CN109311170A - Clamping device and the package system for having the clamping device - Google Patents

Clamping device and the package system for having the clamping device Download PDF

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Publication number
CN109311170A
CN109311170A CN201780033895.0A CN201780033895A CN109311170A CN 109311170 A CN109311170 A CN 109311170A CN 201780033895 A CN201780033895 A CN 201780033895A CN 109311170 A CN109311170 A CN 109311170A
Authority
CN
China
Prior art keywords
clamping
fixture
air
clamping jaw
pair
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.)
Withdrawn
Application number
CN201780033895.0A
Other languages
Chinese (zh)
Inventor
沈愚铃
Original Assignee
沈愚玲
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to KR1020160069557A priority Critical patent/KR101693506B1/en
Priority to KR10-2016-0069557 priority
Application filed by 沈愚玲 filed Critical 沈愚玲
Priority to PCT/KR2017/005434 priority patent/WO2017209438A1/en
Publication of CN109311170A publication Critical patent/CN109311170A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0028Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/007Picking-up and placing mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/14Suspension elements of automobile vehicles

Abstract

The clamping device that one embodiment of the present invention is related to includes: main part, has axis of an orbit;Clamp portion has jig plate, the first fixture and the second fixture, and the jig plate is movably integrated on axis of an orbit, and first fixture and the second fixture are located on jig plate and can clamp the machined object of different structure;Height adjusting part is incorporated on main part, the cylinder including that can adjust height;And top jaw, it is incorporated on height adjusting part, the machined object of different structure can be clamped, clamp portion has the first locking member corresponding to the first fixture and the second locking member corresponding to the second fixture, and including sticking department, the sticking department is incorporated in the first locking member and the second locking member, the position for stationary fixture portion.

Description

Clamping device and the package system for having the clamping device
Technical field
The present invention relates to a kind of clamping device and has the package system of the clamping device, in particular to one kind The clamping device of multiple machined objects with different structure can be clamped and have the package system of the clamping device.
Background technique
The clamping devices such as pneumatic clamper (air gripper) are equivalent to clamping machined object, so as to the device processed.Example Such as, in the process of assembling damper (shock absorber), it is necessary to clamp the component of damper, gas can be used at this time Pawl.
Existing clamping device generally has the structure for being only capable of clamping a kind of machined object.It is therefore desirable to be able to clamp knot The Special clamping device of the different machined object of structure, thus device price is improved, increase the volume of device, and assembling procedure Inefficient.For example, damper has McPherson damper (Mcpherson shock absorber) and telescopic shock absorber The form and dimension of (telescopic shock absorber) etc., the two are different.There is difference in this way in order to clamp in the past The McPherson damper and telescopic shock absorber of structure and shape need to have individual clamping device respectively.
Summary of the invention
Technical problem to be solved
Therefore, the present invention makes in order to solve the above problem, it is desirable to provide one kind can be clamped with different structure The clamping device of multiple machined objects and the package system for having the clamping device.
By embodiment described below, other purposes of the invention will be becomed more clear.
Solve the scheme of technical problem
The clamping device that one embodiment of the present invention is related to includes: main part, has axis of an orbit;Clamp portion has folder Tool plate, the first fixture and the second fixture, the jig plate are movably integrated on axis of an orbit, first fixture and the Two fixtures are located on jig plate and can clamp the machined object of different structure;Height adjusting part is incorporated on main part, including The cylinder of height can be adjusted;And top jaw, it is incorporated on height adjusting part, being processed for different structure can be clamped Object, clamp portion have the first locking member corresponding to the first fixture and the second locking member corresponding to the second fixture, and And including sticking department, which is incorporated in the first locking member and the second locking member, the position for stationary fixture portion It sets.
The package system that one embodiment of the present invention is related to includes clamping device as described above, and main part has downward Multiple transfer members outstanding, and have insertion transfer member and guide the guiding groove of transfer member.
The pneumatic clamper that one embodiment of the present invention is related to includes: jig main body;A pair of of chuck jaws, can be rotatably set in On jig main body;Elastic component is bonded respectively in a pair of of chuck jaws, is made close to each other in a pair of of chuck jaws;And it is sliding Movable plate is bonded respectively in chuck jaws, can be gone up and down by air, by the rising of sliding panel, a pair of of chuck jaws Between spacing become larger, chuck jaws have: the first arm plate and the second arm plate are respectively rotatably incorporated into jig main body A front surface and a rear surface;Connecting elements is separately connected the first arm plate and the second arm plate;Fixture cleft hand, from the first arm plate and Some arm plate protrusion in second arm plate is formed.
The pneumatic clamper that another embodiment of the present invention is related to includes: a pair of of loading cleft hand, opposite each other;A pair of of clamping jaw gas Cylinder has loading cleft hand respectively;Clamping jaw frame, between clamping jaw cylinder;Support rod is hollow, and is inserted in clamping jaw gas In cylinder and clamping jaw frame, so as to the movement of guided jaw cylinder;And elastic component, positioned at the inside of support rod, to a pair Clamping jaw cylinder provides the elastic force towards clamping jaw frame direction, by the hollow supply air of support rod, to make clamping jaw cylinder It can be far from clamping jaw frame.
Beneficial effect
The present invention is capable of providing one kind and can clamp the clamping device of multiple machined objects with different structure and have The package system of the clamping device.
Detailed description of the invention
Fig. 1 is the perspective view for showing the clamping device that one embodiment of the invention is related to.
Fig. 2 is the figure of the front surface of clamping device shown in FIG. 1, shows the state for being equipped with retainer at an upper portion thereof.
Fig. 3 is the perspective view for showing the clamp portion for the clamping device that one embodiment of the invention is related to.
Fig. 4 is the figure for showing the state that the first fixture in clamping device shown in FIG. 1 is located at main part center.
Fig. 5 is the figure for showing the state that the second fixture in clamping device shown in FIG. 1 is located at main part center.
Fig. 6 is the perspective view for showing the sticking department for the clamping device that one embodiment of the invention is related to.
Fig. 7 is the main view of the front surface of the second fixture shown in fig. 6, shows the state before supply air.
Fig. 8 is the main view of the front surface of the second fixture shown in fig. 6, shows and is supplied to air and clamping jaw is unfolded State.
Fig. 9 is the cross-sectional view for showing the cylinder of height adjusting part in the clamping device that one embodiment of the invention is related to.
Figure 10 is the cross-sectional view for showing the cylinder for the state that inner tube rises in Fig. 9.
Figure 11 is the perspective view for showing the conical clutch part in the cylinder of height adjusting part.
Figure 12 is the perspective view for showing the top jaw for the clamping device that one embodiment of the invention is related to.
Figure 13 is the figure for showing the internal plane structure of top jaw shown in Figure 12, shows an only clamping jaw cylinder Mobile state.
Figure 14 is the figure for showing the front surface internal structure of top jaw shown in Figure 12, shows an only clamping jaw gas The mobile state of cylinder.
