CN112157177B - Clamping device, positioning and clamping device, clamping robot and robot - Google Patents
Clamping device, positioning and clamping device, clamping robot and robot Download PDFInfo
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- CN112157177B CN112157177B CN202010995282.9A CN202010995282A CN112157177B CN 112157177 B CN112157177 B CN 112157177B CN 202010995282 A CN202010995282 A CN 202010995282A CN 112157177 B CN112157177 B CN 112157177B
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- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 abstract description 21
- 239000000758 substrate Substances 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a clamping device, a positioning and clamping device, a clamping robot and a robot, wherein the clamping device comprises: the clamping device comprises a mounting substrate, a clamping assembly arranged on the mounting substrate and a clamping driving mechanism for driving the clamping assembly to open and close; the clamping assembly comprises an upper clamping seat and a lower clamping seat which can be arranged in a relatively opening and closing mode so as to clamp the special-shaped workpiece. The clamping device provided by the invention can automatically clamp the special-shaped workpiece, so that the participation of manpower is avoided, and the potential safety hazard is effectively reduced; in the process of positioning and clamping the special-shaped piece, the clamping device is in contact with the special-shaped piece, so that the special-shaped piece cannot be directly contacted with the surface or the cable of the robot, and damage to the surface or the cable of the robot caused by the special-shaped piece with higher temperature can be avoided.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a clamping device. The invention also relates to a positioning and clamping device comprising the clamping device, a clamping robot comprising the clamping device and a robot comprising the positioning and clamping device.
Background
At present, in the metal processing industry, a plurality of special-shaped workpieces can be forged or stamped after being heated at high temperature, and the special-shaped workpieces have the problems of complex shape, poor dimensional consistency, deviation of workpiece positions caused by easy die sticking and the like, so that the positioning difficulty of the special-shaped workpieces is increased. In the prior art, the positioning is generally performed through manual operation, so that the working environment of workers is high in temperature, safety accidents are easy to occur, and great potential safety hazards exist. In addition, the different-movement workpiece is directly contacted with the robot after being heated at high temperature, so that the surface and the inner cables of the robot are extremely damaged.
In summary, how to provide a device for clamping a profile is a problem to be solved by those skilled in the art.
Disclosure of Invention
Therefore, the invention aims to provide the clamping device which can clamp the special-shaped workpiece to replace manual operation, avoid the workpiece from directly contacting with the surface of the robot and the cable, is beneficial to realizing the automation of the special-shaped workpiece clamping process and reduces the potential safety hazard.
Another object of the present invention is to provide a positioning and clamping device comprising the clamping device as well as a clamping robot comprising the clamping device and a robot comprising the positioning and clamping device.
In order to achieve the above object, the present invention provides the following technical solutions:
a clamping device, comprising: the clamping device comprises a mounting base body, a clamping assembly arranged on the mounting base body and a clamping driving mechanism for driving the clamping assembly to open and close;
the clamping assembly comprises an upper clamping seat and a lower clamping seat which can be arranged in a relatively opening and closing mode so as to clamp the special-shaped workpiece.
Preferably, the clamping assembly further comprises a Y-shaped seat which is connected with the clamping driving mechanism and can move up and down, a U-shaped seat fixedly arranged on the bottom surface of the mounting base body and a connecting rod;
One end of the connecting rod is rotatable and slidable relative to the Y-shaped seat, the other end of the connecting rod is rotatably connected with the U-shaped seat, one end of the connecting rod, which is close to the U-shaped seat, is connected with the upper clamping seat, and the lower clamping seat is arranged at a position corresponding to the upper clamping seat in the mounting matrix.
Preferably, the device further comprises a sensor for detecting the opening and closing states of the upper clamping seat and the lower clamping seat.
Preferably, the clamping driving mechanism is mounted on the lower bottom surface of the mounting base, and the mounting base is provided with a through hole for passing the protruding end of the clamping driving mechanism.
A clamping robot comprising a clamping device as claimed in any one of the preceding claims.
A positioning and clamping device, comprising any one of the clamping devices, a positioning assembly arranged on the mounting substrate and a lifting driving mechanism for driving the positioning assembly to lift;
The positioning assembly is provided with a positioning piece matched with the special-shaped workpiece to be positioned so as to position the special-shaped workpiece.
Preferably, the positioning assembly further comprises a connecting plate driven to lift by the lifting driving mechanism, the connecting plate is connected with a positioning plate for mounting the positioning piece, and the positioning piece is arranged on the lower surface of the positioning plate.
Preferably, the positioning piece comprises a profiling piece and a positioning block, wherein the lower surface of the profiling piece is provided with a groove matched with the shape of the special-shaped workpiece to be positioned, and the edge of the groove is provided with a first chamfer which facilitates the positioning piece to enter;
And/or the positioning block is of a cylindrical structure and is used for being matched with a positioning hole of the special-shaped workpiece to be positioned, and a second chamfer is arranged at the edge of the lower surface of the positioning piece.
Preferably, the lifting driving mechanism comprises a lifting cylinder and a sliding assembly, and the lifting cylinder is connected with the positioning assembly to drive the positioning assembly to slide along the sliding assembly.
