CN111113299A - Clamp apparatus - Google Patents
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- CN111113299A CN111113299A CN202010005249.7A CN202010005249A CN111113299A CN 111113299 A CN111113299 A CN 111113299A CN 202010005249 A CN202010005249 A CN 202010005249A CN 111113299 A CN111113299 A CN 111113299A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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Abstract
The invention relates to a clamp which comprises a mounting seat and a plurality of clamping modules, wherein the clamping modules are arranged on the mounting seat, each clamping module comprises a main body part, a clamping part, a pushing element and a pressure sensor, the pushing element is arranged on the main body part and used for pushing the clamping part to move relative to the main body part, the pressure sensor is arranged on the clamping part and used for detecting clamping force between the clamping part and a workpiece to be clamped, the clamp further comprises a control module, the control module is in communication connection with the pushing element and the pressure sensor, and the control module can control the stroke of the pushing element according to the numerical value of the clamping force measured by the pressure sensor. The clamp can ensure that the workpiece is just clamped and fixed, and simultaneously avoids overlarge clamping force to make the workpiece difficult to take out.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a clamp.
Background
When a workpiece is machined, the workpiece needs to be fixed through a jig. Thermal effect can be generated in the procedures of anti-reflection coating (AR coating) or Laser machining (Laser trimming), the temperature of the workpiece is increased after the workpiece is heated, and the volume of the workpiece is subjected to thermal expansion. After the working procedures are finished, the workpiece still has certain expansion, and the workpiece and the jig are mutually extruded, so that the workpiece is not easy to take out.
Disclosure of Invention
In view of this, it is necessary to provide a jig for solving the problem that the workpiece is not easily taken out of the jig after thermal expansion.
The utility model provides an anchor clamps, includes mount pad and a plurality of centre gripping module, the centre gripping module is located on the mount pad, the centre gripping module includes main part, clamping part, promotion component and pressure sensor, the promotion component is located the main part, and be used for promoting the clamping part is relative the main part removes, pressure sensor locates the clamping part, and be used for detecting the clamping-force between clamping part and the work piece of treating the centre gripping, anchor clamps still include control module, control module with promote the component, pressure sensor communication is connected, control module can be according to pressure sensor measures the numerical control of clamping-force the stroke of promotion component.
Above-mentioned anchor clamps, at the centre gripping in-process, when ambient temperature changes, the volume of work piece increases thereupon or when reducing, control module can record the numerical value of clamping-force through the pressure sensor who locates the clamping part, and then control promotion component drives the clamping part and keeps away from or be close to the work piece to ensure that the work piece just is fixed by the centre gripping, avoid the clamping-force too big and make the work piece be difficult for taking out simultaneously.
In one embodiment, the number of the clamping modules is N, N is more than or equal to 2, the static friction coefficient between the clamping modules and the workpiece is mu, the safety coefficient of the workpiece being stably clamped is N, the weight of the workpiece is G, and the clamping force F of the N clamping modules is F1，……FnThe following conditions are satisfied:
ΣFn*μ≧N*G。
in one embodiment, the number of the clamping modules is 3, and the clamping modules are respectively the first clamping modulesA clamping module, a second clamping module and a third clamping module, wherein the clamping force F of the first clamping module1Is in a first direction, the clamping force F of the second clamping module2Is the second direction, the clamping force F of the third clamping module3Is a third direction, a reference line is set to be perpendicular to the third direction, and the included angle between the first direction and the reference line is theta1The included angle between the second direction and the datum line is theta2，F1：F2：F3＝secθ1：secθ2：(tanθ1+tanθ2)。
In one embodiment, the clamping module further includes a detection element, a surface of the main body portion, which faces away from the mounting seat, is set as a reference surface, the detection element is disposed on the reference surface of the main body portion, a position of the workpiece, which is opposite to the detection element, is a detection area, and the detection element is configured to determine whether the detection area is an area to be clamped.
In one embodiment, the detection element includes a sensor, the sensor is configured to detect a distance d between the reference surface and the detection area, and when the distance d measured by the sensor is smaller than or equal to a set value, the detection area is determined to be an area to be clamped.