Figure 15 is the figure for showing the rear surface for the clamping device that one embodiment of the invention is related to.
Figure 16 is to show to combine air to supply mould on the air connection piece for the clamping device that one embodiment of the invention is related to The figure of state before block.
Figure 17 is the top view for showing the package system that one embodiment of the invention is related to.
Figure 18 is formed by guiding groove on the guiding elements for show the package system shown in Figure 17 inserted with clamping The cross-sectional view of the state of the transfer member of device.
Figure 19 is the top view of the first guiding groove and the second guiding groove shown in Figure 17.
Specific embodiment
The present invention can apply various changes, can have various embodiments, show specific embodiment below by attached drawing, And it is described in detail in a specific embodiment.It is to be understood, however, that this is not intended to limit the invention to specific reality Mode is applied, but includes having altered in thought and technical scope of the invention, equivalent and substitute.To this hair It is bright when being illustrated, if it is considered to being possible to unnecessarily obscure ancestor of the invention for illustrating for relevant well-known technique Purport, then description is omitted.
Term used in this application is used only to illustrate specific embodiment, it is not intended that limits the present invention.Unless Context explicitly points out other situations, and otherwise singular statement includes the statement of plural number.It should be appreciated that " comprising " in this application Either " have " etc. terms indicate there are feature recorded in specification, number, step, movement, constituent element, component or A combination thereof, it is not excluded that exist or increase more than one other feature, number, step, movement, constituent element, component or A possibility that a combination thereof.
The terms such as first, second and inside, outside can be used to illustrate various constituent elements, but the constituent element is not It should be limited by the term.The term is used only to distinguish a constituent element and other constituent elements.
In the following, embodiment of the present invention is described in detail referring to attached drawing, when being described with reference to the accompanying drawings, It is unrelated with figure number, identical appended drawing reference is assigned for identical or corresponding constituent element, and omit the repeated explanation to this.
Fig. 1 is the perspective view for showing the clamping device 100 that one embodiment of the invention is related to.Also, Fig. 2 is shown in FIG. 1 The figure of the front surface of clamping device 100 shows the state for being equipped with retainer 295 at an upper portion thereof.
Referring to figs. 1 to Fig. 2, the clamping device 100 that one embodiment of the invention is related to can clamp two with different structure A above machined object (not shown).For example, the clamping device 100 that the present embodiment is related to can clamp McPherson damper with And telescopic shock absorber.In this way, the clamping device 100 that the present embodiment is related to can clamp two or more by single device to be had not Isostructural machined object, therefore can realize the cost and volume of reduction device, and the effect of operation can be effectively carried out Fruit.
As shown in figure 17, the clamping device 100 that the present embodiment is related to is arranged in package system 400, passes through conveyer 410 It is moved, so as to be processed to machined object (not shown).
The clamping device 100 that the present embodiment is related to includes: main part 110;Clamp portion 150, have the first fixture 170 and Second fixture 180;Height adjusting part 220 is incorporated on main part 110;And top jaw 300, it is incorporated in height adjusting part On 220.Also, the clamping device 100 that the present embodiment is related to may further include retainer 295, which limits height The rising of adjustment portion 220 is spent, to adjust the height of top jaw 300.
Machined object (not shown) with different structure and size can be selected by the clamping device 100 that the present embodiment is related to Clamp to selecting property.For example, one end of MacPherson type damper can be clamped, the other end in conjunction on the first fixture 170 It is clamped by the top jaw 300 for adjusting height by height adjusting part 220.In addition, one end of telescopic shock absorber can combine It is clamped on the second fixture 180, the other end is pressed from both sides by the top jaw 300 for adjusting height by height adjusting part 220 It holds.
In this way, clamp portion 150 have corresponding to the machined object to be clamped type more than two fixtures 170, 180, it being capable of mobile fixture portion 150 when using corresponding fixture.In addition, the top of clamp portion can all be clamped by top jaw 300, The height of top jaw 300 is adjusted, by height adjusting part 220 so as to corresponding with the structure of machined object and shape Ground is effectively clamped.
The clamping device 100 that the present embodiment is related to, which is shown, has the first fixture 170 and the second fixture 180, so as to Enough clamp two kinds of machined objects, but clamping device of the present invention not by the quantity for the machined object that can be clamped, type with And the limitation of structure.Therefore, the clamping device that another embodiment of the present invention is related to can have three or more fixtures, so as to Selectively clamping has three kinds or more of machined object of different structure.
The main part 110 for the clamping device 100 that the present embodiment is related to forms the ectosome of clamping device 100.Main part 110 Inside is equipped with moveable clamp portion 150, is additionally equipped with the sticking department 140 of the movement of limitation clamp portion 150.Also, main body Portion 110 is equipped with two cylinders 221 of height adjusting part 220, and the end of cylinder 221 is equipped with a top jaw 300.Also, The top of top jaw 300 can be equipped with retainer 295.
Main part 110 has opening portion 112, and the first fixture 170 and the second fixture 180 of fixture 150 can pass through opening Portion 112 is exposed to outside.
Two side surfaces of main part 110 are respectively formed with symmetrical two side openings 114.Two ends of axis of an orbit 160 It is inserted respectively into side opening 114.Be parallel to each other configuration 160 guide clamp portion 150 of a pair of tracks axis jig plate 152.
The rear surface of main part 110 is equipped with air inlet (no appended drawing reference).By air inlet to clamp portion 150, height adjusting part 220 and top jaw 300 supply the air of high pressure, thus run above-mentioned apparatus 150,220,300.
The lower surface of main part 110 is equipped with a pair of of transfer member 118.It as shown in figure 17, can be in quadrilateral shape A transfer member 118 is respectively set on the diagonal line of the lower surface of main part 110.In addition, transfer member 118 can have One bearing 120 and second bearing 122, first bearing 120 and second bearing 122 are rotatably engaged by bearing axis 124 On the lower surface of main part 110.First bearing 120 and second bearing 122 can have identical size and shape.
Transfer member 118 can in package system 400 transferring clipper 100.
A part of the lower surface of main part 110 is opened, thus the lower surface exposure of the jig plate 152 of clamp portion 150 To the outside of main part 110.Also, a part in the lower surface of main part 110 is capped.It is fixed in capped part There is the one end of cylinder 221, is additionally provided with sticking department 140.Retainer 295 is located at the upper of the top jaw 300 of clamping device 100 Portion contacts with top jaw 300 and pressurizes downwards.The height of maximum height limit adjustment portion 220 rises as a result, on making Portion's clamping jaw 300 is located at required height.
Retainer 295 can have pneumatic cylinder or oil hydraulic cylinder, but this is merely exemplary, as long as its height can be adjusted Degree, any type and structure are all harmless.Therefore, the present invention is not limited by the structure of retainer, shape and position.
