CN106313091A - Workpiece clamping device - Google Patents
Workpiece clamping device Download PDFInfo
- Publication number
- CN106313091A CN106313091A CN201610964173.4A CN201610964173A CN106313091A CN 106313091 A CN106313091 A CN 106313091A CN 201610964173 A CN201610964173 A CN 201610964173A CN 106313091 A CN106313091 A CN 106313091A
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- CN
- China
- Prior art keywords
- interior
- jaw
- outer shaft
- ear
- vertical rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a workpiece clamping device. The device comprises an inner clamping jaw, an outer clamping jaw, an inner shaft, an outer shaft, an inner shaft lug, an outer shaft lug, an outer vertical pole, an inner vertical pole, a connecting plate, a driving device, a front base plate and a rear panel, wherein the two ends of the outer vertical pole are movably connected with the connecting plate and the outer shaft lug respectively; two ends of the inner vertical pole are movably connected with the connecting plate and the inner shaft lug respectively; the outer clamping jaw is fixedly connected with the outer shaft lug through the outer shaft; the inner clamping jaw is fixedly connected with the inner shaft lug through the inner shaft; the driving device drives the connecting plate to move up and down; the inner clamping jaw and the outer clamping jaw are arranged at the front end of the front base plate, and the inner shaft and the outer shaft penetrate through the front base plate to be connected with the inner shaft lug and the outer shaft lug at the rear end of the front base plate; the driving device is fixed on the rear panel. The device is simple in structure and small in action travel, occupies small space and is particularly suitable for taking out semi-circular workpieces in a tubular object.
Description
Technical field
The present invention relates to Machining Technology field, particularly to a kind of cross section taking off surface in small space inner clip
Clamp device for the workpiece of semicircle or outer convex.
Background technology
Workpiece grabbing mechanism is used for piece-holder, and transports to suitable position.When needs press from both sides from tubulose type objects
When taking similar semi-cylindrical workpiece, owing to the gap between semi-cylindrical workpiece and tubular articles is less, operable space is less,
General clamp device cannot be carried out operation, and the stability gripped is the highest.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of workpiece clamping device, it is possible to the gripping top width of fast and stable
The workpiece that bottom is narrow.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that: a kind of workpiece clamping device, right including left and right
Claim arrange interior jaw, outer jaw, inner shaft, outer shaft, interior axle ear, outer shaft ear, outer vertical rod, interior vertical rod, gusset piece, driving means,
Prebasal plate and rear board；The two ends of described outer vertical rod can be dynamically connected with gusset piece and outer shaft ear respectively；The two ends of described interior vertical rod
Can be dynamically connected with gusset piece and interior axle ear respectively；Described outer jaw is connected by outer shaft and described outer shaft ear are fixing；In described
Jaw is connected by interior axle and described interior axle ear are fixing；Described driving means drives gusset piece to move up and down, through interior vertical rod
Interior axle is passed through with outer around interior axle and the axis rotation of outer shaft, interior axle ear and outer shaft ear with outer vertical rod transmission, interior axle ear and outer shaft ear
Axle drives interior jaw and outer jaw around interior axle and the axis rotation of outer shaft；
Described interior jaw and outer jaw are arranged at the front end of prebasal plate, interior axle and outer shaft through prebasal plate and prebasal plate rear end
Interior axle ear and outer shaft ear connect；Described driving means is then fixed on rear board.
Further, described workpiece clamping device also includes bearing, and this bearing holder (housing, cover) is located on described outer shaft；Described
Outer shaft is hollow structure, is set on described interior axle, and described outer shaft and interior axle can relatively rotate；Described bearing is fixed on
On described prebasal plate.
Further, described prebasal plate is U-shaped mechanism, is connected with rear board, forms a cavity volume；Interior axle ear, outer shaft ear,
Outer vertical rod, interior vertical rod, gusset piece and driving means may be contained within this cavity volume.