In one embodiment, the detection element includes a first photosensor and a second photosensor, the first photosensor and the second photosensor are both disposed on a reference plane of the main body, a distance between the first photosensor and the second photosensor is L, the detection area includes a first detection point and a second detection point, and the first photosensor is configured to detect a distance d from the first detection point to the reference plane1The second photoelectric sensor is used for detecting the distance d from the second detection point to the reference surface2The first photoelectric sensor and the second photoelectric sensor are in communication connection with the control module, and the control module can be used for controlling the photoelectric sensors according to d1、d2L calculating the first detection point and the second detection pointAnd an included angle α between the connecting line and the reference plane is α, and when α is less than or equal to 10 degrees, the detection area is judged to be an area to be clamped.
In one embodiment, the clamping module is movably connected with the mounting seat, and the clamp further comprises a power element for pushing the clamping module to move relative to the mounting seat so that the clamping part is opposite to the area to be clamped of the workpiece.
In one embodiment, the number of the clamping modules is 3, the mounting base includes 3 slide rails, and the main body of each clamping module is slidably disposed on one of the slide rails.
In one embodiment, the slide rail is arc-shaped or linear.
In one embodiment, the fixture further comprises a rotating module, and the rotating module is used for driving the workpiece to rotate relative to the mounting seat.
Drawings
FIG. 1 is a schematic view of a clamp according to an embodiment;
FIG. 2 is a schematic structural view of a clamping module in the fixture of FIG. 1;
FIG. 3 is a schematic view of another embodiment of a clamp;
FIG. 4 is a schematic view of a clamp according to yet another embodiment;
FIG. 5 is a schematic view of a fixture according to yet another embodiment;
fig. 6 is a schematic diagram illustrating the operation of the detecting element of the clamp according to an embodiment.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, a fixture 100 includes a mounting base 10 and a plurality of clamping modules 20, wherein the clamping modules 20 are disposed on the mounting base 10 and enclose to form a clamping position. The clamping module 20 comprises a main body 21, a clamping portion 22, a pushing element 23 and a pressure sensor 24, wherein the pushing element 23 is arranged on the main body 21 and used for pushing the clamping portion 22 to move relative to the main body 21, and the pressure sensor 24 is arranged on the clamping portion 22 and used for detecting the clamping force between the clamping portion 22 and the workpiece 200 to be clamped. The fixture 100 further comprises a control module, the control module is in communication connection with the pushing element 23 and the pressure sensor 24, and the control module can control the stroke of the pushing element 23 according to the value of the clamping force measured by the pressure sensor 24.
In one embodiment, the mounting base 10 includes a loading plate 11 and a side plate 12 disposed on the loading plate 11, the loading plate 11 is used for placing the workpiece 200 to be clamped, and a plurality of clamping modules 20 are disposed on the side plate 12. In this embodiment, the clamping module 20 and the workpiece 200 just abut against each other to limit the workpiece 200 in the horizontal direction, and the clamping force between the clamping module 20 and the workpiece 200 should not be too large, so as to avoid the clamping too tight to cause the difficulty in taking the workpiece. Accordingly, the pressure sensor 24 measures that the clamping force m between the clamping portion 22 and the workpiece 200 should be greater than 0 and less than or equal to a certain value a, for example, a ═ 0.001. If the clamping force is equal to 0, the clamping portion 22 may be spaced from the surface of the workpiece 200, and may not be able to effectively clamp and fix the workpiece 200. The pushing element 23 drives the clamping portion 22 to move in a direction close to the workpiece 200 to ensure that the clamping portion 22 is in surface contact with the workpiece 200, thereby limiting the movement of the workpiece 200 in a horizontal direction, as can be appreciated, the clamping force between the clamping portion 22 and the workpiece 200 is greater than 0. Meanwhile, the clamping force should not exceed a, that is, the clamping force should not be too large, so as to avoid the workpiece 200 being clamped too tightly, which results in a large resistance when taking out the workpiece. In the machining process, when the workpiece 200 expands along with the temperature rise, the clamping module 20 and the workpiece 200 are pressed against each other, at this time, the clamping force m measured by the pressure sensor 24 is greater than a, the control module controls the pushing element 23 to drive the clamping part 22 to move in the direction away from the workpiece 200 until the clamping force m measured by the pressure sensor 24 is less than or equal to a, and the pushing element 23 stops moving. When the volume of the workpiece 200 decreases with the decrease of the temperature, the pressure sensor 24 measures that the clamping force m is 0, and the control module controls the pushing element 23 to drive the clamping portion 22 to move towards the direction close to the workpiece 200 until the reading of the pressure sensor 24 is greater than 0.
