CN110815260A - Annular workpiece clamping device and clamping manipulator - Google Patents
Annular workpiece clamping device and clamping manipulator Download PDFInfo
- Publication number
- CN110815260A CN110815260A CN201911044898.1A CN201911044898A CN110815260A CN 110815260 A CN110815260 A CN 110815260A CN 201911044898 A CN201911044898 A CN 201911044898A CN 110815260 A CN110815260 A CN 110815260A
- Authority
- CN
- China
- Prior art keywords
- clamping device
- rod
- driving mechanism
- annular workpiece
- supporting base
- 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.)
- Pending
Links
Images
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
Abstract
The application relates to an annular workpiece clamping device and a clamping manipulator. The application annular work piece clamping device include: the device comprises a driving mechanism, a supporting base, a push rod, a linear slide rail and an L-shaped abutting rod; the driving mechanism is installed in the middle of the supporting base, the linear sliding rails point to the driving mechanism and are radially distributed on the supporting base, and one end of the abutting rod is connected with the linear sliding rails in a sliding mode; one end of the push rod is hinged with the abutting rod, and the other end of the push rod is hinged with the driving mechanism; when the driving mechanism is lifted, the push rod is driven to push the abutting rod to reciprocate relative to the linear slide rail. The application annular work piece clamping device have the automatic centre gripping of work piece and press from both sides the advantage that tight fastening nature is high.
Description
Technical Field
The application relates to a clamping device, in particular to an annular workpiece clamping device and a clamping manipulator.
Background
With the development of the times, the square surfaces of the production and the processing of parts are influenced by the automatic intelligent production, and most of the procedures of welding, grinding, polishing and the like of a plurality of workpieces with circular characteristics, particularly annular workpieces, are finished manually in the part processing. At present, most of work is finished by manually assembling a workpiece to a clamp, the clamping degree of the clamp is manually adjusted, automatic production cannot be realized, and the efficiency is not high; especially for a workpiece with a large diameter, the clamp in the prior art cannot ensure the clamping precision of manual adjustment, and further influences the processing precision of the workpiece.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an annular workpiece clamping device and a clamping robot having advantages of automatic clamping of a workpiece and high clamping tightness.
On one hand, the application provides an annular workpiece clamping device which comprises a driving mechanism, a supporting base, a push rod, a linear slide rail and an L-shaped abutting rod; the driving mechanism is installed in the middle of the supporting base, the linear sliding rails point to the driving mechanism and are radially distributed on the supporting base, and one end of the abutting rod is connected with the linear sliding rails in a sliding mode;
one end of the push rod is hinged with the abutting rod, and the other end of the push rod is hinged with the driving mechanism; when the driving mechanism is lifted, the push rod is driven to push the abutting rod to reciprocate relative to the linear slide rail.
According to the annular workpiece clamping device, one end of the push rod is driven to lift through the driving mechanism, so that the push rod drives the abutting rods to reciprocate relative to the linear slide rail, and the plurality of abutting rods are opened relative to the supporting base at the same time, so that workpieces are tensioned and connected and fastened; the plurality of abutting rods contract simultaneously, so that the workpiece is released. Thereby realize the self-holding of work piece to through the synchronous centre gripping of a plurality of butt joint poles, guaranteed the firm degree of connection, and then guarantee the machining precision of work piece. In addition, the stroke of the screw rod can be adjusted according to the change of the length of the screw rod, so that the stroke range of the reciprocating motion of the abutting rod can be adjusted, and the clamping device is suitable for clamping workpieces in more ranges. Through the annular workpiece clamping device, intelligent clamping and automatic operation of the annular workpiece are achieved, labor cost is reduced, and economic benefits are improved.
Further, the horizontal part of butt joint pole be provided with linear slide rail complex stopper, the butt joint pole through this stopper with linear slide rail sliding connection.
Further, the longitudinal part of the abutting rod is arranged downwards, so that the abutting rod is in an ┐ shape.
