly relation schematic diagram；
Fig. 3 is a kind of explosive view of the clamping device shown in the embodiment of the present invention；
Fig. 4 and Fig. 5 is the structure and assembly relation schematic diagram of cylinder driver in the clamping device shown in Fig. 3；
Fig. 6 is the structural representation of rocking arm in the clamping device shown in Fig. 3；
Fig. 7 is the structure and assembly relation schematic diagram of fixed seat in the clamping device shown in Fig. 3；
Fig. 8 is the structure and assembly relation schematic diagram of escapement in the clamping device shown in Fig. 3；
Fig. 9 and Figure 10 is respectively in the clamping device shown in Fig. 3, the structure of two drive links and assembly relation signal
Figure；
Figure 11 and Figure 12 is respectively in the clamping device shown in Fig. 3, and the structure and assembly relation of two bayonet components are shown
It is intended to；
Figure 13 is the structure and assembly relation schematic diagram of relocation mechanism in the clamping device shown in Fig. 3；
Figure 14 and Figure 15 is respectively in the clamping device shown in Fig. 3, and clamp clamps workpiece and the principle schematic given up the throne.
Embodiment
In many application scenarios of clamping device, the clamp of clamping device are required to clamp work along movement in a curve track
Part, and from the switching action given up the throne along movement in a curve track.Such as the workpiece 50 shown in Fig. 1 and Fig. 2, by two sub- workpiece (51,
52) wielding neck forms, wherein Fig. 1 show two sub- workpiece (51,52) it is unwelded when contraposition schematic diagram, Fig. 2 is two
The structural representation of workpiece 50 is formed after sub- workpiece (51,52) welding.From Fig. 1 and Fig. 2, two sub- workpiece (51,52) two
End, respectively with two sub- circular ring structures (511,521), a circular ring structure, circle are formed after the two sub- circular ring structure contrapositions
The annular profile face of ring structure can utilize two clampings as the clamping face positioned during weld job to workpiece 50
Device clamps the both ends circular ring structure of workpiece 50 respectively, can be very good to position workpiece 50.
Due to during weld job, for ensure welding precision, it is necessary to on the outside of two sub- workpiece (51,52) (such as
W1 and W2 arrows direction shown in Fig. 2) apply certain pressure so that two sub- workpiece (51,52) closely align, therefore,
On the one hand, in order to play more preferable positioning action, clamp gos deep into annular profile face close to the inner side of inside workpiece to clamp as far as possible
Workpiece 50, on the other hand, the front end of clamp are deep on the inside of workpiece, can be stuck between the inner side of two sub- workpiece (51,52),
Certain supporting role is played to two sub- workpiece (51,52) using clamp front end, preferably prevented due to two sub- workpiece
(51,52) outside stress and the deformation that occurs.
Referring also to shown in Fig. 1 and Fig. 2, the both ends circular ring structure of workpiece 50 close to the inner side of inside workpiece, i.e. shown in Fig. 2 under
The upside of circular ring structure, and the downside of upper end circular ring structure are held, the both ends of welding position are formed to clamp operation interferes, such as
The welding position end (512,522) on two sub- workpiece (51,52) identified in Fig. 1 is to the carry of clamp and gives up the throne and causes to do
Relate to, it means that the clamp of clamping device can only be from welding position end (512,522) and the annular profile face of circular ring structure
Between the opening incision that surrounds, be only possible to be clamped to medial surface of the annular profile face close to inside workpiece, from kinematic principle point
Analysis, in a manner of cutting and exit by arcuate movement track, it undoubtedly can farthest avoid welding position end (512,522)
Caused by interference.
Therefore, as shown in figure 3, the embodiment of the present invention provides a kind of clamping device, including 11, two groups of bayonet socket groups of drive mechanism
Part (21,22), two groups of link assembly (31,32) connecting rods and two rotated locating shafts (412,422), wherein：Each group of bayonet socket
Component (21,22) is assembled on a rotated locating shaft (412,422) by rotation, and each group of bayonet component (21,22) has folder
The clamp of clamping of workpieces；Drive mechanism 11 by two groups of link assemblies (31,32), drive respectively two groups of bayonet components (21,22) around
Rotated locating shaft (412, the 422) rotation that its rotating dress is matched somebody with somebody so that two clamp do phase with two relative arcuate movement tracks
To motion.
