CN106346274B - Modular gripper - Google Patents
Modular gripper Download PDFInfo
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- CN106346274B CN106346274B CN201610951862.1A CN201610951862A CN106346274B CN 106346274 B CN106346274 B CN 106346274B CN 201610951862 A CN201610951862 A CN 201610951862A CN 106346274 B CN106346274 B CN 106346274B
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- Prior art keywords
- pedestal
- limit card
- mounting surface
- bottom plate
- sliding slot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/061—Work-clamping means adapted for holding a plurality of workpieces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
- Jigs For Machine Tools (AREA)
Abstract
A kind of modular gripper, including bottom plate, at least two fixtures, connecting seat and cramping body.Bottom plate is provided with bar shaped sliding slot and includes with being arranged at intervals with least two limit card slots, fixture on bar shaped sliding slot：Connecting seat, connecting seat include pedestal and fastening bolt, and pedestal has opposite mounting surface and joint face, and fastening bolt includes tightening latch and limited block, and joint face abuts the bottom of limit card slot, tightening latch and screw hole threaded.Cramping body, cramping body include functor and clamping piece, and functor includes housing and functional unit, and clamping piece includes fixed clip and free folder.Above-mentioned fixture, on the one hand, eliminate needs to be further provided with fastening bolt in assembling；On the other hand the gap between fixed clip and free folder is slowly diminished and clamp the parts to be processed between fixed clip and free folder, the stability of clamping is high, is conducive to the follow-up processing operation of parts to be processed.
Description
Technical field
The present invention relates to clamping technique field, more particularly to a kind of modular gripper.
Background technology
With the development of science and technology and social economy, scientific and technological progress active influence the economy of society and changes people
Life style.It is far-reaching to clamping technique field in clamping technique, the development of particularly clamp technology.At present, each production
Product can make a set of dedicated fixture in production engineering in each production station, be positioned by the fixture and clamping workpiece, with
The accurate running for adapting to equipment is processed workpiece.
However, the precision that traditional fixture positions in order to obtain, often complicated, brought to the user for operating the fixture
Inconvenience, while artificial remover-and-replacer is not only needed during producing line thread-changing, and also the fixture replaced is desirable to carefully tune positioning
Precision.So not only cause fixture fabrication cycle length, cost of manufacture high, taken manually when secondly replacing fixture.
The content of the invention
Based on this, it is necessary to for how to simplify structure, how to improve clamping stability technical problem, there is provided it is a kind of
Modular gripper.
A kind of modular gripper, including bottom plate, at least two fixtures, connecting seat and cramping body.The bottom plate is provided with bar
Shape sliding slot and with being arranged at intervals with least two limit card slots on the bar shaped sliding slot, the limit card slot is offered with internal thread
Screw hole.Each fixture is correspondingly arranged in a limit card slot, and the fixture includes：Connecting seat, the connecting seat
Including pedestal and fastening bolt, the pedestal has opposite mounting surface and joint face, and the pedestal is set on the mounting surface
Mounting groove is equipped with, the pedestal offers the installing port for wearing the mounting surface and the joint face, and the fastening bolt includes
Tightening latch and limited block, the tightening latch are arranged in the installing port, and the tightening latch has the screw thread body of rod and is arranged on the threaded rod
The pole cap of the fixing end of body, the limited block are movably set on the body of rod away from the pole cap, and the pole cap is positioned at described
Mounting surface side, the limited block are located at the joint face side, and the outside diameter of the limited block is more than the internal diameter of the installing port,
The joint face abuts the bottom of the limit card slot, the tightening latch and the screw hole threaded.Cramping body, the cramping body
Including functor and clamping piece, the functor includes housing and functional unit, and the housing is embedded in the mounting groove, described
Functional unit is arranged in the housing, and the functional unit includes telescoping mechanism, fixing terminal and free terminal, described flexible
Mechanism and the fixing terminal are connected with the housing respectively, and the free terminal is arranged at the telescopic end of the telescoping mechanism
On, the clamping piece includes fixed clip and free folder, and the fixed clip is connected with the fixing terminal, the condensing tube tongs
Part is connected with the free terminal, for driving the free folder when the telescoping mechanism works towards the fixed clip
Direction movement.
In one of the embodiments, the bottom plate is rectangular parallelepiped structure.