Furthermore, the driving mechanism comprises a driving motor, a screw rod and a nut, the nut is in threaded connection with the screw rod, the screw rod is connected with a main shaft of the driving motor, and the driving motor is fixedly connected with the supporting base;
one end of the push rod is hinged with the nut.
Further, the driving mechanism further comprises a supporting seat, and the driving motor is fixedly connected with the supporting base through the supporting seat.
Further, the screw rod comprises a trapezoidal screw rod which is longitudinally arranged and is driven to rotate by the driving motor.
Further, the lead screw is located on the support base axis.
Furthermore, the supporting base comprises a circular plate and branch plates, and the branch plates are radially arranged on the periphery of the circular plate respectively;
the linear slide rail is arranged at the end of the branch supporting plate, and the driving motor is arranged on the axis of the circular plate.
Further, actuating mechanism still includes connecting plate and spliced pole, the connecting plate sets up driving motor top to through the spliced pole with the supporting seat is connected.
On the other hand, the application provides a centre gripping manipulator, including arm and above-mentioned any scheme annular work piece clamping device, annular work piece clamping device installs the tip of arm.
For a better understanding and practice, the present application is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a perspective view of an exemplary annular workpiece holding device of the present application.
Detailed Description
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.
Fig. 1 is a perspective view of an exemplary annular workpiece holding device of the present application. Referring to fig. 1, the annular workpiece clamping device includes a driving mechanism 60, a supporting base 10, a pushing rod 30, a linear sliding rail 40, and an L-shaped abutting rod 50; the driving mechanism 60 is installed in the middle of the support base 10, the plurality of linear sliding rails 40 point to the driving mechanism 60 and are radially distributed on the support base 10, and one end of the abutting rod 50 is slidably connected with the linear sliding rails 40;
one end of the push rod 30 is hinged with the abutting rod 50, and the other end is hinged with the driving mechanism 60; when the driving mechanism 60 is lifted, the push rod 30 is driven to push the abutting rod 50 to reciprocate relative to the linear slide rail 40.
According to the annular workpiece clamping device, one end of the push rod 30 is driven to lift through the driving mechanism 60, so that the push rod 30 drives the abutting rods 50 to reciprocate relative to the linear slide rail 40, and the plurality of abutting rods 50 are opened relative to the supporting base 10 at the same time, so that workpieces are tensioned and connected and fastened; the plurality of abutment bars 50 are retracted simultaneously so that the workpiece is released. Thereby realize the self-holding of work piece to through the synchronous centre gripping of a plurality of butt joint poles 50, guaranteed the firm degree of connection between the structure, and then guarantee the machining precision of work piece. In addition, the stroke of the screw rod 62 can be adjusted according to the change of the length of the screw rod 62, so that the stroke range of the reciprocating motion of the abutting rod 50 can be adjusted, and the clamping of workpieces in more ranges can be adapted. Through the annular workpiece clamping device, intelligent clamping and automatic operation of the annular workpiece are achieved, labor cost is reduced, and economic benefits are improved. Through the feedback adjustment of the driving mechanism 60, the gripping force for clamping the workpiece can be adjusted, and the workpiece is prevented from being damaged by gripping.
In some preferred embodiments, a transverse portion of the abutting rod 50 is provided with a stop block (not shown) engaged with the linear slide rail 40, and the abutting rod 50 is slidably connected to the linear slide rail 40 through the stop block. Through setting up the stopper for the stroke direction of butt link 50 is injectd, thereby better converts the rotation of push rod 30 into the horizontal reciprocating motion of butt link 50.
In some preferred embodiments, the longitudinal portion of the abutment bar 50 is disposed downward such that the abutment bar 50 is in the shape of "┐", when assembled, the abutment bar 50 is disposed in the shape of "┐", so that the workpiece is clamped at the lower end of the abutment bar 50, the gripping is easier, and the equipment is not worn during the gripping process.