Still by taking workpiece 50 shown in Fig. 1 and Fig. 2 as an example, as shown in figure 3, bayonet component 21 and the rotating dress of rotated locating shaft 412
Match somebody with somebody, bayonet component 22 is matched somebody with somebody with the rotating dress of rotated locating shaft 422, and drive mechanism 11 is by two link assemblies (31,32), band respectively
Move two bayonet components (21,22) and rotate about locating shaft rotation, as is illustrated by figs. 11 and 12, before bayonet component (21,22)
End has a clamp, and two relative clamping faces of clamp are according to the annular profile face of the both ends annulus of workpiece 50 being clamped, imitative type
Arc clamping face (21311,22311), clamp nose thickness is gradually thinning, blade structure is formed, to avoid welding as far as possible
Position end (512,522).
Clamping device according to Fig. 3, as long as by bayonet component, one end away from clamp is fixed on a rotational positioning
On axle, then by link assembly two bayonet components can be driven relative by the use of link assembly as transmission parts, drive device
Rotation, makes the operation of giving up the throne that arcuately track is done relatively close clamp operation or is relatively distant from of clamp front end, you can completes
Clamp clamps workpiece or the switching action given up the throne from clamped position along arc trajectory.
It should be noted that with Fig. 3 example showns, under conditions of constant in clamping device holding position, two rotations are fixed
The position of position axle be it is fixed, then clamp be clamped operation or give up the throne operation when, clamp are overall according to arcuate movement track
Folding, and the movement locus at any point is all a circular line section on clamp, the arcuate movement track of clamp is one
Schematical movement locus, it can be considered as what the circular line section formed a little on clamp combined.
Below by taking the clamping device shown in Fig. 3 as an example, embodiment of the present invention is described in detail.Drive mechanism 11 in Fig. 3
For gas-powered mechanism, link assembly is a drive link.With the state of the clamping device shown in Fig. 3, define on drawing
The direction extended obliquely at the top of from drawing is X-axis, and X-axis forward direction is oblique from drawing bottom on the right side of X-axis negative sense, definition drawing
The direction upwardly extended is Y-axis, and Y-axis forward direction is on front side of Y-axis negative sense, and it is Z axis to define the direction upwardly extended on drawing, and Z axis is just
To in the top of Z axis negative sense.
As shown in figure 4, when selecting gas driving machine structure as drive mechanism 11, drive mechanism 11 then includes：Air cylinder group
Shown in part 101 and escapement 13, reference picture 5 and Fig. 6, wherein：
Cylinder assembly 101 includes：Fixed seat 12 shown in cylinder 111 with gas bar 1111, Fig. 3 and Fig. 4 is fixed cylinder
111 part；
Joint 112, it is fixedly connected with gas bar 1111；And
Cylinder rocking arm 113, cylinder rocking arm 113 is be hinged with joint 112, wherein, cylinder rocking arm 113 is hinged with joint 112
Mode is specially：Cylinder rocking arm 113 has the first mounting hole 1131, and joint 112 has two the second mounting holes 1121, bearing pin
114 are located in the first mounting hole 1131 and two the second mounting holes 1121, so as to cylinder rocking arm 113 and the joint of being articulated and connected
112；
Shown in reference picture 7, fixed seat 12 includes：Cylinder block 121, and pass through the first screw gasket component with cylinder block 121
The receiver 122 being fixedly connected, cylinder block 121 have the storage tank 1213 that backboard 1211 and two side plates 1212 surround；
Shown in reference picture 8, escapement 13 has wheel shaft 131 and eccentric wheel 132, and eccentric wheel 132 has the axis with wheel shaft 131
The first connecting hole (1321,1322) of diameter parallel, the first connecting hole (1321,1322) are located off the wheel shaft axle of eccentric wheel 132
The position of heart line.
Shown in 4~Fig. 8 of reference picture, the 13 specific assembly relation of cylinder assembly 101, fixed seat 12 and escapement of drive mechanism 1
It is as follows：
Cylinder assembly 101 and the fixing assembling relation of fixed seat 12 are specifically, cylinder 111 is placed in storage tank 1213, and gas
Cylinder 111 and two side plates, 1212 corresponding two side walls 1112 of cylinder block 121 have the first connecting pole 11121 respectively, two
Side plate 1212 has the connecting hole 12121 of corresponding first connecting pole 11121 respectively, and cylinder assembly 101 also includes：Wear connecting hole
12121 the first connecting shaft 14；It is located at the both sides of side plate 1212 respectively and is arranged a pair of clutch shaft bearings 15 of the first connecting shaft 14；
And the second screw gasket component for being fastenedly connected the first connecting shaft 14 and the first connecting pole 11121；
The wheel shaft 131 of escapement is arranged in sleeve 1221, by being respectively arranged at sleeve both ends and being arranged a pair of wheel shaft 131
The axially position wheel shaft 131 of second bearing 16；
Wheel shaft 131 is fixedly connected with cylinder rocking arm, and its axle axis and cylinder rocking arm and the hinging pin shaft of joint 112
Diameter parallel, specifically, cylinder rocking arm 113 has：With the square mounting hole 1132 of the diameter parallel of the first mounting hole 1131, with
And the positioning convex 1133 coaxial with square mounting hole 1132, wheel shaft 131 are arranged in square mounting hole 1132, positioning convex 1133
The second bearing 16 close to cylinder rocking arm 113 is abutted, and will by the 3rd screw gasket component at square mounting hole 1132
Wheel shaft 131 is fastenedly connected with cylinder rocking arm 113.