Fig. 3 is the perspective view for showing the clamp portion 150 for the clamping device 100 that one embodiment of the invention is related to.And Fig. 4 is The figure that first fixture 170 in clamping device 100 shown in FIG. 1 is located at the state in 110 center of main part is shown, Fig. 5 is to show Fig. 1 Shown in clamping device 100 second fixture 180 be located at 110 center of main part state figure.In addition, Fig. 6 is to show this hair The perspective view of the sticking department 140 for the clamping device 100 that a bright embodiment is related to.
With reference to Fig. 3 to Fig. 6, the clamp portion 150 that the present embodiment is related to is incorporated on main part 110, and can be along a left side Right direction (conveying direction of main part 110) sliding.That is, the jig plate 152 of clamp portion 150 can carry out mobile and make the first folder Tool 170 is located at the center (referring to Fig. 4) of main part 110, and the first fixture 170 and top jaw 300, which can clamp, as a result, is added Two ends of work object.In addition, jig plate 152 can carry out center that is mobile and making the second fixture 180 be located at main part 110 (referring to Fig. 5), the second fixture 180 and top jaw 300 can clamp two ends of machined object as a result,.
The clamp portion 150 of shift position as shown in Figure 4 and 5 can steadily fix it by sticking department 140 Position.
According to the type for the machined object to be clamped, clamp portion 150 is moved left and right, and selectively makes the first fixture 170 and second some fixture in fixture 180 be located at the vertical lower of top jaw 300.As a result, clamp portion 150 with it is upper Portion's clamping jaw 300 clamps machined object together.
Clamp portion 150 includes jig plate 152, axis of an orbit 160, the first fixture 170, the second fixture 180, the first locking member 156 and second locking member 158.
Jig plate 152 is the block (block) of rectangular-shape, and the first fixture 170 and the second fixture 180 are disposed thereon Portion.Also, the first locking member 156 and the second locking member 158 are respectively equipped on jig plate 152.
Jig plate 152 has two through holes 154, and axis of an orbit 160 is inserted into through hole 154.160 phase of a pair of tracks axis It mutually configures in parallel, guide clamp plate 152 is moved along its length.The conveying direction and package system of jig plate 152 The conveying direction of clamping device 100 in 400 can be identical.
First locking member 156 corresponds to the first fixture 170, as shown in figure 4, when the first fixture 170 is located at main part 110 Center when can be locked portion 140 locking.In addition, the second locking member 158 corresponds to the second fixture 180, as shown in figure 5, working as Second fixture 180 can be locked the locking of portion 140 when being located at the center of main part 110.First locking member 156 and the second locking Some locking member in component 158 is selectively locked portion 140 and engages, and thus the position in stationary fixture portion 150, prevents It is moved left and right.
First locking member 156 and the second locking member 158 are incorporated on the upper surface of jig plate 152, part of it It is projected into the outside of jig plate 152.Also, the end center of the first locking member 156 and the second locking member 158 is formed with The fastening groove 157 of recess.The locking protrusion 147 of sticking department 140 is inserted into fastening groove 157, and thereby, it is possible to pass through sticking department The position in 140 stationary fixture portions 150.
With reference to Fig. 6, sticking department 140 has: two columns 142;Sliding block 146 is movably integrated on column 142;Elastic structure Part 144, pressurize sliding block 146 upwards;Button 148 is projected into the top of sliding block 146.
Column 142 is parallel to each other by the pin (pin) of size having the same and shape and is configured.A pair of of column 142 draws Slider guide 146 can be moved along up and down direction.
In the one side of sliding block 146, locking protrusion 147 is prominent towards 152 direction of jig plate.Locking protrusion 147 is equivalent to slotting Enter to the part in the fastening groove 157 being located in the first locking member 156 or the second locking member 158.It is prominent by that will engage It plays 147 to be inserted into fastening groove 157, can prevent the jig plate 152 of clamp portion 150 from moving left and right.
Sliding block 146 can be guided by column 142 and be moved up and down.Sliding block 146 is pressurizeed upwards by elastic component 144, thus sliding The locking protrusion 147 of block 146 can be selectively by some card in the first locking member 156 or the second locking member 158 Only component engages.
The top of sliding block 146 is equipped with button 148.The upper end of button 148 is exposed to the outside of main part 110.Thus work as When button 148 is pressurizeed downwards by external force, even if upwarding pressure there are elastic component 144, sliding block 146 can also move downward. In this way, sliding block 146 moves downward, so that locking protrusion 147 be made also to be moved out fastening groove 157 downward together, thus release For the locking state of the first locking member 156 and the second locking member 158.
In order to be located at master by mobile some fixture made in the first fixture 170 and the second fixture 180 of clamp portion 150 The center in body portion 110, the button 148 in locking and pressurizing portion 140 downward first are released for the first locking member 156 or second The locking state of the sticking department 140 of locking member 158.Then, by being located at package system (7 appended drawing references 400 referring to Fig.1) In additional device (not shown), move jig plate 152 along left and right directions, thus, as shown in Figure 4 and 5, will press from both sides Tool portion 150 is moved to desired position.After mobile fixture portion 150, when removing the external force applied to button 148, pass through elasticity The elastic force of component 144 rises sliding block 146 and selectively by the first locking member 156 or the second locking member 158 Some locking member locking.
For the position in stationary fixture portion 150, the clamping device 100 that the present embodiment is related to can of course have various structures Sticking department.For example, in the clamping device 100 that another embodiment of the present invention is related to, magnetic force can also be utilized, or to formation It is selectively inserted into the protrusion for being fixed in the slot of jig plate 152, realizes sticking department.In this way, the present invention is not locked Determine the limitation of the structure in portion.
In addition, the present invention is not also limited by the unit for driving fixture portion 150.Another embodiment of the present invention is related to Clamping device in, clamp portion can by linear motor (linear motor) or ball-screw (ball screw) come It moves left and right.
In the following, with reference to Fig. 3, Fig. 7 to Fig. 8, to the first fixture 170 of the clamping device 100 that one embodiment of the invention is related to And second fixture 180 be illustrated.
With reference to Fig. 3, Fig. 7 to Fig. 8, the first fixture 170 has the structure and shape different from the second fixture 180, is used for Clamp machined object.First fixture 170 includes the clamp block 172 being fixed on jig plate 152.Clamp block 172 is equipped with multiple For fixing the fixture protrusion (no appended drawing reference) of machined object.Also, the front of clamp block 172 is equipped with the first locking member 156。
Second fixture 180 is run by the air of high pressure, therefore is equivalent to pneumatic clamper (air gripper).
Second fixture 180 has the structure and shape different from the first fixture 170, for clamping machined object.With One fixture 170 is identical, and the position of the second fixture 180 is fixed on jig plate 152 also by clamp block 182.Second fixture 180 Front is equipped with the second locking member 158.Clamp block 182 is equipped with jig main body 184, and jig main body 184 is equipped with for clamping The fixture protrusion 186 and chuck jaws 188 of machined object.
Fixture protrusion 186 is projected into the front surface of jig main body 184, has the shape and knot that can correspond to machined object Structure and the structure for being easy to carry out clamping.