In some preferred embodiments, the driving mechanism 60 includes a driving motor 61, a lead screw 62, and a nut 63, the nut 63 is in threaded connection with the lead screw 62, the lead screw 62 is connected with a main shaft of the driving motor 61, and the driving motor 61 is fixedly connected with the support base 10; one end of the push rod 30 is hinged with the nut 63. The screw 62 is driven to rotate by the driving motor 61, and the nut 63 is connected with the stay bar, so that when the screw 62 rotates, the movement of the nut 63 is limited, and the nut 63 rotates relative to the screw 62 to lift. In order to control the grabbing effect more precisely, in some preferred embodiments, the driving motor 61 is a servo motor, and the servo motor is connected with the controller, and the servo motor stops working when the force for grabbing the workpiece reaches a set threshold value through negative feedback of the grabbing force.
In some preferred embodiments, the driving mechanism 60 further includes a supporting base 20, and the driving motor 61 is fixedly connected to the supporting base 10 through the supporting base 20. The support base 20 serves to reinforce the connection and to define the direction of movement of the strut.
In some preferred embodiments, the supporting base 20 includes an intermediate fixing plate 21 and a plurality of vertical limiting rods 22, the top of each vertical limiting rod 22 is connected to the intermediate fixing plate 21, and the bottom of each vertical limiting rod 22 is fixed to the circular plate 11. Any strut is located between two limiting vertical rods 22, and the transverse movement of the strut is limited through the longitudinal space between the limiting vertical rods 22, so that the strut can only move longitudinally.
In some preferred embodiments, the screw 62 comprises a trapezoidal screw which is longitudinally arranged and is driven to rotate by the driving motor 61.
In some preferred embodiments, the lead screw 62 is located on the axis of the support base 10.
In some preferred embodiments, the supporting base 10 includes a circular plate 11 and branch plates 12, and a plurality of branch plates 12 are respectively radially disposed around the circular plate 11; the linear slide rail 40 is arranged at the end of the branch plate 12, and the driving motor 61 is arranged on the axis of the circular plate 11. By providing the circular plate 11 and the branch plate 12, the weight of the entire support base 10 is reduced, and the labor is saved. In some exemplary embodiments, a plurality of branch plates 12 are uniformly distributed around the circular plate 11, as shown in fig. 1, three branch plates 12 are provided, the three branch plates 12 are uniformly distributed at an included angle of 120 ° with each other, and the branch plates 12 all point to the axis of the circular plate 11. The branch support plate 12 is connected with a corresponding number of linear slide rails 40, support rods and abutting rods 50.
In some preferred embodiments, the driving mechanism 60 further includes a connecting plate 71 and a connecting column 72, and the connecting plate 71 is disposed above the driving motor 61 and connected to the supporting base 20 through the connecting column 72. In some embodiments, the bottom end of the connecting column 72 is connected to the middle fixing plate 21, the top end is connected to the connecting plate 71, and the driving motor 61 is located between the connecting plate 71 and the middle fixing plate 21.
In some preferred embodiments, the top of the screw 62 is a smooth rod segment, so that one segment of the screw 62 is threaded and the other segment is a smooth rod; in addition, the driving mechanism 60 further includes a sleeve 64, the sleeve 64 is disposed on the central axis of the circular plate 11, the smooth rod section is sleeved in the sleeve 64, and when the screw rod 62 rotates, the smooth rod section rotates relative to the sleeve 64.