In the use process of the clamp 100, when the ambient temperature changes and the volume of the workpiece 200 increases or decreases, the control module can measure the value of the clamping force through the pressure sensor 24 arranged on the clamping portion 22, and then control the pushing element 23 to drive the clamping portion 22 to be far away from or close to the workpiece 200, so as to ensure that the workpiece 200 is just clamped and fixed, and avoid the phenomenon that the workpiece 200 is not easy to take out due to too large clamping force.
In another embodiment, the mounting seat 10 is a hollow structure, i.e. the workpiece 200 is suspended in the air, so as to facilitate the processing of the bottom of the workpiece 200 from below the fixture 100. The number of the clamping modules 20 is N, N is more than or equal to 2, the static friction coefficient between the clamping modules 20 and the workpiece 200 is mu, the safety factor of the workpiece 200 which is stably clamped is N, N is more than or equal to 1, the weight of the workpiece 200 is G, and the clamping force F of the N clamping modules 20 is1，……FnSatisfies the following formula: sigma FnMu ≧ N × G, i.e., the static friction between the clamping module 20 and the workpiece 200 is greater than or equal to N × G, so as to ensure that the clamping module 20 forms a stable clamping on the workpiece 200 and prevent the workpiece 200 from sliding off.
In one embodiment, the clamping force F of the n clamping modules 201，……FnSatisfies the following formula:
ΣFn*μ＝N*G (1)
in the process of taking out the workpiece 200, the workpiece 200 is subjected to stress analysis to obtain the required workpiece taking force Fp≧ΣFnMu '+ G, where mu' is the coefficient of dynamic friction between the clamping module 20 and the workpiece 200, Σ FnThe smaller the required removal force FpThe smaller, when Sigma FnWhen μ equals N G, the required removal force is minimal and the workpiece 200 is easily removed.
It should be noted that, for workpieces 200 with different shapes, a corresponding number of clamping modules 20 are required to clamp the workpieces 200. For example, the workpiece 200 may be a long bar, and in this case, n is 2, and 2 holding modules 20 may hold the workpiece 200 at both ends thereof. When the cross section of the workpiece 200 is triangular, square, circular or other irregular shapes, n is not less than 3, and 3 or more than 3 clamping modules 20 surround to form a clamping position so as to clamp and fix the workpiece 200. Wherein the cross section of the workpiece 200 is parallel to the direction of the clamping force.
In one embodiment, the cross section of the workpiece 200 is irregular, the number of the clamping modules 20 is 3, which are the first clamping module 20a, the second clamping module 20b and the third clamping module 20c, and the relative positions of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c and the workpiece 200 are adjusted, so that the first clamping module 20a, the second clamping module 20b and the third clamping module 20c are opposite to the region suitable for clamping, i.e., the region to be clamped, on the workpiece 200, so as to clamp and fix the workpiece 200.
Referring to FIG. 3, the clamping force F of the first clamping module 20a1In a first direction, the clamping force F of the second clamping module 20b2In a second direction, the clamping force F of the third clamping module 20c3Is a third direction, and the reference line is set to be perpendicular to the third direction. In the present embodiment, the third direction is a horizontal direction, and the reference line is a vertical direction. The first direction forms an angle theta with the reference line (vertical direction)1The second direction forms an angle theta with the reference line (vertical direction)2，F1：F2：F3＝secθ1：secθ2：(tanθ1+tanθ2). When the workpiece 200 is in a static state, the stress analysis of the workpiece 200 shows that F is in the horizontal direction1、F2And F3Has a total force of 0, i.e. F1、F2And F3The following equation is satisfied: f1*cosθ1＝F2*cosθ2And F3＝F1*sinθ1+F2*sinθ2Derived from the above equation:
F1：F2：F3＝ secθ1：secθ2：(tanθ1+tanθ2) (2)
the control module stores formula (1) and formula (2) in advance, and the weight G, the safety factor N, the static friction coefficients mu and theta of the workpiece 200 are input into the control module1、θ2The control module can calculate F1、F2And F3And then controls the stroke of the corresponding pushing element 23 according to the real-time reading of the pressure sensor 24, and when the reading of the pressure sensor 24 is a calculated value, the pushing element 23 stops moving.