In one of the embodiments, the bar shaped sliding slot is extended along the length direction of the bottom plate.
In one of the embodiments, the axis of the axis and the bottom plate of the bar shaped sliding slot is located along the same line.
In one of the embodiments, the width of the limit card slot is more than the width of the bar shaped sliding slot.
In one of the embodiments, the screw hole is opened in the central area of the limit card slot.
Combinations thereof clamping device, it is each by being arranged at intervals with least two limit card slots on the bar shaped sliding slot of bottom plate
The fixture is correspondingly arranged in a limit card slot, and cramping body is set on the connecting seat of fixture, is treated using cramping body clamping
Process component, on the one hand, connecting seat includes pedestal and fastening bolt, and eliminate needs to be further provided with fastening spiral shell in assembling
Bolt, and pedestal has opposite mounting surface and joint face, pole cap is located at mounting surface side, and limited block is located at joint face side, limit
The outside diameter of position block is more than the internal diameter of installing port so that fastening bolt is not fallen off in pedestal；On the other hand, by telescoping mechanism work
Free folder is driven to be moved towards the direction of fixed clip when making, the process is to be added clamping due to only free folder movement
During work parts, parts to be processed are close to the static placement of fixed clip, delay the gap between fixed clip and free folder
Slow to diminish and clamp the parts to be processed between fixed clip and free folder, the stability of clamping is high, is conducive to treat
The follow-up processing operation of process component.
Brief description of the drawings
Fig. 1 is the structure diagram of fixture in one embodiment；
Fig. 2 is the structure diagram of connecting seat in one embodiment；
Fig. 3 is the structure diagram of cramping body in one embodiment；
Fig. 4 is the partial structural diagram of fixture in one embodiment；
Fig. 5 is the structure diagram of modular gripper in one embodiment；
Fig. 6 is the structure diagram that modular gripper applies in milling machine in one embodiment；
Fig. 7 is the structure diagram of bed body in one embodiment.
Embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is from the limitation of following public specific embodiment.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be based on orientation shown in the drawings or
Position relationship, is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, " multiple " are meant that at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be with
It is directly to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " level
", " on ", " under ", "left", "right" and similar statement for illustrative purposes only, be not offered as being uniquely to implement
Mode.
Referring to Fig. 1, it is the structure diagram of fixture 10 in one embodiment, for example, a kind of fixture 10 includes connection
Seat 101 and cramping body 102, connecting seat 101 are connected with cramping body 102.Connecting seat 101 is used to be fixed on outside.Cramping body
102 are used to clamp the object being placed in cramping body 102.For example, by setting cramping body 102 on connecting seat 101, folder is utilized
Hold body 102 and clamp the object that parts to be processed or other needs are clamped.It is appreciated that clamped object is in static
State, when clamped object is parts to be processed, the parts to be processed in static state could be effective
Processing.When clamped object is needs clamped object, clamped object can be made to be in static, keep it former
The inactive state come.
Referring to Fig. 2, it is the structure diagram of connecting seat 101 in one embodiment, for example, connecting seat 101 includes seat
Body 201 and fastening bolt 202.Pedestal 201 and fastening bolt 202 on existing market are to separate sale, in mounting body 201
Need to buy again during to exterior object, however the model of fastening bolt 202 have it is a variety of, it is easy to buy unmatched.For
Installation effectiveness is improved, for example, fastening bolt 202 is embedded on pedestal 201, so that pedestal 201 is self-contained fastening bolt
202, without being pedestal 201 in supporting arrangement fastening bolt, seem very square in mounting body 201 to exterior object
Just, be conducive to improve the installation effectiveness of pedestal 201.
For ease of setting cramping body 102, for example, pedestal 201 is rectangular parallelepiped structure.For example, pedestal 201 has opposite peace
Dress face 203 and joint face (not shown), for example, pedestal 201 is in being provided with mounting groove 204 on mounting surface 203, for example, mounting groove
204 are arranged at the central area of mounting surface 203.For example, center and surrounding area of the central area of mounting surface for mounting surface
Domain, for example, mounting surface is zhou duicheng tuxing and has two symmetry axis, the center of mounting surface is the friendship of two symmetry axis
Point；And for example, symmetric figure centered on mounting surface.Region around the center of mounting surface, including shape is similar in appearance to mounting surface
The region of figure, for example, its area for mounting surface area 10%~70%, such as the center of the central area of mounting surface with
The center of mounting surface coincides, and/or the area of the central area of mounting surface is the 20%~60% of the area of mounting surface, such as
50%.For example, mounting surface has rectangular configuration, the center of the central area of the rectangular configuration of mounting surface and the rectangle knot of mounting surface
The center of structure coincides, and the area of the central area of the rectangular configuration of mounting surface is the area of the rectangular configuration of mounting surface
20%~50%, such as 40%.Other central areas and so on.For example, the cramping body 102 is arranged at the mounting groove
On 204.Mounting groove 204 is the cramping body 102 as the localization region for setting the cramping body 102, also referred to as coordinate
Installation settings provides region, so as to easily cramping body 102 is arranged on pedestal 201, to realize clamping function.For example, seat
Body 201 offers mounting groove 204, i.e. mounting groove wears whole pedestal, including wears mounting surface and joint face, and pedestal exists
Part between two faces, to form a straight slot, for connecting the connecting seat 101.
For ease of setting fastening bolt 202, for example, pedestal 201 offers the installing port for wearing mounting surface 203 and joint face
205, i.e. pedestal 201 offers installing port 205, and installing port wears whole pedestal, including wears mounting surface and joint face, and
Part of the pedestal between two faces, to form a port, for wearing fastening bolt；For example, installing port 205 closes on installation
Groove 204.For make pedestal 201 when being connected to outside it is more stable and firm, in the present embodiment, the quantity of installing port 205 is four, right
Answer, the quantity of fastening bolt 202 is four, each fastening bolt 202 is correspondingly arranged in an installing port 205.For example, four
A installing port 205 closes on mounting groove 204 and is uniformly distributed.In this way, pass through four fastening bolts 202 so that the stress of pedestal 201 is equal
It is even, by pedestal 201 it is mounted externally when it is more stable and firm.
For fastening bolt 202 is limited on pedestal 201, for example, fastening bolt 202 includes tightening latch 206 and limited block
207.For example, tightening latch 206 is arranged in installing port 205.For example, tightening latch 206 has the screw thread body of rod 208 and is arranged on the screw thread body of rod
The pole cap 209 of 208 fixing end.For example, limited block 207 is movably set on the screw thread body of rod 208 away from pole cap 209, pole cap 209
Positioned at 203 side of mounting surface, limited block 207 is located at joint face side.For example, the outside diameter of limited block 207 is more than installing port 205
Internal diameter, to prevent limited block 207 from passing through installing port 205.For example, the distance between limited block 207 and pole cap 209 are more than mounting surface
The distance between 203 and joint face so that there is the space of activity between the screw thread body of rod 208 and pedestal 201, and due to limited block
207 are movably set on the screw thread body of rod 208 away from pole cap 209, and the spiral shell that limited block 207 does not interfere with the screw thread body of rod 208 twists function,
Realize and fastening bolt 202 is limited on pedestal 201.
Referring to Fig. 3, it is the structure diagram of cramping body 102 in one embodiment, for example, cramping body 102 includes work(
Energy part 301 and clamping piece 302, clamping piece 302 are connected with functor 301, and functor 301 is used to drive clamping piece 302 to act, with
Clamping is placed on the object in the grasping part 303 of clamping piece 302.With reference to Fig. 2 and Fig. 3, in an embodiment, mounting groove 204
The shape and structure of shape and structure and functor 301 mutually agrees with.For example, functor 301 is caught in mounting groove 204 and by installing
Set screw that functor 301 is limited in mounting groove 204 in groove 204.
Referring to Fig. 4, it is the schematic cross-sectional view of cramping body 102 in one embodiment, for example, functor 301 wraps
Housing 401 and functional unit 402 are included, housing 401 is embedded in mounting groove 204.For example, the shape and structure and housing of mounting groove 204
401 shape and structure agrees with, for example, housing 401 is tight fit with mounting groove 204；And for example, housing 401 is with mounting groove 204
Interference fit.For example, functional unit 402 is arranged in housing 401.For example, functional unit 402 includes telescoping mechanism 403, fixes
Terminal 404 and free terminal 405, telescoping mechanism 403 and fixing terminal 404 are connected with housing 401 respectively, and free terminal 405 is set
It is placed on the telescopic end of telescoping mechanism 403.Telescoping mechanism 403 is used to drive free terminal 405 at work towards fixing terminal
404 direction movement, i.e., drive free terminal 405 to be moved along the direction of X when 403 stress of telescoping mechanism works, when not stressing,
The direction counter motion of free terminal 405 along X is driven, also can be regarded as the free terminal 405 of drive when flexible of telescoping mechanism 403
Moved back and forth in the direction of X.
In the present embodiment, telescoping mechanism is electric pushrod, that is, linear actuator.It should be noted that electric pushrod can be recognized
For be electric rotating machine configuration aspects one kind extension.For example, what electric pushrod was made of motor push rod and control device mechanism
Straight line executing mechanism.And for example, telescoping mechanism is linear stepping motor.It should be noted that straight line stepping electricity is also known as linear stepping
Motor, is the straight line stepping by being rotated with the pulse electromagnetic field interactions produced by stator to produce by magnet rotor iron core
Motor is linear movement convert rotational motion in motor internal.For example, telescoping mechanism takes electricity by power cord external power supply
Mode takes electricity；And for example, telescoping mechanism is by battery powered, so as to fulfill working on power.
To make clamping piece 302 to clamp exterior object, for example, clamping piece 302 includes fixed clip 406 and free folder
407, for example, fixed clip 406 is connected with fixing terminal 404, free folder 407 is connected with free terminal 405, telescoping mechanism
Drive free folder 407 to be moved towards the direction of fixed clip 406 during 403 work, i.e., driven freely when telescoping mechanism 403 works
Folder 407 is moved along the direction of X, is put in this way, can be clamped when direction movement of the free folder 407 towards fixed clip 406
Put the object in the grasping part 303 of clamping piece 302.
Above-mentioned fixture 10, by setting cramping body 102 on connecting seat 101, zero to be processed is clamped using cramping body 102
Part, on the one hand, connecting seat 101 includes pedestal 201 and fastening bolt 202, and eliminate needs to be further provided with fastening spiral shell in assembling
Bolt 202, and pedestal 201 has opposite mounting surface 203 and joint face, pole cap 209 is located at 203 side of mounting surface, limited block 207
Positioned at joint face side, the outside diameter of limited block 207 is more than the internal diameter of installing port 205 so that fastening bolt 202 in pedestal 201 not
Come off；On the other hand, by driving free folder 407 to be transported towards the direction of fixed clip 406 when telescoping mechanism 403 works
Dynamic, the process is since only free folder 407 moves, and when clamping parts to be processed, parts to be processed are close to geometrical clamp
406 static placement of part, makes the gap between fixed clip 406 and free folder 407 slowly diminish and clamps positioned at fixed clip
Parts to be processed between 406 and free folder 407, the stability of clamping is high, be conducive to parts to be processed it is follow-up plus
Work industry.
Since the telescopic end of telescoping mechanism 403 is only connected with free folder 407, driven freely when telescoping mechanism 403 works
The direction of folder 407 along X move during under the influence of frictional force free folder 407 deviation can inevitably occur, in order to most
The deviation of the free folder 407 of reduction of limits, as shown in figure 4, cramping body 102 further includes positioning strip 410.For example, condensing tube tongs
Part 407 offers the first posting 421 and is provided with the first elastic component 422.Determine for example, the first elastic component 422 is contained in first
The bottom of the first posting 421 is fixed in position frame 421, one end of the first elastic component 422, the other end of the first elastic component 422 with
One end connection of positioning strip 410.For example, fixed clip 406 offers the second posting 431 and is provided with the second elastic component 432.
The bottom of the second posting 431, the other end and the positioning strip 410 of the second elastic component 432 are fixed in one end of second elastic component 432
The other end connection.For example, the first elastic component 422 and the second elastic component 432 are spring.For example, the cross-sectional area of positioning strip 410
Less than the first posting 421 and the cross-sectional area of the second posting 431.For example, the length of positioning strip 410 is equal to the first posting
421 and second posting 431 the sum of depth.In this way, free folder 407 is driven to be transported along the direction of X when telescoping mechanism 403 works
In dynamic process, under the guiding role of positioning strip 410, the first posting 421 and the second posting 431, free folder 407 will
Advance according to set track, meanwhile, under the elastic reaction of the first elastic component 422 and the second elastic component 432, work as telescoping mechanism
403 when being stopped, and the opposite direction of free folder 407 along X are recovered to original position, thus reduce to greatest extent from
By the deviation of folder 407.
To improve clamping effect, for example, free folder 407 and the opposite side of fixed clip 406 offer teeth 440.
For example, teeth 440 for triangular structure of right angle.Further, default outside diameter is clamped to be suitable for the fixture of the present embodiment
Cylinder or class cylinder, for example, free folder 407 offers the first clamping notch 451, fixed clip 406 offers
Second clamping notch 452, for example, the first clamping notch 451 has semicircular cross section, for example, the second clamping notch 452 has
There is semicircular cross section, for example, the first clamping notch 451 and second clamps notch 452 and forms circular second grasping part.
In this way, forming circular second grasping part since the first clamping notch 451 and second clamps notch 452, it is pre- to be suitable for clamping
If the cylinder or class cylinder of outside diameter, effectively improve the practicality of fixture.
Referring to Fig. 5, it is the structure diagram of modular gripper in one embodiment, with reference to Fig. 1 and Fig. 5, for example,
A kind of modular gripper 20 includes bottom plate 510 and at least two fixtures 10.For example, bottom plate 510 be provided with bar shaped sliding slot 520 and with
At least two limit card slots 530 are arranged at intervals with bar shaped sliding slot 520, limit card slot 530 offers the female screw hole of tool.Example
Such as, each fixture 10 is correspondingly arranged in a limit card slot 530, and fixture 10 includes connecting seat 101, and connecting seat 101 includes pedestal
201, pedestal 201 has opposite mounting surface 203 and joint face (not shown), and joint face abuts the bottom of limit card slot 530, bolt
Bar and screw hole threaded.
For example, the bottom plate 510 is rectangular parallelepiped structure.For example, length of the bar shaped sliding slot 520 along the bottom plate 510
Direction is extended.For example, the axis of the bar shaped sliding slot 520 and the axis of the bottom plate 510 are located along the same line.Example
Such as, the width of the limit card slot 530 is more than the width of the bar shaped sliding slot 520.For example, the screw hole be opened in it is described spacing
The central area of card slot 530.Such as the center of the central area of limit card slot and the center of limit card slot coincide, and/or limit
The area of the central area of position card slot is the 10%~60% of the area of limit card slot, such as 50%.Such as limit card slot has
The center of rectangular configuration, the center of the central area of the rectangular configuration of limit card slot and the rectangular configuration of limit card slot coincides,
And the area of the central area of the rectangular configuration of limit card slot is the 20%~50% of the area of the rectangular configuration of limit card slot, example
Such as 40%.
Combinations thereof clamping device, it is each by being arranged at intervals with least two limit card slots on the bar shaped sliding slot of bottom plate
The fixture is correspondingly arranged in a limit card slot, and cramping body is set on the connecting seat of fixture, is treated using cramping body clamping
Process component, on the one hand, connecting seat includes pedestal and fastening bolt, and eliminate needs to be further provided with fastening spiral shell in assembling
Bolt, and pedestal has opposite mounting surface and joint face, pole cap is located at mounting surface side, and limited block is located at joint face side, limit
The outside diameter of position block is more than the internal diameter of installing port so that fastening bolt is not fallen off in pedestal；On the other hand, by telescoping mechanism work
Free folder is driven to be moved towards the direction of fixed clip when making, the process is to be added clamping due to only free folder movement
During work parts, parts to be processed are close to the static placement of fixed clip, delay the gap between fixed clip and free folder
Slow to diminish and clamp the parts to be processed between fixed clip and free folder, the stability of clamping is high, is conducive to treat
The follow-up processing operation of process component.
Referring to Fig. 6, it is the structure diagram that modular gripper applies in milling machine in one embodiment, will be above-mentioned
Modular gripper apply exemplified by a kind of milling machine, with reference to Fig. 1, Fig. 5 and Fig. 6, for example, a kind of milling machine 30 includes lathe 610
And modular gripper 20.For example, modular gripper 20 includes bottom plate 510 and at least two fixtures 10.As described in Figure 7, it is described
Lathe 610 includes bed body 701 and station 702, and the bed body 701 is provided with workspace 703, and the station 702 is arranged at described
On workspace 703, installation position 704 is provided with the station 702.As shown in figure 5 and figure 7, the modular gripper 20 is set
It is placed on the installation position 704, the modular gripper 20 includes：Bottom plate 510 and at least two fixtures 10.The bottom plate 510
It is provided with bar shaped sliding slot 520 and with being arranged at intervals with least two limit card slots 530, the limiting card on the bar shaped sliding slot 520
Groove 530 offers the female screw hole of tool, and the bottom plate 510 is welded in the installation position 704.Each fixture 10 corresponds to
It is arranged in a limit card slot 530.The joint face abuts the bottom of the limit card slot 530, the tightening latch with it is described
Screw hole threaded.
In order to realize illumination functions, for example, the station 702 is provided with LED light device, the LED light device
Illumination direction is towards the installation position 704.For example, the bed body 701 includes bed board and four footposts, four footposts are uniform
It is arranged on the same side of the bed board, the footpost is provided with the workspace 703 to the bed board opposite to each other.For example, four
Formed with receiving space between the footpost, the storage of the instrument for placing the processing of lathe 610 is provided with the receiving space
Thing room.For example, the bed board, which closes on the workspace 703, offers mouth of taking, the mouth of taking connects the material storage room.Example
Such as, the quantity of the mouth of taking has two, is separately positioned on the both sides of the workspace 703.
Above-mentioned milling machine, by being provided with workspace 703 in bed body 701, the station 702 is arranged at the workspace 703
On, installation position 704 is provided with the station 702, modular gripper 20 is arranged on the installation position 704, combination grip
At least two limit card slots are arranged at intervals with the bar shaped sliding slot of the bottom plate of device 20, each fixture is correspondingly arranged in described in one
In limit card slot, cramping body is set on the connecting seat of fixture, clamps parts to be processed using cramping body, on the one hand, connecting seat
Including pedestal and fastening bolt, eliminate needs to be further provided with fastening bolt in assembling, and pedestal has opposite mounting surface
And joint face, pole cap are located at mounting surface side, limited block is located at joint face side, and the outside diameter of limited block is more than the interior of installing port
Footpath so that fastening bolt is not fallen off in pedestal；On the other hand, by driving free folder direction fixed when telescoping mechanism works
The direction movement of folder, the process is due to only free folder movement, and when clamping parts to be processed, parts to be processed are tight
Paste the static placement of fixed clip, the gap between fixed clip and free folder is slowly diminished and clamp positioned at fixed clip and
Parts to be processed between free folder, the stability of clamping is high, is conducive to the follow-up processing operation of parts to be processed.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Cannot therefore it be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (6)
- A kind of 1. modular gripper, it is characterised in that including：Bottom plate, the bottom plate are provided with bar shaped sliding slot and with being arranged at intervals with least two limit card slots, institute on the bar shaped sliding slot State limit card slot and offer the female screw hole of tool；At least two fixtures, each fixture are correspondingly arranged in a limit card slot, and the fixture includes：Connecting seat, the connecting seat include pedestal and fastening bolt,The pedestal has opposite a mounting surface and joint face, and the pedestal is described in being provided with mounting groove on the mounting surface Pedestal offers the installing port for wearing the mounting surface and the joint face,The fastening bolt includes tightening latch and limited block, and the tightening latch is arranged in the installing port, and the tightening latch has threaded rod Body and be arranged on the screw thread body of rod fixing end pole cap,The limited block is movably set on the screw thread body of rod away from the pole cap, and the pole cap is located at the mounting surface one Side, the limited block are located at the joint face side, and the outside diameter of the limited block is more than the internal diameter of the installing port, the connection Face abuts the bottom of the limit card slot, the tightening latch and the screw hole threaded；Cramping body, the cramping body include functor and clamping piece,The functor includes housing and functional unit, and the housing is embedded in the mounting groove, and the functional unit is arranged at In the housing, the functional unit includes telescoping mechanism, fixing terminal and free terminal, the telescoping mechanism and the fixation Terminal is connected with the housing respectively, and the free terminal is arranged on the telescopic end of the telescoping mechanism,The clamping piece includes fixed clip and free folder, and the fixed clip is connected with the fixing terminal, the freedom Folder is connected with the free terminal, for driving the free folder when the telescoping mechanism works towards the geometrical clamp The direction movement of part.
- 2. modular gripper according to claim 1, it is characterised in that the bottom plate is rectangular parallelepiped structure.
- 3. modular gripper according to claim 2, it is characterised in that length of the bar shaped sliding slot along the bottom plate Direction is extended.
- 4. modular gripper according to claim 3, it is characterised in that the axis of the bar shaped sliding slot and the bottom plate Axis be located along the same line.
- 5. modular gripper according to claim 4, it is characterised in that the width of the limit card slot is more than the bar The width of shape sliding slot.
- 6. modular gripper according to claim 5, it is characterised in that the screw hole is opened in the limit card slot Central area.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610951862.1A CN106346274B (en) | 2016-10-26 | 2016-10-26 | Modular gripper |
| CN201810597920.4A CN108772724B (en) | 2016-10-26 | 2016-10-26 | Combined clamping device |
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| CN201610951862.1A CN106346274B (en) | 2016-10-26 | 2016-10-26 | Modular gripper |
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| CN201810597920.4A Division CN108772724B (en) | 2016-10-26 | 2016-10-26 | Combined clamping device |
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| CN106346274A CN106346274A (en) | 2017-01-25 |
| CN106346274B true CN106346274B (en) | 2018-05-08 |
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| CN201810597920.4A Active CN108772724B (en) | 2016-10-26 | 2016-10-26 | Combined clamping device |
| CN201610951862.1A Active CN106346274B (en) | 2016-10-26 | 2016-10-26 | Modular gripper |
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| CN201810597920.4A Active CN108772724B (en) | 2016-10-26 | 2016-10-26 | Combined clamping device |
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| CN108406000A (en) * | 2018-05-28 | 2018-08-17 | 浙江巨峰木业有限公司 | A kind of sheet fabrication cutting equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3625074A1 (en) * | 1986-07-24 | 1988-02-04 | Heller Geb Gmbh Maschf | Device for the positioning and clamping of workpiece carriers, such as pallets, slides and the like |
| CN104440304A (en) * | 2014-11-24 | 2015-03-25 | 苏州市福迈精密机械有限公司 | Pneumatic fixture for numerical control machine tool |
| CN205032983U (en) * | 2015-08-19 | 2016-02-17 | 天津市华天世纪机械有限公司 | Pneumatic frock clamp |
| CN205630061U (en) * | 2016-05-20 | 2016-10-12 | 焦作大学 | Bearing roller roll body double -end boring automatic centering fixture |
-
2016
- 2016-10-26 CN CN201810597920.4A patent/CN108772724B/en active Active
- 2016-10-26 CN CN201610951862.1A patent/CN106346274B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3625074A1 (en) * | 1986-07-24 | 1988-02-04 | Heller Geb Gmbh Maschf | Device for the positioning and clamping of workpiece carriers, such as pallets, slides and the like |
| CN104440304A (en) * | 2014-11-24 | 2015-03-25 | 苏州市福迈精密机械有限公司 | Pneumatic fixture for numerical control machine tool |
| CN205032983U (en) * | 2015-08-19 | 2016-02-17 | 天津市华天世纪机械有限公司 | Pneumatic frock clamp |
| CN205630061U (en) * | 2016-05-20 | 2016-10-12 | 焦作大学 | Bearing roller roll body double -end boring automatic centering fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108772724B (en) | 2020-08-04 |
| CN106346274A (en) | 2017-01-25 |
| CN108772724A (en) | 2018-11-09 |
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Inventor after: Kang Zhuang Inventor before: Huang Qiaoling |
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Effective date of registration: 20180413 Address after: 528200 Foshan, Guangdong, Nanshui District, Lishui Town, Heshun Village, five of the first floor, two Applicant after: Foshan Xun Electronic Technology Co., Ltd. Address before: 516000 District, Huizhou, Huicheng, South Sanhuan Road, No. 19 Jinshan Lake Garden District No. 3, building 303, Applicant before: Huizhou city Heinaer Technology Co. Ltd. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Combined clamping device Effective date of registration: 20211221 Granted publication date: 20180508 Pledgee: Guangdong Nanhai Rural Commercial Bank branch branch of Limited by Share Ltd. Pledgor: Foshan Xun Electronic Technology Co.,Ltd. Registration number: Y2021980015759 |