The working principle of the exemplary annular workpiece clamping device of the application is as follows:
the connecting plate 71 is connected to a machine tool, a robot hand or a robot, and the screw 62 is rotated by the servo motor. When the screw rod 62 rotates, the stay bar is limited, so that the transverse movement of the nut 63 is limited, and the nut 63 can only rotate relative to the screw rod 62 to lift. When the nut 63 rises relative to the screw rod 62, one end of the stay bar rises along with the nut, and the other end of the stay bar is driven to pull the abutting rod 50 to approach the axis of the circular plate 11; the three abutting rods 50 approach the axis of the circular plate 11 at the same time and are in a contracted state, and the supporting plate is placed in the inner ring of the annular workpiece. The screw rod 62 rotates reversely, the nut 63 descends relative to the screw rod 62, and one end of the stay bar pushes the abutting rods 50 to be away from the axis of the circular plate 11, so that the three abutting rods 50 are opened to clamp the inner ring of the annular workpiece. And (4) after clamping the annular workpiece, processing the annular workpiece by a processing device.
The application also provides a clamping manipulator, including arm and above-mentioned arbitrary scheme annular work piece clamping device, annular work piece clamping device installs the tip of arm. The annular workpiece clamping device is driven to swing through the swinging of the arm so as to adjust the placing angle and position of the workpiece. The annular workpiece clamping device can further comprise a robot, and the end part of the arm of the robot is provided with the annular workpiece clamping device. Grabbing the annular workpiece clamping device through a robot.
The utility model provides an annular workpiece clamping device for prior art, has better intellectuality and automation, stronger commonality, can replace a large amount of manual operation. And moreover, the labor cost is reduced, the processing efficiency is improved, and the economic benefit is improved.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.
Claims (10)
1. The utility model provides an annular work piece clamping device which characterized in that: comprises a driving mechanism, a supporting base, a push rod, a linear slide rail and an L-shaped abutting rod; the driving mechanism is installed in the middle of the supporting base, the linear sliding rails point to the driving mechanism and are radially distributed on the supporting base, and one end of the abutting rod is connected with the linear sliding rails in a sliding mode;
one end of the push rod is hinged with the abutting rod, and the other end of the push rod is hinged with the driving mechanism; when the driving mechanism is lifted, the push rod is driven to push the abutting rod to reciprocate relative to the linear slide rail.
2. The annular workpiece clamping device of claim 1, wherein: the transverse part of the butt-joint rod is provided with a limiting block matched with the linear slide rail, and the butt-joint rod is connected with the linear slide rail in a sliding mode through the limiting block.
3. The annular workpiece clamping device as recited in claim 2, wherein the longitudinal portion of said abutment bar is disposed downwardly such that said abutment bar is "┐" shaped.
4. The annular workpiece clamping device of claim 1, wherein: the driving mechanism comprises a driving motor, a screw rod and a nut, the nut is in threaded connection with the screw rod, the screw rod is connected with a main shaft of the driving motor, and the driving motor is fixedly connected with the supporting base;
one end of the push rod is hinged with the nut.
5. The annular workpiece clamping device of claim 4, wherein: the driving mechanism further comprises a supporting seat, and the driving motor is fixedly connected with the supporting base through the supporting seat.
6. The annular workpiece clamping device of claim 5, wherein: the screw rod comprises a trapezoidal screw rod which is longitudinally arranged and is driven to rotate by the driving motor.
7. The annular workpiece clamping device of claim 5, wherein: the screw rod is located on the axis of the support base.
8. The annular workpiece clamping device of claim 6 or 7, wherein: the supporting base comprises a circular plate and branch plates, and the branch plates are radially arranged on the periphery of the circular plate respectively;
the linear slide rail is arranged at the end of the branch supporting plate, and the driving motor is arranged on the axis of the circular plate.
9. The annular workpiece clamping device of claim 8, wherein: the driving mechanism further comprises a connecting plate and a connecting column, wherein the connecting plate is arranged above the driving motor and is connected with the supporting seat through the connecting column.