In one embodiment, the first clamping module 20a, the second clamping module 20b and the third clamping module 20c are movably connected to the mounting base 10, so as to facilitate adjusting the position of the first clamping module 20a, the second clamping module 20b or the third clamping module 20 c. The mounting seat 10 includes 3 sliding rails 13 separately disposed, the main body portions 21 of the first clamping module 20a, the second clamping module 20b, and the third clamping module 20c are respectively slidably disposed on one of the sliding rails 13, and the sliding rails 13 are used for defining a movement track of the first clamping module 20a, the second clamping module 20b, or the third clamping module 20 c. Specifically, the positions of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c on the slide rail 13 can be manually moved, and when the first clamping module 20a, the second clamping module 20b or the third clamping module 20c is observed to be aligned with the area to be clamped on the workpiece 200, the adjustment is indicated to be in place. Or, the fixture 100 further includes a power element, and the power element is configured to push the first clamping module 20a, the second clamping module 20b, or the third clamping module 20c to move relative to the mounting base 10, so that the clamping portion 22 is opposite to the region to be clamped of the workpiece 200, and the clamping positions of the first clamping module 20a, the second clamping module 20b, and the third clamping module 20c are automatically adjusted, so as to improve the production efficiency. It is understood that the power element may be a plurality of power elements, that is, the first clamping module 20a, the second clamping module 20b and the third clamping module 20c are driven by one power element, and the positions of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c can be adjusted independently. Or, the number of the power elements is 1, the relative positions of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c are kept unchanged, and the positions of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c are synchronously adjusted through the power elements.
Referring to fig. 4, the slide rails 13 are arc-shaped, and the outer contour of the structure formed by sequentially connecting 3 slide rails 13 is circular. The power element is a rotating motor 14, and the rotating motor 14 is used for driving the first clamping module 20a, the second clamping module 20b or the third clamping module 20c to move along the slide rail 13. The positions of the first clamping module 20a, the second clamping module 20b and the third clamping module on the slide rail 13 can be adjusted by the rotary motor 14, respectively, so that the first clamping module 20a, the second clamping module 20b and the third clamping module 20c are opposite to the areas suitable for clamping on the workpiece 200.
Referring to fig. 5, the slide rails 13 may also be arranged in a straight line shape, and the outer contour of the structure formed by sequentially connecting 3 slide rails 13 is a triangle. Correspondingly, the power element is a linear motor, an air cylinder or an oil cylinder.
In an embodiment, each of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c includes a detection element 25, a surface of the main body 21 facing away from the mounting base 10 is set as a reference surface, the detection element 25 is disposed on the reference surface of the main body 21, a position of the workpiece 200 opposite to the detection element 25 is a detection area, and the detection element 25 is configured to determine whether the detection area is an area to be clamped. If the workpiece 200 is irregular, the positions of the first clamping module 20a, the second clamping module 20b, and the third clamping module 20c need to be adjusted during clamping, so that the first clamping module 20a, the second clamping module 20b, and the third clamping module 20c are respectively opposite to the region to be clamped of the workpiece 200. For example, if the workpiece 200 includes a convex portion and a concave portion, the convex portion is the region to be clamped. Compared with the observation by human eyes, the detection element 25 can more accurately determine whether the first clamping module 20a, the second clamping module 20b, and the third clamping module 20c are opposite to the region to be clamped of the workpiece 200, so as to know whether the first clamping module 20a, the second clamping module 20b, and the third clamping module 20c are moved in place.
Further, the detection element 25 is in communication connection with the control module, and when the detection element 25 detects an in-place signal of the first clamping module 20a, the second clamping module 20b, and the third clamping module 20c and transmits the in-place signal to the control module, the control module sends a stop motion signal to the power element, so that the clamp 100 can realize automatic clamping and positioning.
In the process of moving the first clamping module 20a, the second clamping module 20b, or the third clamping module 20c, it can be determined whether the region of the workpiece 200 opposite to the first clamping module 20a, the second clamping module 20b, or the third clamping module 20c is a region to be clamped, that is, a region of the workpiece 200 that can be stably clamped, in the following manner:
the detecting element 25 includes a sensor for detecting a distance d between the reference surface and the detection area when the distance d measured by the sensor is less than or equal to a set value d0And judging that the detection area is the area to be clamped. Since the distance from the convex portion to the reference surface of the workpiece 200 is smaller than the distance from the concave portion to the reference surface, the control module compares the distance d measured by the sensor with the previously stored distance d0And comparing to distinguish the convex part and the concave part, and further judging whether the area is the area to be clamped.