Further, described interior jaw is identical with the structure of outer jaw, including handgrip and the axle linking arm of arc tabular；
The handgrip of interior jaw and outer jaw is that mirror image is arranged；Described interior axle and outer shaft are solid with the axle linking arm on interior jaw and outer jaw
Fixed link；When workpiece held tightly by the handgrip of interior jaw and outer jaw, the width bottom, one top, handgrip besieged city of interior jaw and outer jaw
Narrow workpiece accommodates chamber.
Further, the cross section that described workpiece accommodates chamber is overall in semi-circular structure.
Further, described interior jaw and outer jaw being additionally provided with postive stop baffle, postive stop baffle is arranged at handgrip
Top.
Further, to include that cylinder body and cylinder rod, described cylinder body are fixed on described for described driving means
Rear board on, one end of described cylinder rod makees piston movement in cylinder body, and the other end is fixed with gusset piece, gusset piece
It is connected with outer vertical rod and interior vertical rod respectively by coupling board shaft.
Beneficial effects of the present invention: the workpiece clamping device of the present invention, simple in construction, takes up room little, and actuating length is little,
It is suitable in small space operation, it is adaptable to the workpiece that gripping width bottom, top is narrow, is particularly suited for taking out in tubular articles
Semi-cylindrical workpiece, gripping stability is high.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the present invention.
Fig. 2 is the top view of the present invention.
Fig. 3 is that D is to sectional view.
Fig. 4 is that A is to sectional view.
Fig. 5 is that C is to sectional view.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical scheme is elaborated.
As Figure 1-5, for a kind of workpiece clamping device of the present invention, including a kind of workpiece clamping device, including left and right
Symmetrically arranged interior jaw 1, outer jaw 2, interior axle 3, outer shaft 4, interior axle ear 5, outer shaft ear 6, outer vertical rod 7, interior vertical rod 8, gusset piece
9, driving means, prebasal plate 10 and rear board 11；The two ends of outer vertical rod 7 are respectively by coupling board shaft 16 and outer shaft gudgeon 17 and connection
Fishplate bar 9 and outer shaft ear 6 can be dynamically connected；The two ends of interior vertical rod 8 respectively by couple board shaft 16 and axle gudgeon 18 and gusset piece 9 and
Interior axle ear 5 can be dynamically connected；Outer jaw 2 is connected by outer shaft 4 is fixing with outer shaft ear 5；Interior jaw 1 is solid with interior axle ear 5 by interior axle 3
Fixed connection；Driving means drive gusset piece 9 move up and down, through interior vertical rod 8 and outer vertical rod 7 transmission, interior axle ear 5 and outer shaft ear 6 around
Interior axle 3 and the axis rotation of outer shaft 4, interior axle ear 5 and outer shaft ear 6 by interior axle 3 and outer shaft 4 drive interior jaw 1 and outer jaw 2 around
Interior axle 3 and the axis rotation of outer shaft 4；
Interior jaw 1 and outer jaw 2 are arranged at the front end of prebasal plate 10, and interior axle 3 and outer shaft 4 are through after prebasal plate 10 and prebasal plate 10
Interior axle ear 5 and the outer shaft ear 6 of end connect；Driving means is then fixed on rear board 11.
The workpiece clamping device of the present invention is when grabbing workpiece, and driving means drives gusset piece 9 to move up and down, at gusset piece
During 9 move up and down, carry with drop-down, so that interior axle ear 5 and outer shaft ear 6 are around interior in vertical rod 8 and outer vertical rod 7 in driving
Axle 3 and the axis rotation of outer shaft 4, interior jaw 1 and outer jaw 2 and interior axle ear 5 and outer shaft ear 6 synchronous axial system；When interior vertical rod 8 is with outer
When vertical rod 7 is drop-down, the angle between interior axle ear 5 and outer shaft ear 6 is gradually increased so that interior jaw 1 and outer jaw 2 open, and prepares
Grabbing workpiece, when carrying in interior vertical rod 8 and outer vertical rod 7, the angle between interior axle ear 5 and outer shaft ear 6 is gradually reduced, interior jaw 1
Draw close with outer jaw 2, hold workpiece tightly, workpiece can be taken out.