10. The utility model provides a centre gripping manipulator which characterized in that: comprising an arm and an annular workpiece holding device according to any of claims 1-9, which is mounted at the end of the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911044898.1A CN110815260A (en) | 2019-10-30 | 2019-10-30 | Annular workpiece clamping device and clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911044898.1A CN110815260A (en) | 2019-10-30 | 2019-10-30 | Annular workpiece clamping device and clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110815260A true CN110815260A (en) | 2020-02-21 |
Family
ID=69551383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911044898.1A Pending CN110815260A (en) | 2019-10-30 | 2019-10-30 | Annular workpiece clamping device and clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110815260A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372651A (en) * | 2020-09-28 | 2021-02-19 | 广东伟业铝厂集团有限公司 | A snatch anchor clamps for aluminum alloy tubular product surface treatment |
| CN112894660A (en) * | 2021-01-27 | 2021-06-04 | 冯涛涛 | High-stability clamping mechanism for annular workpiece |
| CN114654293A (en) * | 2022-04-07 | 2022-06-24 | 无锡科技职业学院 | Mechanical grabbing device |
| CN116787477A (en) * | 2023-08-29 | 2023-09-22 | 山东荣升重型机械股份有限公司 | Grabbing device and grabbing method for annular workpiece |
-
2019
- 2019-10-30 CN CN201911044898.1A patent/CN110815260A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372651A (en) * | 2020-09-28 | 2021-02-19 | 广东伟业铝厂集团有限公司 | A snatch anchor clamps for aluminum alloy tubular product surface treatment |
| CN112894660A (en) * | 2021-01-27 | 2021-06-04 | 冯涛涛 | High-stability clamping mechanism for annular workpiece |
| CN112894660B (en) * | 2021-01-27 | 2022-11-08 | 重庆太仓科技有限公司 | High-stability clamping mechanism for annular workpiece |
| CN114654293A (en) * | 2022-04-07 | 2022-06-24 | 无锡科技职业学院 | Mechanical grabbing device |
| CN116787477A (en) * | 2023-08-29 | 2023-09-22 | 山东荣升重型机械股份有限公司 | Grabbing device and grabbing method for annular workpiece |
| CN116787477B (en) * | 2023-08-29 | 2023-10-20 | 山东荣升重型机械股份有限公司 | Grabbing device and grabbing method for annular workpiece |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110815260A (en) | Annular workpiece clamping device and clamping manipulator | |
| CN104209690B (en) | For the flexible fixture of the vertical assembling of large-size thin-walled cylinder body component | |
| CN103143977B (en) | Six-working station automatic converting mechanical arm | |
| CN110625603A (en) | Rotary industrial robot equipment | |
| CN205057371U (en) | Cross iron tower work piece automatic weld anchor clamps | |
| CN112008442B (en) | Machining clamp for workpiece with taper hole on numerical control machine tool | |
| CN211388826U (en) | Annular workpiece clamping device and clamping manipulator | |
| CN209717087U (en) | A kind of hydraumatic chucking device | |
| CN210938891U (en) | Anodic oxidation bar centre gripping manipulator | |
| CN106271822A (en) | The loading and unloading manipulator of Digit Control Machine Tool | |
| CN105397448A (en) | Ball valve stem loading device | |
| CN207788403U (en) | Workpiece transhipment robot device in a kind of machine tooling | |
| CN105127637A (en) | Automatic welding clamp for cross type iron tower workpiece | |
| CN210756092U (en) | Adjustable clamp for robot flexible welding workstation | |
| CN109108607A (en) | Yarn bar positioning device | |
| CN108705519A (en) | Double-arm manipulator | |
| CN110370022B (en) | Steel reinforcement framework forming system | |
| CN105666206A (en) | Jig for machining of columnar workpieces | |
| CN110202299B (en) | Workbench welding robot | |
| CN209793550U (en) | Product fixing tool based on PLC manipulator machining line | |
| CN210012202U (en) | Clamping and lifting device | |
| CN107695487B (en) | Full-automatic argon arc welding machine | |
| CN206748030U (en) | A kind of novel numerical control turning attachment | |
| CN205685114U (en) | A kind of multi-station manipulator conveyer device | |
| CN211028638U (en) | Tunnel type welding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |