CN110125959A - A kind of clamping device - Google Patents
A kind of clamping device Download PDFInfo
- Publication number
- CN110125959A CN110125959A CN201910447496.XA CN201910447496A CN110125959A CN 110125959 A CN110125959 A CN 110125959A CN 201910447496 A CN201910447496 A CN 201910447496A CN 110125959 A CN110125959 A CN 110125959A
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- Prior art keywords
- bar
- rotatably connected
- clamping
- hole
- driving
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- 230000007246 mechanism Effects 0.000 claims description 58
- 239000000758 substrate Substances 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 25
- 239000011159 matrix material Substances 0.000 description 22
- 239000002360 explosive Substances 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The present invention relates to engineering equipment fields, more particularly to a kind of clamping device, including first driving device, first support device, first linkage, first clamping device, second clamping device, first driving device and the first support device slidable connection, first linkage is rotatably connected with first driving device, first linkage is rotatably connected with the first support device, first linkage is rotatably connected with the first clamping device, first linkage is rotatably connected with the second clamping device, the first clamping device and the second clamping device are driven by the first linkage of driving, it can make the first clamping device and the second clamping device with corrdinated adjustment and its form 3 gardens between first driving device, to clamp various sizes of object, having reached reduces cost, the purpose improved efficiency.
Description
Technical field
The present invention relates to engineering equipment fields, and in particular to a kind of clamping device.
Background technique
In petroleum gas field, clamping device is used to clamp pipe tool.
In general, the diameter of pipe tool is different, a clamping device will adapt to different pipe tools or cumbersome time-consuming or cost
It is higher.
Summary of the invention
In view of this, it is necessary to provide a kind of quickly and easily a kind of clamping devices.
A kind of clamping device, comprising:
First driving device；
First support device；
The first driving device and the first support device slidable connection；
First linkage；
First linkage is rotatably connected with the first driving device；
First linkage is rotatably connected with first support device；
First clamping device；
Second clamping device；
First linkage is rotatably connected with first clamping device；
First linkage is rotatably connected with second clamping device.
Preferably, a kind of clamping device further includes
Second linkage；
Second linkage is rotatably connected with the first driving device；
Second linkage is rotatably connected with first support device；
Second linkage is rotatably connected with first clamping device；
Second linkage is rotatably connected with second clamping device.
First linkage includes:
First bar；
Second bar；
Third bar；
4th bar；
5th bar；
6th bar；
First bar one end is rotatably connected with the first driving device, the first bar other end and first clamping
Mechanism and second bar one end are rotatably connected, and the second bar other end is rotatably connected with first support device；
Third bar one end is rotatably connected with first clamping device, the third bar other end and first support
Device is rotatably connected；
Described 4th bar one end is rotatably connected with the first driving device, the 4th bar other end and second clamping
Mechanism and described 5th bar one end are rotatably connected, and the 5th bar other end is rotatably connected with first support device；
Described 6th bar one end is rotatably connected with second clamping device, the 6th bar other end and first support
Device is rotatably connected.
Second linkage includes:
7th bar；
8th bar；
9th bar；
Tenth bar；
11st bar；
12nd bar；
Described 7th bar one end is rotatably connected with the first driving device, the 7th bar other end and first clamping
Mechanism and described 8th bar one end are rotatably connected, and the 8th bar other end is rotatably connected with first support device；
Described 9th bar one end is rotatably connected with first clamping device, the 9th bar other end and first support
Device is rotatably connected；
Described tenth bar one end is rotatably connected with the first driving device, the tenth bar other end and second clamping
Mechanism and described 11st bar one end are rotatably connected, and the 11st bar other end rotatably connects with first support device
It connects；
Described 12nd bar one end is rotatably connected with second clamping device, the 12nd bar other end and described first
Support device is rotatably connected.
First clamping device includes
Second support device；
Second driving device；
Second driving device is connect with second support device.
Second clamping device includes
Third support device；
Third driving device；
The third driving device is connect with the third support device.
Second support device includes
Second support substrate；
First slot；
Second slot；
First hole；
Second driving device includes
Second driving mechanism；
First connector；
13rd bar；
First clamping member；
Second driving mechanism one end is fixedly connected with second support substrate, the second driving mechanism other end and institute
State the connection of the first connector；
First connector and first slot and the second slot slidable connection；
First connector is rotatably connected with the 13rd bar；
13rd bar is rotatably connected with described first clamping member；
Described first clamping member is rotatably connected with first hole.
The third support device includes
Third support substrate；
Third slot；
4th slot；
Second hole；
The third driving device includes
Third driving mechanism；
Second connector；
14th bar；
Second clamping piece；
Third driving mechanism one end is fixedly connected with the third support substrate, the third driving mechanism other end and institute
State the connection of the second connector；
Second connector and the third slot and the 4th slot slidable connection；
Second connector is rotatably connected with the 14th bar；
14th bar is rotatably connected with second clamping piece；
Second clamping piece is rotatably connected with second hole.
Preferably, a kind of clamping device further includes
Locking device；
Described locking device one end is connect with the first support device, the locking device other end and the first support device and first
Driving device connection.
The locking device includes:
Fourth drive device；
Retaining mechanism；
Fourth drive device one end is connect with the first support device, and the fourth drive device other end and retaining mechanism connect
It connects；
The retaining mechanism is connect with the first support device and first driving device.
By adopting the above-described technical solution, the beneficial effects of the present invention are:
The first clamping device and the second clamping device are driven by the first linkage of driving, the first clamping can be made with corrdinated adjustment
Mechanism and the second clamping device and its 3 gardens of formation between first driving device, to clamp various sizes of object；Lock
Tight device locks first driving device, and chucking power when clamping is born by the first support device, and first driving device avoids bearing
Chucking power improves the service life of first driving device, and having reached reduces cost, the purpose improved efficiency.
Detailed description of the invention
Fig. 1 is clamping device schematic diagram of the invention.
Fig. 2 is clamping device explosive view of the invention.
Fig. 3 is first driving device schematic diagram of the invention.
Fig. 4 is the first support device schematic diagram of the invention.
Fig. 5 is the first support device schematic diagram of another direction of the invention.
Fig. 6 is the first linkage of the invention and the second linkage schematic diagram.
Fig. 7 is the first linkage of the invention and the second linkage schematic diagram.
Fig. 8 is the first clamping device explosive view of the invention.
Fig. 9 is the second support device schematic diagram of the invention.
Figure 10 is the second schematic diagram of driving device of the invention.
Figure 11 is the second driving mechanism schematic diagram of the invention.
Figure 12 is the first connector schematic diagram of the invention.
Figure 13 is the 13rd bar schematic diagram of the invention.
Figure 14 is first clamping member schematic diagram of the invention.
Figure 15 is the first pin shaft schematic diagram of the invention.
Figure 16 is the second pin shaft schematic diagram of the invention.
Figure 17 is third pin shaft schematic diagram of the invention.
Figure 18 is the second clamping device explosive view of the invention.
Figure 19 is third support device schematic diagram of the invention.
Figure 20 is third schematic diagram of driving device of the invention.
Figure 21 is third driving mechanism schematic diagram of the invention.
Figure 22 is the second connector schematic diagram of the invention.
Figure 23 is the 14th bar schematic diagram of the invention.
Figure 24 is the second clamping piece schematic diagram of the invention.
Figure 25 is the 4th pin shaft schematic diagram of the invention.
Figure 26 is the 5th pin shaft schematic diagram of the invention.
Figure 27 is the 6th pin shaft schematic diagram of the invention.
Figure 28 is retaining mechanism schematic diagram of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is described further.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The fixed present invention.
Embodiment
A kind of clamping device as shown in figures 1-28, including first driving device 7, the first support device 6, the first linkage 4,
First clamping device 1, the second clamping device 2,6 slidable connection of first driving device 7 and the first support device, the first linkage
4 are rotatably connected with first driving device 7, and the first linkage 4 is rotatably connected with the first support device 6, the first linkage 4 with
First clamping device 1 is rotatably connected, and the first linkage 4 is rotatably connected with the second clamping device 2.
Preferably, a kind of clamping device further includes the second linkage 3, and the second linkage 3 can be rotated with first driving device 7
Connection, the second linkage 3 are rotatably connected with the first support device 6, and the second linkage 3 rotatably connects with the first clamping device 1
It connects, the second linkage 3 is rotatably connected with the second clamping device 2.
First linkage 4 includes the first bar 41, the second bar 43, third bar 44, the 4th bar 42, the 5th bar 45, the 6th bar 46,
First bar, 41 one end is rotatably connected with first driving device 7,41 other end of the first bar and the first clamping device 1 and the second bar 43
One end is rotatably connected, and 43 other end of the second bar is rotatably connected with the first support device 6,44 one end of third bar and the first clamping
Mechanism 1 is rotatably connected, and 44 other end of third bar is rotatably connected with the first support device 6,42 one end of the 4th bar and the
One driving device 7 is rotatably connected, and 42 other end of the 4th bar is rotatably connected with the second clamping device 2 and 45 one end of the 5th bar,
5th bar, 45 other end is rotatably connected with the first support device 6, and 46 one end of the 6th bar rotatably connects with the second clamping device 2
It connects, 46 other end of the 6th bar is rotatably connected with the first support device 6.
Second linkage includes the 7th bar 31, the 8th bar 33, the 9th bar 34, the tenth bar 32, the 11st bar 35, the 12nd bar
36,31 one end of the 7th bar is rotatably connected with first driving device 7,31 other end of the 7th bar and the first clamping device 1 and the 8th
33 one end of bar is rotatably connected, and 33 other end of the 8th bar is rotatably connected with the first support device 6,34 one end of the 9th bar and first
Clamping device 1 is rotatably connected, and 34 other end of the 9th bar is rotatably connected with the first support device 6,32 one end of the tenth bar and the
One driving device 7 is rotatably connected, and 32 other end of the tenth bar rotatably connects with the second clamping device 2 and 35 one end of the 11st bar
It connects, 35 other end of the 11st bar is rotatably connected with the first support device 6, and 36 one end of the 12nd bar and the second clamping device 2 can
Rotation connection, 36 other end of the 12nd bar are rotatably connected with the first support device 6.
First clamping device 1 includes the second support device 10, the second driving device 11, the second driving device 11 and second
Support arrangement 10 connects.
Second clamping device 2 includes third support device 20, third driving device 21, third driving device 21 and third branch
Support arrangement 20 connects.
Second support device 10 include the second support substrate 101, the first slot 102, the second slot 104, the first hole 103, second
Driving device 11 includes the second driving mechanism 110, the first connector 112, the 13rd bar 114, first clamping member 116, and second drives
110 one end of motivation structure is fixedly connected with the second support substrate 101, and 110 other end of the second driving mechanism and the first connector 112 connect
It connects, 104 slidable connection of the first connector 112 and the first slot 102 and the second slot, the first connector 112 and the 13rd bar 114 can
Rotation connection, the 13rd bar 114 are rotatably connected with first clamping member 116, and first clamping member 116 and the first hole 103 can be rotated
Connection.
Third support device 20 includes third support substrate 201, third slot 202, the 4th slot 204, the second hole 203, third
Driving device 21 includes third driving mechanism 210, the second connector 212, the 14th bar 214, the second clamping piece 216, and third is driven
210 one end of motivation structure is fixedly connected with third support substrate 201, and 210 other end of third driving mechanism and the second connector 212 connect
It connects, the second connector 212 and 204 slidable connection of third slot 202 and the 4th slot, the second connector 212 and the 14th bar 214 can
Rotation connection, the 14th bar 214 are rotatably connected with the second clamping piece 216, and the second clamping piece 216 and the second hole 203 can be rotated
Connection.
Preferably, a kind of clamping device further includes locking device 5, and 5 one end of locking device is connect with the first support device 6,
5 other end of locking device is connect with the first support device 6 and first driving device 7.
Locking device 5 includes fourth drive device 51, retaining mechanism 53, and 51 one end of fourth drive device is filled with the first support
6 connections are set, 51 other end of fourth drive device is connect with retaining mechanism 53, retaining mechanism 53 and the first support device 6 and first
Driving device 7 connects.
First driving device 7 includes the first driving matrix 70, the first movement parts 71, third hole 73, the 4th hole 74, the 9th slot
72。
First support device 6 includes the first support substrate 60, locking hole 63, the 5th hole 64, the 6th hole 65, the 7th hole 66, the
Octal 67, the first connecting hole 61, the second connecting hole 61.
First bar 41 includes the first bar matrix 410, first bar the first hole 411, first the second hole of bar 412.
Second bar 43 includes the second bar matrix 430, second bar the first hole 431, second the second hole of bar 432.
Third bar 44 includes third bar matrix 440, third bar the first hole 441, second the second hole of bar 442.
4th bar 42 includes the 4th bar matrix 420, the 4th bar the first hole 421, the 4th the second hole of bar 422.
5th bar 45 includes the 5th bar matrix 450, the 5th bar the first hole 451, the 5th the second hole of bar 452.
6th bar 46 includes the 6th bar matrix 460, the 6th bar the first hole 461, the 6th the second hole of bar 462.
7th bar 31 includes the 7th bar matrix 310, the 7th bar the first hole 311, the 7th the second hole of bar 312.
8th bar 33 includes the 8th bar matrix 330, the 8th bar the first hole 331, the 8th the second hole of bar 332.
9th bar 34 includes the 9th bar matrix 340, the 9th bar the first hole 341, the 9th the second hole of bar 342.
Tenth bar 32 includes the tenth bar matrix 320, the tenth bar the first hole 321, the tenth the second hole of bar 322.
11st bar 35 includes the first bar matrix 350, the 11st bar the first hole 351, the 11st the second hole of bar 352.
12nd bar 36 includes the 12nd bar matrix 360, the 12nd bar the first hole 361, the 12nd the second hole of bar 362.
13rd bar 114 includes the 13rd bar matrix 1140, the 13rd bar the first hole 1141, the 13rd the second hole of bar
1142。
14th bar 214 includes the 14th bar matrix 2140, the 14th bar the first hole 2141, the 14th the second hole of bar
2142。
Second driving mechanism 110 include the second driving mechanism fixed part 1101, the second driving mechanism motion parts 1102,
Second driving mechanism coupling part 1103.
Third driving mechanism 210 include third driving mechanism fixed part 2101, third driving mechanism motion parts 2102,
Third driving mechanism coupling part 2103.
First connector 112 includes the first connector matrix 1120, first connector the first hole 1121, the first connector the
Two holes 1122, the first connector third hole 1123.
Second connector 212 includes the second connector matrix 2120, second connector the first hole 2121, the second connector the
Two holes 2122, the first connector third hole 2123.
First clamping member 116 includes first clamping member matrix 1160, the first hole of first clamping member 1161, first clamping member the
Two holes 1162.
Preferably, clamping device further include the first pin shaft 111, the second pin shaft 113, third pin shaft 115, the 4th pin shaft 211,
5th pin shaft 213, the 6th pin shaft 215.
Second support device 10 further includes 10 first hole 106 of the second support device, 10 second hole 105 of the second support device.
Third support device 20 further includes 20 first hole 206 of third support device, 20 second hole 205 of third support device.
First bar, 41 first hole 411 is rotatably connected with 7 third hole 73 of first driving device, 41 second hole 412 of the first bar
It is rotatably connected with 10 first hole 106 of the second support device and 43 first hole 431 of the second bar, 43 second hole 432 of the second bar and
The 5th hole 64 of one support device 6 is rotatably connected, and 44 first hole 441 of third bar rotatably connects with the first support device seven apertures in the human head 66
It connects, 44 second hole 442 of third bar is rotatably connected with 10 second hole 105 of the second support device, 42 first hole 421 of the 4th bar and
The 4th hole 74 of one driving device 7 is rotatably connected, 42 second hole 422 of the 4th bar and 20 first hole 206 of third support device and the
Five bars, 45 first hole 451 is rotatably connected, and 45 second hole 452 of the 5th bar is rotatably connected with the 6th hole 65 of the first support device 6,
6th bar, 46 first hole 461 is rotatably connected with 6 octal 67 of the first support device, 46 second hole 462 of the 6th bar and third branch
20 second hole 205 of support arrangement is rotatably connected.
7th bar, 31 first hole 311 is rotatably connected with 7 third hole 73 of first driving device, 31 second hole 312 of the 7th bar
It is rotatably connected with 10 first hole 106 of the second support device and 33 first hole 331 of the 8th bar, 33 second hole 332 of the 8th bar and
The 5th hole 64 of one support device 6 is rotatably connected, and 34 first hole 341 of the 9th bar rotatably connects with the first support device seven apertures in the human head 66
It connects, 34 second hole 342 of the 9th bar is rotatably connected with 10 second hole 105 of the second support device, 32 first hole 321 of the tenth bar and
The 4th hole 74 of one driving device 7 is rotatably connected, 32 second hole 322 of the tenth bar and 20 first hole 206 of third support device and the
11 bar, 35 first hole 351 is rotatably connected, and 35 second hole 352 of the 11st bar and the 6th hole 65 of the first support device 6 can be rotated
Connection, 36 first hole 361 of the 12nd bar are rotatably connected with 6 octal 67 of the first support device, 36 second hole 362 of the 12nd bar
It is rotatably connected with 20 second hole 205 of third support device.
First driving device 7 be set in the first support device 6 and with 6 slidable connection of the first support device.
First pin shaft 111 connect with 112 second connecting hole 1122 of the first connector and with 10 second slot of the second support device
104 are slidably connected, and slide along 10 second slot 104 of the second support device.
Second pin shaft 113 connect with 112 third connecting hole 1123 of the first connector and with 10 first slot of the second support device
102 are slidably connected, and the second pin shaft 113 is rotatably connected with 114 first hole 1141 of the 13rd bar, and the second pin shaft 113 is along second
The sliding of 10 first slot 102 of support arrangement, 114 second hole 1142 of the 13rd bar rotatably connects with 116 second hole 1162 of first clamping member
It connects.
Third pin shaft 115 rotatably connects with 10 first hole 103 of the second support device and 116 first hole 1161 of first clamping member
It connects.
4th pin shaft 211 connect with 212 second connecting hole 1122 of the second connector and with 20 second slot of third support device
204 are slidably connected, and slide along 20 second slot 204 of third support device.
5th pin shaft 213 connect with 212 third connecting hole 2123 of the second connector and with 20 first slot of third support device
202 are slidably connected, and the 5th pin shaft 213 is rotatably connected with 214 first hole 2141 of the 14th bar, and the 5th pin shaft 213 is along third branch
The sliding of 20 first slot 202 of support arrangement, 214 second hole 2142 of the 14th bar rotatably connects with 216 second hole 2162 of the second clamping piece
It connects.
6th pin shaft 215 rotatably connects with 20 first hole 203 of third support device and 216 first hole 2161 of the second clamping piece
It connects.
Retaining mechanism 53 includes locking matrix 530, retaining mechanism hole 531, and the 4th driving mechanism 51 passes through retaining mechanism pin
Axis 52 connects retaining mechanism hole 531.
The 3rd slot of locking hole 63 and first driving device 7 that matrix 530 connects the first support device 6 simultaneously is locked, is being needed
The position of locking, the 4th driving mechanism 51 push locking matrix 530 to rotate, fixed the 3rd slot of first driving device 7, at this point, folded
The power for the device held is transmitted to locking matrix 530 by the first movement parts of motion parts 71, then is transmitted to locking hole 63, then transmit
To the first support device 6.
First driving mechanism 70 is electric drive, such as electric pushrod；Second driving mechanism 110 is cylinder；Third driving machine
Structure 210 is cylinder；4th driving mechanism 51 is cylinder.Second driving mechanism 110 can also be fluid cylinder；Third driving mechanism 210
It can be fluid cylinder；4th driving mechanism 51 can also be fluid cylinder.
By adopting the above-described technical solution, the beneficial effects of the present invention are:
The first clamping device 1 and the second clamping device 2 are driven by the first linkage 4 of driving, first can be made with corrdinated adjustment
Clamping device 1 and the second clamping device 2 and its 3 gardens are formed between first driving device 7 to clamp various sizes of object
Part；Locking device 5 locks first driving device 7, and chucking power when clamping is born by the first support device 6, first driving device 7
It avoids bearing chucking power, improves the service life of first driving device 7, having reached reduces cost, the purpose improved efficiency.
In short, the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all in the present invention
Spirit and principle within made any modifications, equivalent replacements, and improvements etc., should be included in protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of clamping device, comprising:
First driving device；
First support device；
The first driving device and the first support device slidable connection；
First linkage；
First linkage is rotatably connected with the first driving device；
First linkage is rotatably connected with first support device；
First clamping device；
Second clamping device；
First linkage is rotatably connected with first clamping device；
First linkage is rotatably connected with second clamping device.
2. a kind of clamping device according to claim 1, it is characterised in that:
Further include
Second linkage；
Second linkage is rotatably connected with the first driving device；
Second linkage is rotatably connected with first support device；
Second linkage is rotatably connected with first clamping device；
Second linkage is rotatably connected with second clamping device.
3. a kind of clamping device according to claim 2, it is characterised in that:
First linkage includes:
First bar；
Second bar；
Third bar；
4th bar；
5th bar；
6th bar；
First bar one end is rotatably connected with the first driving device, the first bar other end and first clamping
Mechanism and second bar one end are rotatably connected, and the second bar other end is rotatably connected with first support device；
Third bar one end is rotatably connected with first clamping device, the third bar other end and first support
Device is rotatably connected；
Described 4th bar one end is rotatably connected with the first driving device, the 4th bar other end and second clamping
Mechanism and described 5th bar one end are rotatably connected, and the 5th bar other end is rotatably connected with first support device；
Described 6th bar one end is rotatably connected with second clamping device, the 6th bar other end and first support
Device is rotatably connected.
4. a kind of clamping device according to claim 3, it is characterised in that:
Second linkage includes:
7th bar；
8th bar；
9th bar；
Tenth bar；
11st bar；
12nd bar；
Described 7th bar one end is rotatably connected with the first driving device, the 7th bar other end and first clamping
Mechanism and described 8th bar one end are rotatably connected, and the 8th bar other end is rotatably connected with first support device；
Described 9th bar one end is rotatably connected with first clamping device, the 9th bar other end and first support
Device is rotatably connected；
Described tenth bar one end is rotatably connected with the first driving device, the tenth bar other end and second clamping
Mechanism and described 11st bar one end are rotatably connected, and the 11st bar other end rotatably connects with first support device
It connects；
Described 12nd bar one end is rotatably connected with second clamping device, the 12nd bar other end and described first
Support device is rotatably connected.
5. a kind of clamping device according to claim 4, it is characterised in that:
First clamping device includes
Second support device；
Second driving device；
Second driving device is connect with second support device.
6. a kind of clamping device according to claim 5, it is characterised in that:
Second clamping device includes
Third support device；
Third driving device；
The third driving device is connect with the third support device.
7. a kind of clamping device according to claim 6, it is characterised in that:
Second support device includes
Second support substrate；
First slot；
Second slot；
First hole；
Second driving device includes
Second driving mechanism；
First connector；
13rd bar；
First clamping member；
Second driving mechanism one end is fixedly connected with second support substrate, the second driving mechanism other end and institute
State the connection of the first connector；
First connector and first slot and the second slot slidable connection；
First connector is rotatably connected with the 13rd bar；
13rd bar is rotatably connected with described first clamping member；
Described first clamping member is rotatably connected with first hole.
8. a kind of clamping device according to claim 7, it is characterised in that:
The third support device includes
Third support substrate；
Third slot；
4th slot；
Second hole；
The third driving device includes
Third driving mechanism；
Second connector；
14th bar；
Second clamping piece；
Third driving mechanism one end is fixedly connected with the third support substrate, the third driving mechanism other end and institute
State the connection of the second connector；
Second connector and the third slot and the 4th slot slidable connection；
Second connector is rotatably connected with the 14th bar；
14th bar is rotatably connected with second clamping piece；
Second clamping piece is rotatably connected with second hole.
9. a kind of clamping device according to claim 8, it is characterised in that:
Further include
Locking device；
Described locking device one end is connect with the first support device, the locking device other end and the first support device and first
Driving device connection.
10. a kind of clamping device according to claim 9, it is characterised in that:
The locking device includes:
Fourth drive device；
Retaining mechanism；
Fourth drive device one end is connect with the first support device, and the fourth drive device other end and retaining mechanism connect
It connects；
The retaining mechanism is connect with the first support device and first driving device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447496.XA CN110125959A (en) | 2019-05-27 | 2019-05-27 | A kind of clamping device |
| PCT/CN2020/092446 WO2020238921A1 (en) | 2019-05-27 | 2020-05-27 | Clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447496.XA CN110125959A (en) | 2019-05-27 | 2019-05-27 | A kind of clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110125959A true CN110125959A (en) | 2019-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910447496.XA Pending CN110125959A (en) | 2019-05-27 | 2019-05-27 | A kind of clamping device |
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| WO (1) | WO2020238921A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020238921A1 (en) * | 2019-05-27 | 2020-12-03 | 四川宏华石油设备有限公司 | Clamping device |
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| WO2020238921A1 (en) * | 2019-05-27 | 2020-12-03 | 四川宏华石油设备有限公司 | Clamping device |
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| Publication number | Publication date |
|---|---|
| WO2020238921A1 (en) | 2020-12-03 |
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