Alternatively, referring to fig. 2 and fig. 6, the detecting element 25 includes a first photosensor 251 and a second photosensor 252, the first photosensor 251 and the second photosensor 252 are both disposed on the reference surface of the main body 21, and the distance between the first photosensor 251 and the second photosensor 252 is LThe detection area includes a first detection point and a second detection point, and the first photoelectric sensor 251 is used for detecting the distance d from the first detection point to the reference plane1The second photoelectric sensor 252 is used for detecting the distance d from the second detection point to the reference plane2The fixture 100 further comprises a control module, the control module is in communication connection with the first photoelectric sensor 251 and the second photoelectric sensor 252, and the control module can be used for controlling the first photoelectric sensor 251 and the second photoelectric sensor 252 according to d1、d2L calculating the included angle α between the connecting line of the first detection point and the second detection point and the reference plane, wherein d1、d2L, α satisfy the following relationship:
tanα＝(d1-d2)/L
when α is less than or equal to 10 degrees, the detection area is judged to be an area to be clamped, when the cross section of the workpiece 200 comprises a plurality of arcs which are connected in sequence and the curvatures of the arcs are different, the larger the curvature of the arc is, the closer the arc is to the plane, and the clamping is suitable, through the detection mode, the area with the larger curvature on the workpiece 200 can be detected, so that the clamping is convenient.
In other embodiments, the positions of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c are fixed, and the fixture 100 further includes a rotating module for driving the workpiece 200 to rotate relative to the mounting base 10, so that the region of the workpiece 200 to be clamped is aligned with the clamping module 20. After the rotating module drives the workpiece 200 to move in place, the first clamping module 20a, the second clamping module 20b and the third clamping module 20c clamp the workpiece 200, and then the rotating module loosens the workpiece 200.
In one embodiment, the fixture 100 comprising 3 clamping modules 20 is used to clamp an irregularly shaped workpiece 200, and the work flow of the fixture 100 is as follows:
s100: positioning, comprising the steps of:
s110: the first clamping module 20a is driven by a power element to move along the slide rail 13, and when the detection element 25 detects that the region of the workpiece 200 opposite to the first clamping module 20a is a region to be clamped, the first clamping module 20a stops moving;
s120, the second clamping module 20b moves along the slide rail 13 under the driving of a power element, when the detection element 25 detects that the area of the workpiece 200 opposite to the second clamping module 20b is an area to be clamped, and meanwhile, the included angle β between the second clamping module 20b and the first clamping module 20a is larger than 90 degrees and smaller than 180 degrees, and the second clamping module 20b stops moving;
s130: the third clamping module 20c is driven by the power element to move along the slide rail 13, and when the detection element 25 detects that the region of the workpiece 200 opposite to the third clamping module 20c is a region to be clamped, an included angle γ between the third clamping module 20c and the first clamping module 20a is larger than 90 ° and smaller than 180 °, and the third clamping module 20c stops moving.
S200: clamping, comprising the following steps:
s210: the weight G, the safety factor N and the static friction coefficient mu of the workpiece 200 are input through the control panel, and theta is read1、θ2；
S220: the pushing elements 23 of the first clamping module 20a, the second clamping module 20b and the third clamping module 20c respectively drive the clamping parts 22 to move towards the direction close to the workpiece 200 until the reading of the pressure sensor 24 is greater than 0;
s230: so that the clamping force F on the first clamping module 20a, the second clamping module 20b and the third clamping module 20c1：F2：F3＝secθ1：secθ2：(tanθ1+tanθ2) Proportionally increased until mu (F)1+F2+F3) G and G, finishing the clamping.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The clamp is characterized by comprising a mounting seat and a plurality of clamping modules, wherein the clamping modules are arranged on the mounting seat, each clamping module comprises a main body part, a clamping part, a pushing element and a pressure sensor, the pushing element is arranged on the main body part and used for pushing the clamping part to move relative to the main body part, the pressure sensor is arranged on the clamping part and used for detecting clamping force between the clamping part and a workpiece to be clamped, the clamp further comprises a control module, the control module is in communication connection with the pushing element and the pressure sensor, and the control module can control the stroke of the pushing element according to the numerical value of the clamping force measured by the pressure sensor.