A pair of of chuck jaws 188 are symmetrically equipped on jig main body 184.Chuck jaws 188 are from such as Fig. 8 along left and right The state of direction expansion is shrunk to such as Fig. 7, and thus, it is possible to clamp machined object.One chuck jaws 188 has the first arm plate 192, the second arm plate 194, the first connecting elements 196, the second connecting elements 198, drive member 200, fixture cleft hand 202 and bullet Property component 206.
By rotary hinge 190, the first arm plate 192 and the second arm plate 194 are respectively rotatably incorporated in fixture master The front and rear of body 184.The fixture cleft hand 292 for clamping machined object is equipped in the end of the first arm plate 192.Also, First arm plate 192 and the second arm plate 194 separated from each other pass through 198 phase of the first connecting elements 196 and the second connecting elements Even.Therefore, the first arm plate 192 and the second arm plate 194 are with integrated rotating.
Some connecting elements in first connecting elements 196 and the second connecting elements 198 can have elastic component 206.The clamping device 100 that the present embodiment is related to shows one end that elastic member 206 is combined on the first connecting elements 196. As shown in fig. 7, making the spacing of pair of right and left chuck jaws 188 become minimum by elastic component 206.Also, as shown in figure 8, When the air of high pressure is supplied to the second fixture 180, the spacing of chuck jaws 188 becomes maximum.In this way, elastic component 206 exists Make the spacing between a pair of of chuck jaws 188 minimum when no external force, when being removed after applying external force, makes such as Fig. 8 each other Separate the minimum spacing that maximum chuck jaws 188 have such as Fig. 7.
The clamping device 100 that the present embodiment is related to show chuck jaws 188 tool there are two arm plate 192,194 and Two connecting elements 196,198, but the present invention is not limited by the quantity of siding and connecting elements.Therefore, of the invention A chuck jaws can have one or three or more arm plate and connection in the clamping device that another embodiment is related to Component.
Drive member 200 is equipped with defined angle in the end of arm plate 192,194.Drive member 200 is rotatably to cut with scissors Centered on chain 190, integrally rotated with arm plate 192,194.It rotatably inserts a circular end for drive member 200 Enter in the driver slot 210 of sliding panel 208.Therefore, when sliding panel 208 is moved along a straight line along up and down direction, structure is driven Part 200 and arm plate 192,194 can be pivoted about with this linkage with rotary hinge 190.
The end of first arm plate 192 is equipped with fixture cleft hand 202.Fixture cleft hand 202 is equivalent to the part of clamping machined object. Second fixture 180 has two chuck jaws 188, therefore has two fixture cleft hands 202.The center of fixture cleft hand 202 is formed There is central groove (no appended drawing reference), central groove makes machined object be easy to clamped.
Elastic component 206 is helical spring, and the hook (no appended drawing reference) positioned at two end can be separately positioned on symmetrically On first connecting elements 196 of the chuck jaws 188 of configuration.Elastic component 206 in such as Fig. 8 of a pair of of chuck jaws 188 outwardly When being unfolded and expanding its spacing, flexible deformation occurs, and provide elastic force to chuck jaws 188, to form the shape of Fig. 7 State.Therefore when removing air, chuck jaws 188 become Fig. 7 from the state of Fig. 8 by the elastic restoring force of elastic component 206 State.
It is helical spring that the clamping device 100 that the present embodiment is related to, which shows elastic component 206, but the present invention is not by the The limitation of the type and shape of the elastic component of two fixtures 180.In the clamping device that another embodiment of the present invention is related to, the Two fixtures can have torque spring such as on rotary hinge 190 or two ends are incorporated in the first connecting elements The various structures of elastic rubber on 196 etc. and the elastic component of shape.
Second fixture 180 has sliding panel 208.The knot in a manner of it can be moved along vertical direction of sliding panel 208 It closes in the inside of jig main body 184, is run with the linkage of air slide 212 run by air.Sliding panel 208 can engage In the inside of jig main body 184, thus, it is possible to limit its rising.In an end of sliding panel 208, symmetrically it is formed with A pair of of driver slot 210.The end of drive member 200 is inserted rotatably into driver slot 210.The other end of sliding panel 208 It is combined with air slide 212.
Air slide 212 is located at the inside of jig main body 184, is risen by air, or works as and remove air at present Drop.The center of air slide 212 is equipped with mesoporous 214, can be risen and being injected into the air of mesoporous 214.In addition, air is living The periphery of plug 212 is equipped with o-ring 216 and sealing element 218, and the air quilt being injected into mesoporous 214 is prevented by these components It is discharged to the outside.
The operation for the second fixture 180 for being equivalent to pneumatic clamper (air gripper) is illustrated below.
With reference to Fig. 7, when the air of high pressure is not injected into the inside of air slide 212 or removes air, air is living Plug 212 passes through the elastic force of elastic component 206 in the state having dropped, and becomes the spacing of a pair of of chuck jaws 188 also It obtains minimum.In this way, machined object can be clamped when the spacing minimum between chuck jaws 188.Therefore, the second fixture 180 presss from both sides The power for holding machined object is the elastic restoring force based on elastic component 206.
When the air of high pressure is injected into the mesoporous 214 inside air slide 212, air slide 212 is because of its pressure And rise.With the rising of air slide 212, sliding panel 208 such as rises to Fig. 8, therefore a pair of of chuck jaws 188 rotate, Spacing such as Fig. 8 is expanded into maximum.When chuck jaws 188 start rotation, the length of elastic component 206 becomes larger, and elasticity is extensive Multiple power acts on chuck jaws 188.Only, due to air slide 212 and sliding panel 208 rising and make chuck jaws 188 The power of rotation is bigger, therefore even if elastic member 206 elastic restoring force, chuck jaws 188 can also rotate.
When for example Fig. 8 becomes maximum to the spacing between a pair of of chuck jaws 188, machined object can be removed or pressed from both sides again Hold machined object.Certainly, when removing is provided to the air of air slide 212, air slide 212 and sliding panel 208 decline, Chuck jaws 188 also decline therewith, to form the state of Fig. 7.
As described above, the second fixture 180 of the clamping device 100 that the present embodiment is related to is that structure is simple and can be efficient The pneumatic clamper of ground clamping machined object.
In the following, being said with reference to Fig. 9 to Figure 11 to the height adjusting part 220 for the clamping device 100 that the present embodiment is related to It is bright.
Height adjusting part 220 adjusts the height of top jaw 300 by a pair of of cylinder 221.By being based on height adjustment The height adjustment in portion 220, top jaw 300 can clamp machined object in optimal height.
Height adjusting part 220 has a pair of of cylinder 221 and connects the upper board 290 of cylinder 221.A pair of of 221 phase of cylinder It runs together, and adjusts the height of upper board 290.Cylinder 221 can be by infusing from the air inlet for being located at main part 110 The air that enters is run.
It is removably inserted within the inner tube 234 inside outer tube 222 to be risen or declined because removing air by air, thus The height of the adjusting upper board 290 of cylinder 221.The inside of cylinder 221 is equipped with internal piston 250, clutch pipe 254, conical clutch part 260, upper taper tip 264 and lower taper tip 258.
Outer tube 222 is in hollow cylindrical shape.The upper end of the opening of outer tube 222 is combined with end cap 228, and inner tube 234 is passed through Wear the center of end cap 228.The lower end of the opening of outer tube 222 is combined with gas nozzle 280.By gas nozzle 280, phase is supplied air to When in the mesoporous 236 inside inner tube 234.
In the lower end of outer tube 222, it towards inner inclination is formed with lower part cone 226.Due to lower part cone 226, gas Mouth 280 will not be easily fallen off.
The edge of outer tube 222 is formed with through hole 224.Space by through hole 222, between outer tube 222 and inner tube 234 And the space between internal piston 250 and upper taper tip 264 is able to maintain atmospheric pressure.It can be at the edge of outer tube 222 More than one through hole 224 is set.
End cap 228 is incorporated in the upper end of outer tube 222, is equipped with o-ring 230 inside it.O-ring 230 is close to inner tube 234 Around, to keep air-tightness.Inner tube 234 runs through the center for being incorporated in end cap 228.Inner tube 234 is in hollow cylindrical shape, It is combined with attachment cap 242 in the upper end that it is opened, lower end is combined with upper taper tip 264.Including being respectively formed The upper end of pipe 234 and the upper taper tip 238 of lower end and lower taper tip 240, attachment cap 240 and top Cone point 264 is firmly bonded in inner tube 234, so as to integrally be risen or fallen.
The center of inner tube 234 is formed with mesoporous 236.The air of high pressure is supplied to mesoporous 236, makes inner tube 234 logical as a result, The pressure based on air is crossed to be risen.
The lower end of inner tube 234 is combined with upper taper tip 264.The connector 270 at upper taper tip 264 is located at interior The inside of pipe 234, rest part are projected into the outside of inner tube 234 and are located at the inside of outer tube 222.Upper taper tip 264 Around be equipped with external o-ring 268, external o-ring 268 connects with the inner peripheral surface of outer tube 222 and keeps air-tightness, also, leads to Frictional force is crossed to play the role of preventing inner tube 234 from flying up.
The lower end edge at upper taper tip 264 is formed with top cone 274.Due to top cone 274, upper taper Tip 264, which has, more tends to lower end diameter with regard to smaller truncated cone shape.Conical clutch part 260 can be located at upper taper point Around end 274.
Clutch pipe 254 runs through the center for being incorporated in upper taper tip 264.Due to through hole 224, it is incorporated into clutch pipe Space between the internal piston 250 and upper taper tip 264 of 254 upper ends is in atmospheric pressure state.
It is formed in be equipped in the space in 264 center of upper taper tip and places step 272.Elastic component 285, which is located at, to be placed On step 272.As shown in figure 9, elastic component 285 provides the power for increase internal piston 250.Elastic component 285 can be spiral shell Spring or elastic rubber etc. are revolved, the present invention is not limited by the shape of elastic component and material.
The inside at upper taper tip 264 is equipped with internal o-ring 266.The internal contact of o-ring 266 is through upper taper point Around the clutch pipe 254 in 264 center of end, to keep air-tightness.
Clutch pipe 254 through 264 center of upper taper tip has mesoporous 256, is equivalent to the circle with specific length Column.The upper end and lower end of clutch pipe 254 have open structure.Therefore, clutch pipe is passed through by the air that gas nozzle 280 supplies 254 flow into the mesoporous 236 of inner tube 234.
The upper end of clutch pipe 254 is combined with internal piston 250, and lower end is combined with lower taper tip 258.Also, Clutch pipe 254 is inserted into a manner of it can move up and down relative to upper taper tip 264.Therefore, clutch pipe 254 plays The effect for the power on internal piston will be applied to being transmitted on lower taper tip 258.That is, when downward pressure F2 passes through air When acting on internal piston 250, internal piston 250 and clutch pipe 254 decline relative to upper taper tip 264, thus make Lower taper tip 258 also declines.In addition, not supplying air and only being acted on based on upwarding pressure for elastic component 285 When internal piston 250, internal piston 250 and clutch pipe 254 rise relative to upper taper tip 264, thus make lower cone Shape tip 258 also rises.
250 secure bond of internal piston is located at the inside of inner tube 234 in the upper end of clutch pipe 254.Inner tube 250 Around be equipped with o-ring 252, so as to keep air-tightness.In addition, the lower surface of internal piston 250 is by 285 bullet of elastic component Property is pressurizeed upwards.By moving up and down for internal piston 250, conical clutch part 260 is formed or released for 222 inner peripheral surface of outer tube Pressure.Also, when inner tube 234 rises, internal piston 250 moves down and to elastic component 285 and upper taper Tip 264 is pressurizeed downwards, and therefore, inner tube 234 will not fly up but gently rise.
258 secure bond of lower taper tip is formed integrally and upper and lower in the lower end of clutch pipe 254 with clutch pipe 254 It is mobile.Subtle gap is formed between lower taper tip 258 and the inner peripheral surface of outer tube 222.Therefore, lower taper tip 258 can move up and down without let or hindrance in the inside of outer tube 222.In addition, shape on the surrounding face at lower taper tip 258 At there is a lower part cone 259, thus there is truncated cone shape.Lower part cone 259 and top cone 274 symmetrically configure. And conical clutch part 260 is configured with around top cone 274 and lower taper tip 259.
Conical clutch part 260 is in ring (ring) shape, and cutting section 262 is formed within the scope of the whole length of one side. By cutting section 262, the outer diameter of conical clutch part 260 can become larger or become smaller, and the inner peripheral surface of conical clutch part 260 has simultaneously Corresponding to top cone 274 and the pyramidal structure of lower part cone 259.
Based on the spacing between upper taper tip 264 and lower taper tip 258, the outer diameter of conical clutch part 260 becomes (gap of cutting section 262 becomes larger) or become smaller (gap of cutting section 262 becomes smaller) greatly.When the outer diameter of conical clutch part 260 becomes When big, around face squeeze the inner peripheral surface of outer tube 222, thus, it is possible to fixed inner tube 234 and upper taper tip 264 relative to The height of outer tube 222.In addition, when the outer diameter of conical clutch part 260 becomes smaller, around face will not squeeze the inner circumferential of outer tube 222 Face, thus inner tube 234 and upper taper tip 264 can be moved up and down relative to outer tube 222.
Elastic component 285 is located at the inside at upper taper tip 264, and its center is through there is clutch pipe 254.Elastic structure For the lower end of part 285 on the placement step 272 at upper taper tip 264, upper end contacts the following table of internal piston 250 Face.The upward pressurization inner tube 250 of elastic component 285, makes it away from upper taper tip 264.As a result, lower taper tip 258 with Spacing between upper taper tip 274 becomes smaller, and is imitated by the chock at upper taper tip 274 and lower taper tip 259 Fruit makes the outer diameter of conical clutch part 260 become larger.Since the outer diameter of conical clutch part 260 becomes larger, it is fixed inside outer tube 222 Height, therefore, also fix height of the inner tube 234 inside outer tube 222.Certainly, when supplying air, the power based on air is big In the fixed force (containing frictional force) based on elastic component 285, therefore even if pressing in the presence of the elasticity based on elastic component 286, Increase inner tube 234.
When air is supplied to cylinder 221, and inner tube 234 is made to increase because of power F1, the pressure F2 downward due to air (< F1 internal piston 250) is acted on, makes internal piston 250 by power directed downwardly.At this point, acting on the power F2 on internal piston 250 Upwarding pressure based on elastic component 285 can be greater than.Therefore, internal piston 250 declines, under being connected with clutch pipe 254 Portion's cone point 258 also simultaneously declines, and expands the spacing of itself and upper taper tip 264.As shown in Figure 10, work as lower cone When spacing between shape tip 258 and upper taper tip 264 becomes larger, the diameter of conical clutch part 260 becomes smaller (cutting section 262 Shrink), so that the pressure for 222 inner peripheral surface of outer tube is released, thus it enables that inner tube 234 rises.
When air is not supplied to cylinder 221, due to eliminating the pressure based on air, inner tube 234 can decline.This When, the pressure based on air does not act on internal piston 250, is only had an effect based on upwarding pressure for elastic component 285. Therefore, inner tube 250 rises relative to upper taper tip 264, and the lower taper tip being connected on clutch pipe 254 258 rise, to reduce its spacing with upper taper tip 264 (referring to Fig. 9).
When the spacing between upper taper tip 264 and lower taper tip 258 becomes smaller, the taper that falls between The cutting section 262 of clutch part 260 is unfolded, and outer diameter becomes larger.When the outer diameter of conical clutch part 260 becomes larger, around face squeeze The inner peripheral surface of outer tube 222, thus height of the stationary phase for outer tube 222.By the height of fixed taper clutch part 260, also can Enough fixed height of the inner tube 234 relative to outer tube 222.
In this way, when supplying air, making internal piston in the cylinder 221 for the clamping device 100 that the present embodiment is related to 250 and lower taper tip 258 decline, and release the lock state of conical clutch part 260, for inner tube 234 or more or Pressurization downwards less, thus inner tube 234 will not fly up but gently rise.In addition, in cylinder 221, it is empty when removing When gas, based on the elastic force of elastic component 285, conical clutch part 260 increases its outer diameter by chock effect and is close to outer tube 222 Inner peripheral surface, thus the height of fixed inner tube 234.Therefore, it can prevent inner tube 234 from declining suddenly.
It is equipped with upper board 290 in the upper end of cylinder 221, and is equipped with the top for being equivalent to pneumatic clamper on upper board 290 Clamping jaw 300.
In the following, being illustrated referring to figs 12 to Figure 14 to the top jaw 300 for the clamping device 100 that the present embodiment is related to.
Figure 12 is the perspective view for showing the top jaw 300 for the clamping device 100 that one embodiment of the invention is related to.Also, Figure 13 is the figure of the internal plane structure of top jaw 300 shown in Figure 12, shows what an only clamping jaw cylinder 320 moved State.In addition, Figure 14 is the figure for showing the front surface internal structure of top jaw 300 shown in Figure 12, only one is shown The mobile state of clamping jaw cylinder 320.
As reference, pair of right and left clamping jaw cylinder 320 while movement in the top jaw 300 that the present embodiment is related to, still, For ease of description, it is mobile that an only clamping jaw cylinder 320 is shown in Figure 13 and Figure 14.In addition, Figure 12 is shown from dress Carry the state on cleft hand 302 behind 304 (referring to Fig.1 3) of removal liner.
Identical as the second fixture 180, top jaw 300 is equivalent to pneumatic clamper, is run by the air of high pressure and clamps quilt The other parts of machining object.In particular, top jaw 300 can adjust its height by the height adjustment of cylinder 221.
Top jaw 300 can make a pair of cleft hand 302 that loads be respectively facing left and right expansion by air, thus clamp and added Work object.Top jaw 300 includes: clamping jaw frame 310, centrally located;A pair of of clamping jaw cylinder 320, is symmetrically arranged;It loads Cleft hand 302 is bonded respectively on clamping jaw cylinder 320.
Cleft hand 302 is loaded to be incorporated on clamping jaw cylinder 320 and move together.When air is supplied to top jaw 300, with On the basis of clamping jaw frame 310, a pair of of clamping jaw cylinder 320 moves to left and right direction respectively.It is a pair of as a result, to load between cleft hand 302 Spacing become larger, so as to clamp machined object.
The end for loading cleft hand 302 is combined with liner 304.Liner 304 can be formed by the material of the flexible relatives such as rubber. By liner 304, the machined object for being loaded the clamping of cleft hand 302 can be prevented to be damaged.
Load the shape for the structure that cleft hand 302 can have suitable for the machined object to be clamped.
Clamping jaw frame 310 is located at the center of top jaw 300, forms the clamping jaw cylinder that can make to be arranged respectively at left and right sides 320 mobile centers.The outer shape of clamping jaw frame 310 is in a rectangular parallelepiped shape.Also, clamping jaw frame 310 be equipped with crank 312 with And connecting rod 318.In addition, a pair of support rods 326 for guided jaw cylinder 320 runs through clamping jaw frame 310.
Crank 312 is equivalent to the disk (disk) being rotatably engaged on clamping jaw frame 310.Crank 312 can be with song Handle pin 316 pivots about.Also, the one end of a pair of of connecting rod 318 is rotatable respectively by pin (no appended drawing reference) Ground is incorporated in a surface of crank 312.Centered on crank 312, connecting rod 318 is combined in a manner of left and right and ground symmetrical above and below, Therefore when a clamping jaw cylinder 320 is mobile, another clamping jaw cylinder 320 can also move together.Such crank 312 and connection Bar 318 makes a pair of of clamping jaw cylinder 320 move identical distance always while in the opposite direction.
The one end of connecting rod 318 is rotatably engaged on crank 312, and the other end is rotatably engaged in clamping jaw gas On cylinder 320.By a pair of of connecting rod 318, the clamping jaw cylinder 320 for being located at left and right is symmetrically moved always.
Certainly, the top jaw that another embodiment of the present invention is related to can not have crank 312 and connecting rod 318, Therefore, as shown in Figure 13 and Figure 14, a pair of of clamping jaw frame 310 can move each independently.
Clamping jaw cylinder 320 is to carry out mobile part by air pressurized, on the basis of clamping jaw frame 310 symmetrically Configuration.The shape of clamping jaw cylinder 320 is also in a rectangular parallelepiped shape.
Clamping jaw cylinder 320 can be supported the guidance of bar 326 and move linearly.Support rod 326 is hollow pipe, and Two pairs of support rods 326 are set in parallel.Support rod 326 is inserted respectively into clamping jaw frame 310 and the clamping jaw cylinder 320 positioned at left and right In, the inside of clamping jaw cylinder 320 is equipped with elastic component 328.
Elastic component 328 is helical spring, is equipped with hook 330 in two end.Hook 330 can be hung over positioned at clamping jaw gas On spring compressor 324 on one side surface of cylinder 320.It is a pair of by the elastic restoring force of elastic component 328 when not supplying air Clamping jaw cylinder 320 can be close to centrally located clamping jaw frame 310.
One side surface of clamping jaw cylinder 320 is covered by side cover 322 respectively.Therefore, spring compressor 324 will not be exposed to outside.
Air is flowed into the inside of support rod 326 after being supplied in clamping jaw frame 310.Two ends of support rod 326 Opposed with spring compressor 325 respectively, therefore, spring compressor 324 is due to air and by the direction of the clamping jaw frame 310 far from center Power.Even if the elastic force of elastic member 328 as a result, clamping jaw cylinder 320 can also be moved along left and right directions.
In the pneumatic clamper for the top jaw 300 being related to such as the present embodiment, for guided jaw cylinder 320 support rod 326 with The power generated for mobile clamping jaw cylinder 320 by air is on coaxial line.Therefore, it is able to solve because being not at coaxial line The problem of product abrasion caused by upper and issuable torque and failure.
Figure 15 is the figure for showing the rear surface for the clamping device 100 that one embodiment of the invention is related to, and Figure 16 is to show scheming The figure of the state before air supplying module 360 is combined on air connection piece 340 shown in 15.
With reference to Figure 15 to Figure 16, the rear surface for the clamping device 100 that the present embodiment is related to is equipped with air connection piece 340, empty Air supplying module 360 is combined on gas connector 340.Air supplying module 360 passes through air connection piece 340 to clamping device 100 supply air.
Air connection piece 340 configures the rear surface in main part 110, has the block 342 being square.The center of block 342 If there are three connecting holes 346,348,350, fastener hole 344 is respectively equipped in its two sides.It is formed on air supplying module 360 Connection nozzle 364,366,368 is inserted respectively into three connecting holes 346,348,350, thus supplies air to clamping device 100.Also, the insertion pin 370 being formed on air supplying module 360 is inserted into fastener hole 344, and thereby, it is possible to by air Supplying module 360 is stably bound on air connection piece 340.
The air flowed by connecting hole 346 can be divided into two-way by branched pipe 353, be fed separately to cylinder 221 Gas nozzle 280.In addition, top jaw 300 can be supplied to by the air that another connecting hole 348 flows into, pass through another connecting hole 350 air flowed into can be supplied to the second fixture 180.
Air supplying module 360 carries out straight line back and forth movement along the direction of the arrow, to be tied with air connection piece 340 It closes and separates.Air supplying module 360 can be combined with air connection piece 340 and supply air.For example, working as clamping device 100 by the mobile front for being located at air supplying module 360 when, air supplying module 360 move linearly and and air Connector 340 combines, so as to supply air.
Air supplying module 360 has moveable mobile block 363, and mobile block 363 has three connection nozzles 364,366,368.Connection nozzle 364,366,368 is inserted in place three connecting holes 346,348,350 in air connection piece 340 In, to supply air, this is identical as what is illustrated before.
The left and right sides of connection nozzle 363,366,368 is prominent to be formed with insertion pin 370.Insertion pin 370 is inserted into air In the fastener hole 344 of connector 340, the movement of air supply nozzle 360 is thus guided.
Below with reference to Figure 17 to Figure 19, the package system 400 that one embodiment of the invention is related to is illustrated.
Figure 17 is the top view for showing the package system 400 that one embodiment of the invention is related to.Figure 18 is shown in Figure 17 institute The conveying inserted with clamping device 100 in guiding groove 422,424 is formed by the guiding elements 420 of the package system 400 shown The cross-sectional view of the state of component 118.Figure 19 is to show bowing for the first guiding groove 422 and the second guiding groove 424 shown in Figure 17 View.
As reference, Figure 17 shows a part for the package system 400 that one embodiment of the invention is related to.
The package system 400 that one embodiment of the invention is related to has multiple clamping devices 100.400 conveying clamp of package system It holds device 100 and clamped machined object is processed.
The package system 400 that one embodiment of the invention is related to has the conveyer 410 for transferring clipper 100, draws Lead component 420 and power transmission device 440.Conveyer 410 is used for along straight line transferring clipper 100, and guiding elements 420 is used In along curve transferring clipper 100.Guiding elements is passed through with the conveyer 410 that predetermined angular (such as 90 degree) configure each other 420 are connected.Also, it is equipped with power transmission device 440 in the external side of guiding elements 420, for conveying along curved path Clamping device 100.
Conveyer 410 is used for along straight line transferring clipper 100.Conveyer 410 has the main body of guidance clamping device 100 The track (no appended drawing reference) and driving unit (not shown) in portion 110.Driving unit can have various structures and shape, Such as using conveyer belt or has the conveying sliding block being locked in the protrusion for the slot (not shown) for being formed in 152 lower surface of jig plate Deng.The direction of 410 transferring clipper 100 of conveyer and the conveying direction of jig plate 152 can be parallel to each other.
Guiding elements 420 has the shape for bending to 90 degree, for guiding clamping device 100 to convey along curve.Guide structure Part 420 has the first guiding groove 422 and the second guiding groove 424.The transfer member 118 of main part 110 is inserted into the first guidance In slot 422 and the second guiding groove 424.That is, as shown in figure 18, the first bearing 120 of transfer member 118 can be located at first and draw The inside of guide groove 422 or the second guiding groove 424, second bearing 122 can protrude through outside it.It is projected into the first guiding groove 422 and the second second bearing 122 outside guiding groove 424 by the pressure of locking member 444 of power transmission device 440 and defeated It send.
First guiding groove 422 has first straight line 430, and correspondingly, the second guiding groove 424 has second straight line Portion 438.Also, the first guiding groove 422 has the first curve part 432, and correspondingly, the second guiding groove 424 has second Curve part 436.
Transfer member 118 configures on the diagonal line of 110 lower surface of main part.Therefore, it is guided when clamping device 100 enters When in component 420, a transfer member 118 is located at the end section (position a) of first straight line 420, another transfer member 118 are located at the entrance (position b) of the second curve part 436.
When the transfer member 118 of clamping device 100 is when the position a and b is pressed by power transmission device 440, two are conveyed Component 118 all enters in the first curve part 432 and the second curve part 436 simultaneously and is guided.When transfer member 118 along When first curve part 432 and the second curve part 436 are conveyed, clamping device 100 gradually rotates, when completely by the first curve When portion 432 and the second curve part 436, clamping device 100 is rotated by 90 °.
The transfer member 118 that first curve part 432 and the second curve part 436 all pass through is located at the position c and d It sets.When continuing the conveying of transfer member 118 in the position c and the position d, two transfer members 118 all enter linearity sector Between, conveyer 410 is entered by guiding elements 420.
The upper surface of guiding elements 420 is equipped with multiple conveying rollers 426, and the conveying roller 426 makes the conveying of clamping device 100 It becomes easy.
Power transmission device 440 is pivoted about with rotation center 442 and pushes transfer member 118.Power transmission Device 440 has locking member 444, and locking member 444 pushes the second bearing 122 of transfer member 118, to make clamping device 100 are guided 420 priming of component and carry out curve movement.
The first guiding groove 422 and the second guiding groove 424 for the package system 400 that the present embodiment is related to have such as Figure 17 institute The shape shown, so as to rotate clamping device 100 with the smallest radius, thus, it is possible to reduce the volume of device.
It is illustrated above by reference to one embodiment of the invention, but it will be appreciated by those skilled in the art that can be In the range of not departing from the thought and field of the invention recorded in appended claims, the present invention is carry out various modifications And change.

Claims (18)

1. a kind of clamping device characterized by comprising
Main part has axis of an orbit;
Clamp portion, has jig plate, the first fixture and the second fixture, and the jig plate is movably integrated into the axis of an orbit On, first fixture and second fixture are located on the jig plate and can clamp the machined object of different structure;
Height adjusting part is incorporated on the main part, the cylinder including that can adjust height;And
Top jaw is incorporated on the height adjusting part, can clamp the machined object of different structure,
The clamp portion has the first locking member corresponding to first fixture and corresponding to second fixture Two locking member,
And has sticking department, the sticking department is incorporated in first locking member and the second locking member, for solid The position of the fixed clamp portion.
2. clamping device according to claim 1, which is characterized in that
The sticking department includes:
Column;
Sliding block is movably integrated on the column, and is had by first locking member and the second locking member card Locking protrusion only;
Elastic component carries out elastic pressure to the sliding block, so that it keeps locking state.
3. clamping device according to claim 2, which is characterized in that further comprise:
Button in conjunction on the slide block, and is projected into the outside of the main part.
4. clamping device according to claim 1, which is characterized in that
The height adjusting part includes the upper board in conjunction with the cylinder, the upper board by the retainer in portion disposed thereon and Risen by limitation.
5. clamping device according to claim 1, which is characterized in that
The height adjusting part, top jaw and the second fixture are run by air.
6. clamping device according to claim 5, which is characterized in that
The main part has air connection piece,
It further comprise the air supplying module that can carry out straight line back and forth movement,
The air supplying module is incorporated on the air connection piece, to supply air.
7. a kind of package system, which is characterized in that
Including such as clamping device described in any one of claims 1 to 6,
The main part has multiple transfer members outstanding downward,
And including guiding elements, the guiding elements has a guiding groove, the transfer member be inserted into the guiding groove and It is guided.
8. package system according to claim 7, which is characterized in that
The transfer member has first bearing and second bearing, and the second bearing is projected into the outside of the guiding groove,
It further comprise power transmission device, the power transmission device presses to the second bearing, to make described Clamping device is mobile.
9. package system according to claim 7, which is characterized in that
Equipped with a pair transfer member on the diagonal line for being located at the main part,
The guiding groove has the first guiding groove and the second guiding groove, and the transfer member is inserted into first guidance respectively Slot and the second guiding groove,
First guiding groove has orthogonal first straight line and the first curve part,
Second guiding groove has orthogonal second curve part and second straight line,
The first straight line and the second curve part are configured along identical direction, and first curve part and second Straight line portion is configured along identical direction,
When the main part is rotated on the guiding elements, it is bent that a pair of transfer member passes through described first simultaneously Line portion and the second curve part.
10. package system according to claim 7, which is characterized in that
Including conveyer, for conveying the clamping device along straight line,
The conveying direction of the conveyer and the conveying direction of the jig plate are parallel to each other.
11. a kind of pneumatic clamper characterized by comprising
Jig main body;
A pair of of chuck jaws can be rotatably set on the jig main body;
Elastic component is bonded respectively in a pair of chuck jaws, keeps a pair of chuck jaws close to each other;And
Sliding panel is bonded respectively in the chuck jaws, can be gone up and down by air,
By the rising of the sliding panel, the spacing between a pair of chuck jaws becomes larger,
The chuck jaws have: the first arm plate and the second arm plate, before being respectively rotatably incorporated into the jig main body Surface and rear surface;Connecting elements is separately connected the first arm plate and the second arm plate;Fixture cleft hand, from first arm Some arm plate protrusion in plate and the second arm plate is formed.
12. pneumatic clamper according to claim 11, which is characterized in that
The pair of chuck jaws are asymmetrically formed, and the elastic component is the helical spring being arranged in the chuck jaws.
13. pneumatic clamper according to claim 11, which is characterized in that
At least one arm plate in the first arm plate and the second arm plate has drive member,
The drive member is incorporated on the first arm plate and the second arm plate with defined angle,
The drive member is inserted rotatably into the driver slot being formed on the sliding panel.
14. pneumatic clamper according to claim 11, which is characterized in that
Having air slide, the air slide is located at the vertical lower of the sliding panel,
The air slide is pressurizeed the sliding panel upwards by air.
15. a kind of pneumatic clamper characterized by comprising
A pair loads cleft hand, opposite each other;
A pair of of clamping jaw cylinder has the loading cleft hand respectively;
Clamping jaw frame, between the clamping jaw cylinder;
Support rod is hollow, and is inserted in the clamping jaw cylinder and clamping jaw frame, for guiding the clamping jaw cylinder It is mobile;And
Elastic component provides towards clamping jaw frame direction the pair of clamping jaw cylinder positioned at the inside of the support rod Elastic force,
By the hollow supply air of the support rod, to enable the clamping jaw cylinder far from the clamping jaw frame.
16. pneumatic clamper according to claim 15, which is characterized in that
The clamping jaw frame has rotatable crank, and each clamping jaw cylinder has the connecting rod connecting with the crank,
By a pair of connecting rod, the clamping jaw cylinder is symmetrically moved.
17. pneumatic clamper according to claim 16, which is characterized in that
Centered on the crank, a pair of support rod is symmetrically configured.
18. pneumatic clamper according to claim 15, which is characterized in that
The elastic component includes hook, and the clamping jaw cylinder has the spring compressor for hanging the hook.
CN201780033895.0A 2016-06-03 2017-05-25 Clamping device and the package system for having the clamping device Withdrawn CN109311170A (en)

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KR1020160069557A KR101693506B1 (en) 2016-06-03 2016-06-03 Gripping device and assembly system having thereof
KR10-2016-0069557 2016-06-03
PCT/KR2017/005434 WO2017209438A1 (en) 2016-06-03 2017-05-25 Gripping device and assembly system having same

Publications (1)

Publication Number Publication Date
CN109311170A true CN109311170A (en) 2019-02-05

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WO (1) WO2017209438A1 (en)

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