CN108772724A - Modular gripper - Google Patents
Modular gripper Download PDFInfo
- Publication number
- CN108772724A CN108772724A CN201810597920.4A CN201810597920A CN108772724A CN 108772724 A CN108772724 A CN 108772724A CN 201810597920 A CN201810597920 A CN 201810597920A CN 108772724 A CN108772724 A CN 108772724A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- modular gripper
- limit card
- mounting surface
- fixed clip
- 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.)
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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
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 at least two limit card slots, fixture is arranged at intervals on bar shaped sliding slot：Connecting seat, connecting seat include pedestal and fastening bolt, and it includes tightening latch and limited block that pedestal, which has opposite mounting surface and joint face, fastening bolt, 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 shell and functional unit, and clamping piece includes fixed clip and free folder.Above-mentioned fixture, on the one hand, eliminate and need to be further provided with fastening bolt in assembling；On the other hand so that the gap between fixed clip and free folder is slowly become smaller and the parts to be processed between fixed clip and free folder are clamped, the stability of clamping is high, is conducive to the subsequent processing operation of parts to be processed.
Description
The application is application No. is 2016109518621, and the applying date is on October 26th, 2016, and invention and created name is
The divisional application of the patent of " modular gripper ".
Technical field
The present invention relates to clamping technique fields, 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 the development of clamping technique, especially clamp technology.Currently, each production
Product can be positioned and clamping workpiece in production engineering in a set of dedicated fixture of each production station making by the fixture, 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 when producing line thread-changing, and also the fixture replaced is desirable to carefully tune positioning
Precision.Fixture fabrication cycle length, cost of manufacture height are not only caused in this way, are taken and are consumed manually when secondly replacing fixture.
Invention content
Based on this, it is necessary to for how simplifying structure, how improving the technical issues of stability of clamping, provide one kind
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 item
Shape sliding slot and at least two limit card slots are arranged at intervals 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, there is the pedestal opposite mounting surface and joint face, the pedestal to be set on the mounting surface
It is equipped with mounting groove, 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 in the threaded rod
The pole cap of the fixing end of body, the limited block are movably set in far from the pole cap on the body of rod, and the pole cap is located at described
Mounting surface side, the limited block are located at the joint face side, and the outer 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 shell and functional unit, and the shell is embedded in the mounting groove, described
Functional unit is set in the shell, and the functional unit includes telescoping mechanism, fixing terminal and free terminal, described flexible
Mechanism and the fixing terminal are connect with the shell respectively, and the free terminal is set to the telescopic end of the telescoping mechanism
On, the clamping piece includes fixed clip and free folder, and the fixed clip is connect with the fixing terminal, the condensing tube tongs
Part is connect with the free terminal, for driving the free folder towards the fixed clip when the telescoping mechanism works
Direction movement.
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 in one of the embodiments,.
Said combination clamping device, it is each by being arranged at intervals at 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 arranged on the connecting seat of fixture, is waited for using cramping body clamping
Process component, on the one hand, connecting seat includes pedestal and fastening bolt, eliminates and needs to be further provided with fastening spiral shell in assembling
Bolt, and there is pedestal opposite mounting surface and joint face, pole cap to be located at mounting surface side, limited block is located at joint face side, limit
The outer 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 being clamped due to only free folder movement
When work parts, parts to be processed are close to the static placement of fixed clip, keep the gap between fixed clip and free folder slow
Slow to become smaller and the parts to be processed between fixed clip and free folder are clamped, the stability of clamping is high, is conducive to wait for
The subsequent processing operation of process component.
Description of the drawings
Fig. 1 is the structural schematic diagram of fixture in one embodiment；
Fig. 2 is the structural schematic diagram of connecting seat in one embodiment；
Fig. 3 is the structural schematic diagram of cramping body in one embodiment；
Fig. 4 is the partial structural diagram of fixture in one embodiment；
Fig. 5 is the structural schematic diagram of modular gripper in one embodiment；
Fig. 6 is that modular gripper applies the structural schematic diagram in milling machine in one embodiment；
Fig. 7 is the structural schematic diagram of bed body in one embodiment.
Specific implementation mode
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
Specific implementation mode 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 violating intension of the present invention, therefore the present invention is not limited by 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 ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated 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 used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct 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 be directly above or diagonally above the second feature, 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 directly under or diagonally below the second feature, 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 set to " another element, it can be directly another
On one element or there may also be elements 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
", "upper", "lower", "left", "right" and similar statement for illustrative purposes only, be not offered as being uniquely to implement
Mode.
Referring to Fig. 1, its structural schematic diagram for fixture 10 in one embodiment, for example, a kind of fixture 10 includes connection
Seat 101 and cramping body 102, connecting seat 101 are connect with cramping body 102.Connecting seat 101 is for being fixed on outside.Cramping body
102 for being clamped the object being placed in cramping body 102.For example, by the way that cramping body 102 is arranged on connecting seat 101, folder is utilized
It holds body 102 and the object that parts to be processed or other needs are clamped is 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 to need clamped object, clamped object can be made to be in static, keep its original
The stationary state come.
Referring to Fig. 2, its structural schematic diagram for 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
It needs to buy again when to exterior object, however there are many models of fastening bolt 202, it is easy to it buys 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 mating 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 cramping body 102 is arranged, 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 set to the central area of mounting surface 203.For example, the central area of mounting surface is the center of mounting surface and surrounding area
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；For another example, symmetric figure centered on mounting surface.Region around the center of mounting surface, including shape are similar to mounting surface
The region of figure, for example, its area be mounting surface area 10%~70%, such as the center of the central area of mounting surface with
The 20%~60% of the area that the center of mounting surface coincides and/or the area of the central area of mounting surface is 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 for the rectangular configuration that the area of the central area of the rectangular configuration of mounting surface is mounting surface
20%~50%, such as 40%.Other central areas and so on.For example, the cramping body 102 is set to the mounting groove
On 204.Mounting groove 204 is the cramping body 102 as the localization region that the cramping body 102 is arranged, also referred to as coordinate
Installation settings provides region, to which easily cramping body 102 is arranged on pedestal 201, to realize clamping function.For example, seat
Body 201 offers mounting groove 204, that is, mounting groove wears entire 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 fastening bolt 202 is arranged, for example, pedestal 201 offers the installing port for wearing mounting surface 203 and joint face
205, that is, pedestal 201 offers installing port 205, and installing port wears entire 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
Slot 204.More stable and firm when to make pedestal 201 be connected to outside, in the present embodiment, the quantity of installing port 205 is four, right
It answers, 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, passing through four fastening bolts 202 so that the stress of pedestal 201 is equal
It is even, it is more stable and firm when pedestal 201 is mounted on external.
For fastening bolt 202 to be 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 in the screw thread body of rod
The pole cap 209 of 208 fixing end.For example, limited block 207 is movably set in far from pole cap 209 on the screw thread body of rod 208, pole cap 209
Positioned at 203 side of mounting surface, limited block 207 is located at joint face side.For example, the outer 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 movable space, and due to limited block between the screw thread body of rod 208 and pedestal 201
207 are movably set in far from pole cap 209 on the screw thread body of rod 208, and the spiral shell that limited block 207 does not interfere with the screw thread body of rod 208 twists function,
It realizes and fastening bolt 202 is limited on pedestal 201.
Referring to Fig. 3, its structural schematic diagram for cramping body 102 in one embodiment, for example, cramping body 102 includes work(
Energy part 301 and clamping piece 302, clamping piece 302 are connect with functor 301, and functor 301 is used to that clamping piece 302 to be driven to act, with
Clamping is placed on the object in the grasping part 303 of clamping piece 302.In conjunction with 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
Screw is set in slot 204 so that functor 301 to be limited in mounting groove 204.
Referring to Fig. 4, its schematic cross-sectional view for cramping body 102 in one embodiment, for example, functor 301 wraps
Shell 401 and functional unit 402 are included, shell 401 is embedded in mounting groove 204.For example, the shape and structure and shell of mounting groove 204
401 shape and structure agrees with, for example, shell 401 is to be fitted close with mounting groove 204；For another example, shell 401 is with mounting groove 204
Interference fit.For example, functional unit 402 is set in shell 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 connect with shell 401 respectively, and free terminal 405 is set
It is placed on the telescopic end of telescoping mechanism 403.Telescoping mechanism 403 for driving free terminal 405 towards fixing terminal at work
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,
It drives free terminal 405 along the direction counter motion of X, also can be regarded as telescoping mechanism 403 and drive free terminal 405 when flexible
It is 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
To be a kind of extension of the electric rotating machine in configuration aspects.For example, what electric pushrod was made of motor push rod and control device mechanism
Straight line executing mechanism.For another example, telescoping mechanism is linear stepping motor.It should be noted that straight line stepping electricity is also known as linear stepping
Motor, be by magnet rotor iron core by with generated by stator pulse electromagnetic field interactions by generate rotation, straight line stepping
Motor is linear movement convert rotational motion inside motor.For example, telescoping mechanism takes electricity by power cord external power supply
Mode takes electricity；For another example, telescoping mechanism is worked on power by battery powered to realize.
To make clamping piece 302 that exterior object can be clamped, for example, clamping piece 302 includes fixed clip 406 and free folder
407, for example, fixed clip 406 is connect with fixing terminal 404, free folder 407 is connect with free terminal 405, telescoping mechanism
It drives free folder 407 to be moved towards the direction of fixed clip 406 when 403 work, i.e., is 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 free folder 407 is moved towards the direction of fixed clip 406
Set the object in the grasping part 303 of clamping piece 302.
Above-mentioned fixture 10 is clamped zero to be processed by the way that cramping body 102 is arranged on connecting seat 101 using cramping body 102
Part, on the one hand, connecting seat 101 includes pedestal 201 and fastening bolt 202, eliminates and needs to be further provided with fastening spiral shell in assembling
Bolt 202, and there is pedestal 201 opposite mounting surface 203 and joint face, pole cap 209 to be located at 203 side of mounting surface, limited block 207
Positioned at joint face side, the outer diameter of limited block 207 is more than the internal diameter of installing port 205 so that fastening bolt 202 pedestal 201 not
It falls 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 parts to be processed are clamped, 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 become smaller and is clamped 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 subsequent plus
Work industry.
Since the telescopic end of telescoping mechanism 403 is only connect with free folder 407, driven freely when telescoping mechanism 403 works
Folder 407 along the direction of X move during under the influence of frictional force free folder 407 deviation can inevitably occur, in order to most
The deviation for reducing free folder 407 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 of positioning strip 410 connects.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, driving free folder 407 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
It advances 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 free folder 407 restores along the opposite direction of X to original position, to reduce to the maximum 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 are triangular structure of right angle.Further, to make the fixture of the present embodiment be suitable for that default outer diameter is clamped
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 is clamped notch 452 and forms circular second grasping part.
In this way, forming circular second grasping part since notch 452 is clamped in the first clamping notch 451 and second, it is pre- to be suitable for clamping
If the cylinder or class cylinder of outer diameter, effectively improve the practicability of fixture.
Referring to Fig. 5, its structural schematic diagram for modular gripper in one embodiment, in conjunction with 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 on 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, there is pedestal 201 opposite mounting surface 203 and joint face (not shown), joint face to abut 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 axis and the bottom plate 510 of the bar shaped sliding slot 520 is 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 is opened in the limit
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 20%~50% of the area for the rectangular configuration that the area of the central area of the rectangular configuration of limit card slot is limit card slot, example
Such as 40%.
Said combination clamping device, it is each by being arranged at intervals at 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 arranged on the connecting seat of fixture, is waited for using cramping body clamping
Process component, on the one hand, connecting seat includes pedestal and fastening bolt, eliminates and needs to be further provided with fastening spiral shell in assembling
Bolt, and there is pedestal opposite mounting surface and joint face, pole cap to be located at mounting surface side, limited block is located at joint face side, limit
The outer 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 being clamped due to only free folder movement
When work parts, parts to be processed are close to the static placement of fixed clip, keep the gap between fixed clip and free folder slow
Slow to become smaller and the parts to be processed between fixed clip and free folder are clamped, the stability of clamping is high, is conducive to wait for
The subsequent processing operation of process component.
Referring to Fig. 6, it applies the structural schematic diagram in milling machine for modular gripper in one embodiment, it will be above-mentioned
Modular gripper apply for a kind of milling machine, in conjunction with 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, 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 set to described
On workspace 703, installation position 704 is provided on 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
Be provided with bar shaped sliding slot 520 and at least two limit card slots 530, the limiting card are arranged at intervals on the bar shaped sliding slot 520
Slot 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 set 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
It is formed with receiving space between the footpost, the storage of the tool for placing the processing of lathe 610 is provided in the receiving space
Object room.For example, the bed board, which closes on the workspace 703, offers mouth of taking, the mouth of taking is connected to the material storage room.Example
Such as, there are two the quantity of the mouth of taking, the both sides of the workspace 703 are separately positioned on.
Above-mentioned milling machine, by being provided with workspace 703 in bed body 701, the station 702 is set to the workspace 703
On, installation position 704 is provided on the station 702, modular gripper 20 is set on the installation position 704, combination grip
At least two limit card slots are arranged at intervals on 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, parts to be processed are clamped using cramping body, on the one hand, connecting seat
Including pedestal and fastening bolt, eliminates and need 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 outer diameter of limited block is more than the interior of installing port
Diameter 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 of folder moves, and the process is due to only free folder movement, and when parts to be processed are clamped, parts to be processed are tight
Paste the static placement of fixed clip, so that the gap between fixed clip and free folder is slowly become smaller and be clamped positioned at fixed clip and
The stability of parts to be processed between free folder, clamping is high, is conducive to the subsequent processing operation of parts to be processed.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies 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, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, 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
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of modular gripper, which is characterized in that including：
Bottom plate, the bottom plate be provided with bar shaped sliding slot and at least two limit card slots are arranged at intervals on the bar shaped sliding slot；
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 the pedestal has opposite mounting surface and joint face, and the pedestal is in described
Mounting groove cramping body is provided on mounting surface；
The cramping body includes functor and clamping piece, and the functor includes shell and functional unit, and the shell is embedded in institute
State in mounting groove, the functional unit is set in the shell, the functional unit include telescoping mechanism, fixing terminal and from
By terminal, the telescoping mechanism and the fixing terminal are connect with the shell respectively, and the free terminal is set to described stretch
On the telescopic end of contracting mechanism；The clamping piece includes fixed clip and free folder, the fixed clip and the fixing terminal
Connection, the free folder is connect with the free terminal, for driving the free folder when the telescoping mechanism works
It is moved towards the direction of the fixed clip.
2. modular gripper according to claim 1, which is characterized in that the limit card slot is offered with internal thread
Screw hole.
3. modular gripper according to claim 1, which is characterized in that the pedestal, which offers, wears the mounting surface
With the installing port of the joint face.
4. modular gripper according to claim 2 or 3, which is characterized in that the connecting seat further comprises fastening
Bolt, the fastening bolt include tightening latch and limited block, and the tightening latch is arranged in the installing port, and the tightening latch has threaded rod
Body and pole cap in the fixing end of the screw thread body of rod is set；
The limited block is movably set in far from the pole cap on the screw thread body of rod, and the pole cap is located at the mounting surface one
Side, the limited block are located at the joint face side, and the outer 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.
5. modular gripper according to claim 1, which is characterized in that the telescoping mechanism is electric pushrod or straight line
Stepper motor.
6. modular gripper according to claim 1, which is characterized in that free folder and the opposite side of fixed clip
Offer teeth.
7. modular gripper according to claim 1, which is characterized in that the cramping body further includes positioning strip, described
Free folder offers the first posting and is provided with the first elastic component；First elastic component is contained in first positioning
The bottom of first posting, the other end of first elastic component and institute are fixed in frame, one end of first elastic component
State one end connection of positioning strip；The fixed clip offers the second posting and is provided with the second elastic component；Second bullet
Property part one end be fixed on the bottom of the second posting, the other end of second elastic component connects with the other end of the positioning strip
It connects.
8. modular gripper according to claim 1, which is characterized in that the bottom plate is rectangular parallelepiped structure.
9. modular gripper according to claim 8, which is characterized in that length of the bar shaped sliding slot along the bottom plate
Direction is extended.
10. modular gripper according to claim 9, which is characterized in that the axis of the bar shaped sliding slot and the bottom
The axis of plate is located along the same line；The width of the limit card slot is more than the width of the bar shaped sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810597920.4A CN108772724B (en) | 2016-10-26 | 2016-10-26 | Combined clamping device |
Applications Claiming Priority (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 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610951862.1A Division CN106346274B (en) | 2016-10-26 | 2016-10-26 | Modular gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108772724A true CN108772724A (en) | 2018-11-09 |
| CN108772724B CN108772724B (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610951862.1A Active CN106346274B (en) | 2016-10-26 | 2016-10-26 | Modular gripper |
| CN201810597920.4A Active CN108772724B (en) | 2016-10-26 | 2016-10-26 | Combined clamping device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610951862.1A Active CN106346274B (en) | 2016-10-26 | 2016-10-26 | Modular gripper |
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| CN (2) | CN106346274B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 CN201610951862.1A patent/CN106346274B/en active Active
- 2016-10-26 CN CN201810597920.4A patent/CN108772724B/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 |
| CN106346274B (en) | 2018-05-08 |
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