Workpiece clamping device in present embodiment, actuating length is little, takes up room little, is suitable in small space behaviour
Make, be not the most applicable in tubulose class object take out workpiece.
In the present embodiment, workpiece clamping device also includes bearing 12, and this bearing 12 is set on described outer shaft 4；
Outer shaft 4 is hollow structure, is set on interior axle 3, and outer shaft 4 and interior axle 3 can relatively rotate；Bearing 12 is fixed on prebasal plate 10.
By the setting of bearing 12, outer shaft 4 and interior axle 3 are co-axially mounted, improve the stability of device operating.
In the present embodiment, prebasal plate 10 is U-shaped mechanism, is connected with rear board 11, forms a cavity volume；Interior axle ear 5, outer
Axle ear 6, outer vertical rod 7, interior vertical rod 8, gusset piece 9 and driving means may be contained within this cavity volume.
In the present embodiment, interior jaw 1 is identical with the structure of outer jaw 2, and handgrip 21 and axle including arc tabular connect
Connect arm 22；The handgrip 21 of interior jaw 1 and outer jaw 2 is arranged in mirror image；Interior axle 3 and outer shaft 4 with on interior jaw 1 and outer jaw 2
Axle linking arm 22 fixed-link；When workpiece held tightly by the handgrip 21 of interior jaw 1 and outer jaw 2, interior jaw 1 and the handgrip of outer jaw 2
The workpiece receiving chamber that 21 width bottom, one top, besieged cities are narrow, it is preferred that the cross section that this workpiece accommodates chamber is overall in semi-circular knot
Structure, and the bottom in workpiece receiving chamber can opening.
The interior jaw 1 of the present invention and the setting of outer jaw 2, be primarily adapted for use in top width, the workpiece of narrow base, and especially half
The workpiece of cylinder dress, just holds the bottom of workpiece, the then position, position that workpiece is upper wider when workpiece embraced by both sides handgrip 21
In the bigger space in both sides handgrip 21 besieged city, workpiece cannot skid off in the gap in the middle of two jaws, has fabulous grabbing
Take stability.
In the present embodiment, interior jaw 1 and outer jaw 2 being additionally provided with postive stop baffle 13, postive stop baffle 13 is arranged at
The top of handgrip.Being blocked the top of workpiece, part workpiece clamping by postive stop baffle 13, prevent during pickup, workpiece rocks.
In the present embodiment, driving means includes cylinder body 14 and cylinder rod 15, after cylinder body 14 is fixed on
On plate 11, one end of cylinder rod 15 makees piston movement in cylinder body 14, and the other end is fixing with gusset piece 9 to be connected, gusset piece 9
It is connected with outer vertical rod 7 and interior vertical rod 8 respectively 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 only the preferred embodiment of the present invention is described, not the design to the present invention
Being defined with scope, on the premise of without departing from design concept of the present invention, in this area, ordinary skill technical staff is to this
The various modification that bright technical scheme is made and improvement all should fall into protection scope of the present invention, the skill being claimed of the present invention
Art content, is the most all documented in technology claim.
Claims (7)
1. a workpiece clamping device, it is characterised in that: include the interior jaw being symmetrical set, outer jaw, inner shaft, outer shaft,
Interior axle ear, outer shaft ear, outer vertical rod, interior vertical rod, gusset piece, driving means, prebasal plate and rear board；The two ends of described outer vertical rod are divided
Can not be dynamically connected with gusset piece and outer shaft ear；The two ends of described interior vertical rod can be dynamically connected with gusset piece and interior axle ear respectively；Described
Outer jaw is connected by outer shaft and described outer shaft ear are fixing；Described interior jaw is fixing even by interior axle and described interior axle ear
Connect；Described driving means drives gusset piece to move up and down, and through interior vertical rod and outer vertical rod transmission, interior axle ear and outer shaft ear are around interior axle
In being driven by interior axle and outer shaft with the axis rotation of outer shaft, interior axle ear and outer shaft ear, jaw and outer jaw are around interior axle and outer shaft
Axis rotation；
Described interior jaw and outer jaw are arranged at the front end of prebasal plate, interior axle and outer shaft through prebasal plate and prebasal plate rear end
Interior axle ear and outer shaft ear connect；Described driving means is then fixed on rear board.
A kind of workpiece clamping device the most according to claim 1, it is characterised in that: described workpiece clamping device also includes
Bearing, this bearing holder (housing, cover) is located on described outer shaft；Described outer shaft is hollow structure, is set on described interior axle, described
Outer shaft and interior axle can relatively rotate；Described bearing is fixed on described prebasal plate.
A kind of workpiece clamping device the most according to claim 1, it is characterised in that: described prebasal plate is U-shaped mechanism, with
Rear board connects, and forms a cavity volume；Interior axle ear, outer shaft ear, outer vertical rod, interior vertical rod, gusset piece and driving means may be contained within this
In cavity volume.
A kind of workpiece clamping device the most according to claim 1, it is characterised in that: described interior jaw and the knot of outer jaw
Structure is identical, including handgrip and the axle linking arm of arc tabular；The handgrip of interior jaw and outer jaw is that mirror image is arranged；Described interior axle
With outer shaft respectively with the axle linking arm fixed-link on interior jaw and outer jaw；Workpiece held tightly by the handgrip of interior jaw and outer jaw
Time, the workpiece that the width bottom, one top, handgrip besieged city of interior jaw and outer jaw is narrow accommodates chamber.
A kind of workpiece clamping device the most according to claim 4, it is characterised in that: described workpiece accommodates the cross section in chamber
Overall in semi-circular structure.
A kind of workpiece clamping device the most according to claim 4, it is characterised in that: on described interior jaw and outer jaw also
Being provided with postive stop baffle, postive stop baffle is arranged at the top of handgrip.
A kind of workpiece clamping device the most according to claim 1, it is characterised in that: described driving means includes that cylinder is originally
Body and cylinder rod, described cylinder body is fixed on described rear board, and one end of described cylinder rod is in cylinder body
Making piston movement, the other end is fixed with gusset piece, and gusset piece is connected with outer vertical rod and interior vertical rod by coupling board shaft.
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 true CN106313091A (en) | 2017-01-11 |
| CN106313091B 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) |
Cited By (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 |
| CN113385975A (en) * | 2021-06-10 | 2021-09-14 | 青海高等职业技术学院(海东市中等职业技术学校) | Feeding and discharging industrial robot combined with numerical control machine tool and feeding and discharging system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52152068A (en) * | 1976-06-09 | 1977-12-17 | Ntn Toyo Bearing Co Ltd | Mechanical hand |
| DE4405970A1 (en) * | 1994-02-24 | 1995-08-31 | Stroemungsmaschinen Gmbh | Spindle driven two armed gripper for cylindrical bodies of different diameters |
| WO2014095169A1 (en) * | 2012-12-18 | 2014-06-26 | Fipa Gmbh | Gripper |
| US20140249677A1 (en) * | 2010-09-15 | 2014-09-04 | Seiko Epson Corporation | Robot |
| 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 |
-
2016
- 2016-11-04 CN CN201610964173.4A patent/CN106313091B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52152068A (en) * | 1976-06-09 | 1977-12-17 | Ntn Toyo Bearing Co Ltd | Mechanical hand |
| DE4405970A1 (en) * | 1994-02-24 | 1995-08-31 | Stroemungsmaschinen Gmbh | Spindle driven two armed gripper for cylindrical bodies of different diameters |
| US20140249677A1 (en) * | 2010-09-15 | 2014-09-04 | Seiko Epson Corporation | Robot |
| 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 |
| WO2014095169A1 (en) * | 2012-12-18 | 2014-06-26 | Fipa Gmbh | Gripper |
| 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 |
Cited By (3)
| 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 |
| CN113385975A (en) * | 2021-06-10 | 2021-09-14 | 青海高等职业技术学院(海东市中等职业技术学校) | Feeding and discharging industrial robot combined with numerical control machine tool and feeding and discharging system |
| 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) | Feeding and discharging industrial robot combined with numerical control machine tool and feeding and discharging system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106313091B (en) | 2018-05-18 |
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