Shown in reference picture 9 and Figure 10, two drive links (301,302) have and the axis diameter parallel of wheel shaft 131
Second connecting hole (311,321) and the 3rd connecting hole (312,322)；
Shown in reference picture 11 and Figure 12, two groups of bayonet components (21,22) include：Two contiguous blocks (211,221)；And point
Bayonet socket connecting rod (212,222), bayonet socket block (213,223) and the baffle plate (214,224) not being fixed on contiguous block (211,221),
Wherein, bayonet socket connecting rod (212,222) and baffle plate (214,224) are individually fixed on two relative faces of contiguous block (211,221)；
Bayonet socket connecting rod (212,222) have with the 4th connecting hole (2121,2221) of the axis diameter parallel of wheel shaft 131 with
And position rotating hole (2122,2222)；
The front end of bayonet socket block (213,223) forms clamp, and clamp have arc clamping face in the side of clamping workpiece
(21311,22311), with arc clamping face (21311,22311) back to opposite side on anti-splashing is fixed with by screw successively
Plate (2132,2232) and pressing plate (2133,2233)；
Alignment pin (215,225) wears bayonet socket connecting rod (212,222), the first pad (216,226) and contiguous block successively
(211,221), bayonet socket connecting rod (212,222) is positioned；
Baffle plate (214,224) is fixedly connected by screw with contiguous block (211,221)；
Bayonet socket block (213,223) and contiguous block (211,221) are fixedly connected, worn successively by screw pressing plate (217,
227), bayonet socket block (2131,2231) and the second pad (218,228) are fixedly connected with contiguous block (211,221)；
Screw gasket component wears baffle plate (214,224), contiguous block (211,221) and bayonet socket connecting rod (212,222) successively
And fasten；Screw gasket component wears baffle plate (212,222) and bayonet socket block (2131,2231) and fastened successively；
Bayonet component (21,22) also includes：The adjustment block 228 being arranged between bayonet socket connecting rod 222 and contiguous block 221.
101, two drive links (301,302) of cylinder assembly, two groups of bayonet components (21,22) and rotated locating shaft
(411,421) drive connection is specially：
Rotated locating shaft (412,422) is located in position rotating hole (2122,2222), and bayonet component 21 is around rotational positioning
Axle 411 rotates, while bayonet component 22 rotates around rotated locating shaft 421, and bayonet component 21 has assembled with bayonet component 22
Cheng Hou, the arc clamping end face of two arc clamping face mutual cooperation clamping workpieces, such as the circular arc of the both ends annulus of workpiece 50
A part for outer peripheral face；
Each link assembly can be made up of a drive link, for example, shown in Fig. 1 drive link (301,
302), one end of drive link (301,302) is fixedly connected with escapement respectively, is specially：The second of drive link (301,302)
Be provided with 3rd bearing 4 in connecting hole (311,321), the second connecting shaft 5 wear eccentric wheel 132 the first connecting hole (1321,
And 3rd bearing 4 1322)；Two catch 6 are arranged at drive link (301,302) backwards to the side of eccentric wheel 132, each gear
Piece 6 has screw bosses 61, and screw bosses 61 are threadedly coupled through spring shim and the second connecting hole (311,321)；
For convenience of description, according to position relationship, drive link (301,302) is divided into upper connecting rod 31 and lower link 32, on
Connecting rod 31 is fixedly connected with bayonet component 21, and lower link 32 is fixedly connected with bayonet component 22, is specially：3rd connecting hole
It is respectively arranged with fourth bearing 7 in (312,322), the 3rd connecting shaft 8 wears fourth bearing 7 and bayonet socket connecting rod (212,222)
4th connecting hole (2121,2221), one end of the 3rd connecting shaft 8 are threadedly coupled with the 3rd connecting hole (312,322), the 3rd connection
The other end of axle 8 by the 4th screw from the 4th connecting hole (2121,2221) place by the 3rd connecting shaft 8 and bayonet socket connecting rod (212,
222) it is fastenedly connected.
According to the escapement 13 of the cylinder assembly 101 shown in figure, eccentric wheel 132 is centrally located at the pivot of eccentric wheel
Rear side；According to the position of the first connecting hole (1321,1322) of eccentric wheel 132, connecting hole 1321 and lower connecting hole in definition
1322, the connecting rod being connected with upper connecting hole 1321 is upper connecting rod 31, and the connecting rod being connected with lower connecting hole 1322 is lower link
32；Second connecting hole 311 of upper connecting rod 31 is located at the top of the 3rd connecting hole 312, and the second connecting hole 321 of lower link 32 is located at
The lower section of 3rd connecting hole 322；The bayonet component being connected with upper connecting rod 31 is upper latch notch component 21, and bayonet socket block 213 is located at bayonet socket
The top in the position rotating hole 2122 of connecting rod 212；The bayonet component being connected with lower link 32 is under bayonet component 22, bayonet socket block
223 positioned at the lower section in the position rotating hole 2222 of bayonet socket connecting rod 222.
The following detailed description of the specific work process of the clamping device shown in Fig. 3, still with the workpiece 50 shown in Fig. 1 and Fig. 2
Exemplified by, before clamping device is clamped operation, sub- workpiece 51 and sub- workpiece 52 align, two sub- circular ring structures (511,
521) circular ring structure that contraposition is formed, below with using the gripping means grips provided in an embodiment of the present invention circular ring structure
Exemplified by be described in detail.
When the gas bar 1111 of cylinder 111 stretches out, joint 112 is driven to be moved to Z axis negative direction, due in eccentric wheel 132
The heart is located at the rear side of the pivot of eccentric wheel 132, therefore drives cylinder rocking arm 113 to be rotated clockwise around X-axis, escapement 13 it is inclined
Heart wheel 132 rotates clockwise with cylinder rocking arm 113 around X-axis, drives upper connecting rod 31 and lower link 32 to rotate clockwise, due to upper
Connecting rod 31 is fixedly connected with upper latch notch component 21, is now applied equivalent to upper connecting rod 31 by the upward bayonet component of the 4th connecting hole
The power rotated counterclockwise around position rotating hole so that upper latch notch component rotates, and the arc clamping face of bayonet socket block upper caliper is with arc
Movement locus is close to the side of the circular ring structure of the one end of workpiece 50, and with very small angle, from welding position end (512,
522) the opening incision workpiece surrounded with annulus periphery, it is final to hold the part for being located at inner side in annulus outer peripheral face tightly.Simultaneously as
Lower link 32 is fixedly connected with bayonet component 22, is now applied equivalent to lower link 32 by the 4th downward bayonet component of connecting hole
Add the power rotated clockwise around position rotating hole so that under bayonet component rotates, and the arc clamping face of bayonet socket block upper caliper is to transport
Dynamic rail mark close to the one end of workpiece 50 circular ring structure opposite side, and with very small angle, from welding position end (512,
522) the opening incision workpiece surrounded with annulus periphery, it is final to hold the part for being located at inner side in annulus outer peripheral face tightly.
State after two clamps hold circular ring structure tightly from both sides is as shown in figure 14, is from X-axis negative sense to two bayonet socket groups
The side view in part direction, for convenience of illustrating, bayonet socket connecting rod (212,222) is illustrate only in figure, the void wherein shown in figure is thick
Line annulus, be the one end of workpiece 50 the annular profile face of circular ring structure in the orthographic projection schematic diagram of ZOY planes, two with symmetry axis
Broken line G1 and G2 symmetrical line D be welding position end (512,522) ZOY planes orthographic projection schematic diagram, two with
H1 and H2 symmetrical axis of symmetry D is respectively arc clamping face (21311,22311) in the state of loop configuration is held tightly
In the orthographic projection schematic diagram of ZOY planes, bayonet socket connecting rod (212,222) rotates about locating shaft and rotated, drive bayonet socket block (213,
223) rotate, two clamp concomitant rotations are until reach clamped position, specifically：As bayonet socket connecting rod 212 (not shown in Figure 14)
During by anticlockwise driving force, bayonet socket block 213 (not shown in Figure 14) rotates counterclockwise along direction shown in arrow J1, band
The opening incision that dynamic clamp front end illustrates from broken line G1 and empty thick line annulus, reaches position shown in H1, so as to hold annulus knot tightly
Structure.Equally, when bayonet socket connecting rod 222 simultaneously by clockwise driving force when, bayonet socket block 223 (not shown in Figure 14) is along arrow
Direction shown in head J2 rotates, and the opening incision for driving clamp front end to be illustrated from broken line G2 and empty thick line annulus, reaches shown in H2
Position, so as to hold circular ring structure tightly, hold the inner side for being located closer to workpiece 50 tightly as we can see from the figure, and hold position tightly and be in
Outside is compared, can reduce and compress the external force that is applied of two sub- workpiece 50, so as to reduce apply external force caused by sub- workpiece
Deformation, improve welding precision.
When the gas bar 1111 of cylinder 111 is retracted, drive joint 112 to be moved to Z axis positive direction, drive cylinder rocking arm 113
Rotated counterclockwise around X-axis, the eccentric wheel 132 of escapement 13 rotates counterclockwise with cylinder rocking arm 113 around X-axis, drives upper connecting rod 31
Rotated counterclockwise with lower link 32, it is now logical equivalent to upper connecting rod 31 because upper connecting rod 31 is fixedly connected with upper latch notch component 21
Cross the upward bayonet component of the 4th connecting hole and apply the power rotated clockwise around position rotating hole so that upper latch notch component is to away from work
The direction of part 50 rotates, and arcuately movement locus moves back the opening surrounded from welding position end (512,522) and annulus periphery
Go out, simultaneously as lower link 32 is fixedly connected with bayonet component 22, now equivalent to lower link 32 by the 4th connecting hole to
Under bayonet component applies the power rotated counterclockwise around position rotating hole so that and under bayonet component rotates to the direction away from workpiece,
It is final to unclamp workpiece 50, and arcuately movement locus moves back the opening surrounded from welding position end (512,522) and annulus periphery
Go out.
Exit that rear bayonet socket connecting rod (212,222) present position is as shown in figure 15, and the process of giving up the throne is exactly the anti-of clamping process
To motion, it is not detailed herein.
During above-mentioned clamped condition, anti-splashing plate (2132,2232) enters workpiece with clamp front end, as seen from Figure 3, prevents
The front end of splash plate (2132,2232) is securely fitted in a manner of leaning out clamp front end on bayonet socket block, so in welding two
During sub- workpiece (51,52), anti-splashing plate (2132,2232) can block cyclic structure, to prevent from being burnt by spark.
It can see from above-mentioned motion process, using an escapement, in two positions in two deviation escapement wheel shaft axle center,
Be fixedly connected with two drive links, and when escapement axle axis and the rotated locating shaft diameter parallel when, then can be with
By the correct position that two the 4th connecting holes (2121,2221) are selected on two bayonet socket connecting rods (212,222), it is possible to same
When driving two bayonet socket connecting rods (212,222) do relative rotary motion, with drive two bayonet socket blocks do relative motion.
As shown in figure 3, when welding workpiece 50 shown in Fig. 1 and Fig. 2, according to the clamping device installment state shown in Fig. 1, work
The loop configuration at the both ends of part 50 is distributed along Y direction, respectively with two gripping means grips, to ensure welding quality, two sons
Workpiece (51,52) needs to align close, generally, sets fixed several cushion blocks in X negative senses side, and in X forward directions side,
Outer lateral X negative senses using corresponding several briquettings workpiece therefrom apply pressure, at this moment, if bayonet component can be with
It is overall close to another sub- workpiece with the pressure that is applied on one of them sub- workpiece, then it can compensate clamp front end and another
Gap between individual sub- workpiece, better meeting two sub- workpiece (51,52) contrapositions closely needs., can according to this needs
Between the assembling position that drive mechanism and each group of link assembly offset, to accompany an elastomeric element, and rotation is fixed
Position axle, which is securely fitted in one, so to utilize elastomeric element along the flexible floating structure of the axis direction of rotated locating shaft
So that bayonet component integrally can have certain stroke along the axis direction of rotated locating shaft, so as to meet above-mentioned supplement need
Will.
Elastomeric element for example shown in Fig. 8 between the assembling position that drive mechanism and each group of link assembly offset, can be with
It is the spring shim between each group of 3rd bearing 4 and catch 6.A kind of relocation mechanism that embodiment of the present invention provides
The concrete structure of (41,42) is as shown in Fig. 3 and Figure 13, including axle sleeve (411,421), on the external cylindrical surface of axle sleeve (411,421)
Be provided for the fixture (413,423) of axle sleeve axial restraint, rotated locating shaft (412,422) be located in axle sleeve (411,
421) spring 414 in an elastic component, such as Figure 13 can be set on, between the position mutually pushed against.
By taking the concrete structure of the relocation mechanism 41 shown in Figure 13 as an example：Rotated locating shaft 412 can be multi-diameter shaft, multi-diameter shaft
Both ends diameter than centre diameter it is small, wherein, one end of multi-diameter shaft wears the position rotating hole 2122 of bayonet component, and
Multi-diameter shaft with respect to bayonet socket connecting rod the axial restraint of position rotating hole 2122, especially by screw at position rotating hole 2122 with rotation
The shaft end fastening for turning locating shaft 412 is realized；The other end of multi-diameter shaft sheathed spring 414,5th bearing 415, and pass through successively
The other end of the shaft end ring 416 being arranged at outside axle sleeve and multi-diameter shaft is fixedly connected by the 4th screw gasket component；Floating engine
Structure 41 also includes the 6th bearing 417 for being set in the center section of multi-diameter shaft；For the fixture 413 of axle sleeve axial restraint to be had
Body is the check ring for the external cylindrical surface for being nested in axle sleeve, and check ring has positioning convex 4131.
From the structure of above-mentioned relocation mechanism, when rotated locating shaft (412,422) holds out against spring, the elastic force of spring is made
With in rotated locating shaft so that rotated locating shaft (412,422) is axially moveable with respect to axle sleeve (411,421), and then is rotated
Locating shaft (412,422) drives bayonet component (21,22) mobile, the clip position of regulation bayonet component (21,22).
As shown in Figure 13, Figure 14 and Figure 15, bayonet socket connecting rod that one of drive link is fixedly connected with it, Yi Jiling
Axis direction of the bayonet socket connecting rod that one drive link is fixedly connected with it along rotated locating shaft is superimposed assembling, and then escapement is also
Extend along the axis direction (i.e. the negative sense of X-axis) of rotated locating shaft, the driving of drive mechanism is connected to finally by a rocking arm
End, this superposition assembling structure, can stagger between two bayonet socket connecting rods and drive link on Direction of superposition, and structure reduces
Clamping device removes the overall volume of drive device, and the installation site of drive device avoids the clamping position of clamp well
When putting, that is, avoid the operating space needed for clamped workpiece, such as workpiece being welded, drive device can position
In the rear of workpiece, welding operation is facilitated.This using robot carry out automatic welding operation in it is extremely important, similarly its
In the working scene of his clamping device, and it is in demand.Therefore the embodiment of the present invention also provides a kind of robot system, wraps
Any clamping device in robot, and the embodiment of the present invention is included, in robot system, clamping device is used to clamp work
Part, robot carry out operation to workpiece.This robot system can be that each germline of automated job is carried out using robot
System, such as using welding robot in the robot system of workpiece progress weld job.To realize arcuate movement track, clamp
Certain radius of turn is needed, referring to shown in Figure 14 and Figure 15, two groups of bayonet components can be distributed in a axis of symmetry (D
Axle) both sides, this axis of symmetry is vertical with the axis of rotated locating shaft, and each rotated locating shaft and rotates assembling
Bayonet component clamp front end form arcuate movement track not in the same side of the axis of symmetry, two such arcuate movement rail
Mark is just located at the both sides of the axis of symmetry respectively, two bayonet socket connecting rods equivalent to a similar scissor construction is formed, from Figure 14 and
It can be seen that, the rotary motion space of two bayonet socket connecting rods is largely to overlap in the X-axis direction, this cloth in 15 diagrams
Office can reduce after bayonet component assembling in X-axis as far as possible in the case where meeting the radius of turn needed for same movement in a curve track
Radially shared space.Coordinate foregoing superposition assembling structure, reduce the body of bayonet component and link assembly as far as possible
Product, saves installing space.
, can in order to adjust the relative position of the clamp on two groups of bayonet socket blocks in this nested superposition assembling structures of Fig. 3
Contiguous block, or the drive in another group of link assembly are set between the bayonet socket block of one group of link assembly wherein and drive link
Contiguous block, such as two contiguous blocks shown in Figure 11 and Figure 12 are set between dynamic connecting rod and the drive link for being secured to connect
(211,221)。
Above with a kind of concrete structure of clamping device shown in Fig. 3, folder provided in an embodiment of the present invention is described in detail
The operation principle of tight device, in fact, the structure member of connector not necessarily such as many baffle plates in structure shown in Fig. 3, has
The structure member of a little splits can also be integrative-structure, such as two contiguous blocks (211,221) can also be with the bayonet socket that is connected
Connecting rod is integrative-structure, and the relation that is fixedly connected between each part can also be using except its other party such as screw assembly and axis connections
Formula.Clamping device structure shown in Fig. 3 is only an example, in fact, the clamping device that embodiment of the present invention provides, can
With including：Drive mechanism, two rotated locating shafts, two groups of link assemblies, and two groups of bayonet components；Wherein, each group
Bayonet component, which is rotated, to be assembled in a rotated locating shaft, and each group of bayonet component has the clamp for clamping workpiece；Driving machine
Structure drives bayonet component described in two groups to rotate about the rotated locating shaft rotation of assembling by link assembly described in two groups respectively,
So that two clamp are done relative motion with two relative arcuate movement tracks.