2. The clamp of claim 1, wherein the number of the clamping modules is N, N is more than or equal to 2, the static friction coefficient between the clamping modules and the workpiece is mu, the safety factor of the workpiece being stably clamped is N, the weight of the workpiece is G, and the clamping force F of the N clamping modules is F1，……FnThe following conditions are satisfied:
ΣFn*μ≧N*G。
3. the clamp of claim 1, wherein the number of said clamping modules is 3, and the clamping modules are a first clamping module, a second clamping module and a third clamping module, respectively, and the clamping force F of said first clamping module is1Is in a first direction, the clamping force F of the second clamping module2Is the second direction, the clamping force F of the third clamping module3Is a third direction, a reference line is set to be perpendicular to the third direction, and the included angle between the first direction and the reference line is theta1The included angle between the second direction and the datum line is theta2，F1：F2：F3＝secθ1：secθ2：(tanθ1+tanθ2)。
4. The clamp according to any one of claims 1 to 3, wherein the clamping module further comprises a detection element, a surface of the main body portion facing away from the mounting seat is set as a reference surface, the detection element is arranged on the reference surface of the main body portion, a position of the workpiece relative to the detection element is a detection area, and the detection element is used for judging whether the detection area is an area to be clamped.
5. The clamp of claim 4, wherein the detection element comprises a sensor for detecting a distance d between the reference surface and the detection area, and when the distance d measured by the sensor is less than or equal to a set value, the detection area is determined as an area to be clamped.
6. The jig of claim 4, wherein the detection element comprises a first photosensor and a second photosensor, the first photosensor and the second photosensor are both disposed on a reference surface of the main body portion, a pitch between the first photosensor and the second photosensor is L, the detection area comprises a first detection point and a second detection point, and the first photosensor is configured to detect a distance d from the first detection point to the reference surface1The second photoelectric sensor is used for detecting the distance d from the second detection point to the reference surface2The first photoelectric sensor and the second photoelectric sensor are in communication connection with the control module, and the control module can be used for controlling the photoelectric sensors according to d1、d2And L, calculating an included angle α between a connecting line of the first detection point and the second detection point and the reference plane, and judging that the detection area is an area to be clamped when α is less than or equal to 10 degrees.
7. The clamp of claim 4, wherein the clamping module is movably coupled to the mount, the clamp further comprising a powered member for urging the clamping module to move relative to the mount to bring the clamping portion into opposition to the region of the workpiece to be clamped.
8. The fixture of claim 7, wherein the number of the clamping modules is 3, the mounting base comprises 3 sliding rails, and the main body portion of each clamping module is slidably disposed on one of the sliding rails.
9. The clamp of claim 8, wherein the slide is arcuate or linear.
10. The fixture of claim 4, further comprising a rotation module configured to rotate the workpiece relative to the mount.
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| CN202010005249.7A CN111113299B (en) | 2020-01-03 | 2020-01-03 | Clamp apparatus |
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| CN202010005249.7A CN111113299B (en) | 2020-01-03 | 2020-01-03 | Clamp apparatus |
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| CN111113299B CN111113299B (en) | 2021-06-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922218A (en) * | 2020-07-31 | 2020-11-13 | 珠海格力电器股份有限公司 | Flat pipe and fin clamping and pressing device, manufacturing method and micro-channel heat exchanger |
| CN112405384A (en) * | 2020-09-28 | 2021-02-26 | 德仕科技（深圳）有限公司 | Be applied to automatic anchor clamps structure of proofreading and correct mould module processing position |
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| DE3543353A1 (en) * | 1985-12-07 | 1987-06-11 | Forkardt Paul Gmbh | Clamping device |
| CN102735197B (en) * | 2012-06-20 | 2014-12-24 | 北京北一机床股份有限公司 | System and method for automatically detecting correctness of clamping posture of workpiece |
| CN102756346A (en) * | 2012-07-25 | 2012-10-31 | 中国科学院自动化研究所 | Holder for macroscopic motion and microscopic motion high-precision butting and control method of holder |
| US20190275630A1 (en) * | 2016-11-11 | 2019-09-12 | Mitsubishi Heavy Industries, Ltd. | Component production method and component production system |
| CN207578248U (en) * | 2017-12-05 | 2018-07-06 | 苏州斯塔迪自动化科技有限公司 | A kind of automobile supporting plate automatically controls fixture |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922218A (en) * | 2020-07-31 | 2020-11-13 | 珠海格力电器股份有限公司 | Flat pipe and fin clamping and pressing device, manufacturing method and micro-channel heat exchanger |
| CN112405384A (en) * | 2020-09-28 | 2021-02-26 | 德仕科技（深圳）有限公司 | Be applied to automatic anchor clamps structure of proofreading and correct mould module processing position |
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| CN111113299B (en) | 2021-06-11 |
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