In the link assembly concrete structure that the embodiment of the present invention provides, each group of link assembly can include a driving
Connecting rod, one end of each drive link are fixedly connected between the bayonet component that is connected by first axle respectively, the other end
It is fixedly attached to by the second axle in drive mechanism, the axis of two first axles and two the second axles, equal and rotated locating shaft
Diameter parallel.As long as meet above-mentioned assembly relation, it is possible to utilize the synchronous two groups of bayonet components of driving of a drive mechanism
Rotate.Certainly, the concrete structure of link assembly is also not necessarily limited to a kind of this form, and drive link can also be drive block, and driving connects
Bar is also not necessarily limited to one, can two connecting rods be formed by connecting etc..Even if using two drive links shown in Fig. 3, as long as
Under conditions of two connecting rods do not produce interference, the contour structures shown in Fig. 3 are also not necessarily limited to.
The bayonet component used in the embodiment of the present invention, bayonet socket connecting rod and bayonet socket block can be included, bayonet socket is packaged to fit over card
Mouthful connecting rod one end and its front end forms clamp, the bayonet socket connecting rod other end is fixedly connected with drive link, one of drive link
The bayonet socket connecting rod being fixedly connected with it, and another drive link and the bayonet socket connecting rod that it is fixedly connected are along rotated locating shaft
Axis direction is distributed.Bayonet socket connecting rod and bayonet socket block can also be integrative-structures, be superimposed the effect of assembling structure foregoing interior
It is described in detail in appearance, is not repeated herein and describes.
Generally, the relative clamping face of clamp in two groups of bayonet components in the embodiment of the present invention, to be right
Claim the cambered surface for being distributed in axis of symmetry both sides.One end of each drive link is respectively between the bayonet socket connecting rod that is connected
It is fixedly connected by first axle, the other end is fixedly attached in drive mechanism by the second axle, and two first axles and two
The axis of individual second axle, and rotated locating shaft diameter parallel, can thus cause the clamping faces of both sides symmetrically to transport
Dynamic rail mark moves.And arc clamping face depends on the resemblance for the workpiece that needs clamp, clamping face profiling coordinates the outer of workpiece
Shape feature.It should be understood that the embodiment of the present invention is arc in the clamping end face for the workpiece for Bei Jiajining, particularly
When circular arc, more particularly in workpiece with good under scene of the clamp clamping operation with interference structure, having
Clamping action, specifically it may refer to shown in Figure 14, before clamp front end can be cut into workpiece circular structure with the angle of very little
End, workpiece configurations features is coordinated to rationally design the clamping face structure of clamp, can be with more large access area to clamp workpiece.
In the embodiment of the present invention, drive mechanism can include the pneumatic, mode such as surge, as long as passing through an escapement can
Two drive links of synchronous driving do reciprocally swinging, as long as meeting in fit on：One end of two drive links is respectively with deviation
The position in escapement wheel shaft axle center is fixedly connected on escapement, and the diameter parallel of the axle axis of escapement and rotated locating shaft.
In the embodiment of the present invention, a rocking arm can also be utilized to set drive device to the axis with rotated locating shaft and hung down
On straight direction, rocking arm is connected between power set and escapement, and power set drive escapement to do reciprocating rotation by rocking arm.
The specific implementation of the present invention is described in detail above by reference to accompanying drawing, it is clear that those skilled in the art
Member can carry out various changes and modification without departing from the spirit and scope of the present invention to the present invention.So, if the present invention
These modifications and variations belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to include these
Including change and modification.
Claims (8)
- A kind of 1. clamping device, it is characterised in that including：Drive mechanism, two rotated locating shafts, two groups of link assemblies, and Two groups of bayonet components, wherein：In bayonet component described in two groups, bayonet component described in each group, which is rotated, to be assembled in a rotated locating shaft, often Bayonet component described in one group has the clamp for clamping workpiece；The drive mechanism by link assembly described in one group, drives bayonet component described in one of which to rotate about assembling respectively Rotated locating shaft rotation so that two clamp front ends are done relative motion with two relative arcuate movement tracks,Wherein, described two arcuate movement tracks are located at an axis of symmetry vertical with the axis of the rotated locating shaft respectively Both sides, and each rotated locating shaft and rotate assembling bayonet component clamp front end form arcuate movement track Not in the same side of the axis of symmetry,Wherein, link assembly described in each group includes a drive link, and one end of each drive link is respectively and institute It is fixedly connected between the bayonet component of connection by first axle, the other end is fixedly attached in drive mechanism by the second axle, institute The axis of two first axles and two the second axles is stated, the diameter parallel with the rotated locating shaft,And wherein, each group of bayonet component includes bayonet socket connecting rod and bayonet socket block, and the bayonet socket is packaged to fit over bayonet socket connecting rod one end And its front end forms the clamp, the bayonet socket connecting rod other end is fixedly connected with drive link, one of drive link and Its bayonet socket connecting rod being fixedly connected, and axle of the bayonet socket connecting rod that is fixedly connected with it of another drive link along rotated locating shaft Line directional spreding, with the superposition assembling structure of the shape nesting of mutual cooperation.
- 2. clamping device as claimed in claim 1, it is characterised in that each group of bayonet component also includes an anti-splashing plate, The front end of the anti-splashing plate is securely fitted in a manner of leaning out clamp front end on the bayonet socket block.
- 3. clamping device as claimed in claim 1 or 2, it is characterised in that described drive mechanism includes power set and pendulum Wheel, power set driving escapement do reciprocally swinging, and one end of described two drive links is respectively to deviate escapement wheel shaft axle The position of the heart is fixedly connected on the escapement, and the diameter parallel of the axle axis of the escapement and the rotated locating shaft.
- 4. clamping device as claimed in claim 3, it is characterised in that described drive mechanism also includes rocking arm, the rocking arm It is connected between power set and escapement, the power set drive the escapement to do reciprocating rotation by the rocking arm.
- 5. clamping device as claimed in claim 1, it is characterised in that link assembly phase described in the drive mechanism and each group Between the assembling position supported, elastomeric element is accompanied；AndThe rotated locating shaft is securely fitted in can be along the flexible floating structure of the axis direction of rotated locating shaft.
- 6. clamping device as claimed in claim 5, it is characterised in that the floating structure includes axle sleeve and elastic component, described Elastic component is located in axle sleeve, and one end of the rotated locating shaft is sleeved in axle sleeve and is pushed against on the elastic component.
- 7. a kind of robot system, including robot, it is characterised in that also include the clamping as described in claim 1~6 is any Device, the gripping means grips workpiece, the robot carry out operation to the workpiece.
- 8. robot system as claimed in claim 7, it is characterised in that the artificial welding robot of described machine, it is described Workpiece is welded part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410495956.3A CN105500366B (en) | 2014-09-24 | 2014-09-24 | A kind of clamping device and robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410495956.3A CN105500366B (en) | 2014-09-24 | 2014-09-24 | A kind of clamping device and robot system |
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| Publication Number | Publication Date |
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| CN105500366A CN105500366A (en) | 2016-04-20 |
| CN105500366B true CN105500366B (en) | 2017-12-01 |
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| CN201410495956.3A Expired - Fee Related CN105500366B (en) | 2014-09-24 | 2014-09-24 | A kind of clamping device and robot system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106891344A (en) * | 2017-02-27 | 2017-06-27 | 安徽江淮汽车集团股份有限公司 | A kind of suspender clamping device |
| CN109128624A (en) * | 2018-09-18 | 2019-01-04 | 河北微宏惠工机器人科技有限公司 | A kind of six axis all-position welding machines |
| CN111410033B (en) * | 2020-04-23 | 2024-09-13 | 浙江希尔机器人有限公司 | Motor coil tongs equipment |
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| US5775000A (en) * | 1996-05-13 | 1998-07-07 | Ebara Corporation | Substrate gripper device for spin drying |
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| CN203471200U (en) * | 2013-08-15 | 2014-03-12 | 上海华普汽车有限公司 | Integrated clamping and positioning mechanism |
| CN103894516A (en) * | 2014-04-14 | 2014-07-02 | 福建闽光电机制造有限公司 | Wire bending mechanical structure for enameled wires |
| CN203697023U (en) * | 2014-01-26 | 2014-07-09 | 深圳市元博智能科技有限公司 | Mechanical clamping claw used for grabbing conical objects |
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| JPS63156605A (en) * | 1986-12-19 | 1988-06-29 | Honda Motor Co Ltd | Work holding device |
| US5775000A (en) * | 1996-05-13 | 1998-07-07 | Ebara Corporation | Substrate gripper device for spin drying |
| CN201969904U (en) * | 2011-01-31 | 2011-09-14 | 上海大量精密机械有限公司 | Pneumatic locking chuck |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN202701674U (en) * | 2012-07-05 | 2013-01-30 | 郑州宇通客车股份有限公司 | Combined clamp capable of performing translation and clamping |
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| CN203471200U (en) * | 2013-08-15 | 2014-03-12 | 上海华普汽车有限公司 | Integrated clamping and positioning mechanism |
| CN203697023U (en) * | 2014-01-26 | 2014-07-09 | 深圳市元博智能科技有限公司 | Mechanical clamping claw used for grabbing conical objects |
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| CN105500366A (en) | 2016-04-20 |
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