Preferably, the sliding assembly comprises a bottom plate, a sliding rail, a sliding block and a limiting piece, wherein the bottom plate is arranged on the mounting base body, the sliding rail is arranged on the bottom plate, the sliding block is matched with the sliding rail, and the limiting piece is used for limiting the sliding range of the sliding block;
the positioning component is connected with the sliding block.
Preferably, the clamping assemblies are provided with two groups, the two groups of clamping assemblies are symmetrically arranged with respect to the middle section of the width direction of the mounting base body, and the positioning assembly is arranged between the two groups of clamping assemblies.
A robot comprising a positioning and clamping device according to any of the preceding claims.
In the process of using the clamping device provided by the invention, the clamping assembly can be firstly in an open state, then the special-shaped workpiece to be clamped is moved to a proper position, and the upper clamping seat and the lower clamping seat of the clamping assembly are driven to be closed by the clamping driving mechanism to clamp the special-shaped workpiece.
Compared with the prior art, the clamping device provided by the invention can automatically clamp the special-shaped workpiece, so that the manual participation is avoided, the potential safety hazard can be effectively reduced, in addition, in the process of clamping the special-shaped workpiece, the clamping device is in contact with the special-shaped workpiece, the special-shaped workpiece cannot be directly contacted with the surface or the cable of the robot, and the damage of the special-shaped workpiece with higher temperature to the surface or the cable of the robot can be avoided.
In addition, the invention also provides a clamping robot comprising the clamping device, a positioning and clamping device comprising the clamping device and a robot comprising the positioning and clamping device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a positioning and clamping device according to an embodiment of the present invention;
FIG. 2 is a front view of the positioning and clamping device of FIG. 1;
FIG. 3 is a top view of the positioning and clamping device of FIG. 1;
FIG. 4 is a right side view of the positioning and clamping device of FIG. 1;
FIG. 5 is a schematic view of the clamping assembly and mounting base of the positioning and clamping device of FIG. 1;
FIG. 6 is a front view of the structure of FIG. 5;
FIG. 7 is a bottom view of the structure of FIG. 5;
FIG. 8 is a schematic diagram of a positioning assembly and a lift driving mechanism;
fig. 9 is a front view of the structure of fig. 8.
In fig. 1-9:
1 is an installation base body, 11 is a flange plate, 12 is a vertical plate, 13 is a rib plate, 14 is a base, 2 is a clamping component, 21 is a Y-shaped seat, 22 is a U-shaped seat, 23 is a connecting rod, 24 is a first pin shaft, 25 is a second pin shaft, 26 is an upper clamping seat, 27 is a lower clamping seat, 3 is a positioning component, 31 is a connecting plate, 32 is a positioning plate, 33 is a positioning block, 34 is a profiling piece, 35 is an L-shaped connecting piece, 4 is a clamping cylinder, 5 is a lifting driving mechanism, 51 is a lifting cylinder, 511 is a floating joint, 52 is a sliding component, 521 is a base plate, 522 is a sliding rail, 523 is a sliding block, 524 is a limiting plate, 525 is a limit screw, and 6 is a sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims at providing the clamping device which can automatically clamp the special-shaped workpiece with higher temperature, replace manual participation and avoid the contact between the special-shaped workpiece with higher temperature and the surface or the cable of the robot. Another core of the present invention is to provide a clamping robot comprising the clamping device described above; the positioning and clamping device comprising the clamping device can be used for positioning and clamping a special-shaped workpiece with higher temperature; and a robot comprising the positioning and clamping device.
Referring to fig. 1 to 9, fig. 1 is a schematic structural diagram of an embodiment of a positioning and clamping device according to the present invention; FIG. 2 is a front view of the positioning and clamping device of FIG. 1; FIG. 3 is a top view of the positioning and clamping device of FIG. 1; FIG. 4 is a right side view of the positioning and clamping device of FIG. 1; FIG. 5 is a schematic view of the clamping assembly and mounting base of the positioning and clamping device of FIG. 1; FIG. 6 is a front view of the structure of FIG. 5; FIG. 7 is a bottom view of the structure of FIG. 5; FIG. 8 is a schematic diagram of a positioning assembly and a lift driving mechanism; fig. 9 is a front view of the structure of fig. 8.
The clamping device provided in this embodiment includes: the clamping device comprises a mounting base body 1, a clamping assembly 2 arranged on the mounting base body 1 and a clamping driving mechanism for driving the clamping assembly 2 to open and close;
The clamping assembly 2 comprises an upper clamping seat 26 and a lower clamping seat 27 which can be arranged in a relatively open-close mode so as to clamp the special-shaped workpiece.
Considering actual processing conditions, the installation base 1 may be configured as a split structure, as shown in fig. 1-4, where the installation base 1 includes a flange plate 11, a vertical plate 12, a rib plate 13, and a base 14, the flange plate 11 is used for connecting the end of the robot and is fixed on the vertical plate 12, so that the end of the robot is fixedly connected with the clamping device provided by this embodiment, two sides of the vertical plate 12 are provided with the rib plates 13, and the bottom is fixedly provided with the base 14, and the rib plates 13 and the vertical plate 12 are both connected with the base 14.
Preferably, anti-skid lines can be arranged on the surfaces of the upper clamping seat 26 and the lower clamping seat 27, which are in contact with the special-shaped workpiece, so as to improve the clamping force, or rubber cushions are arranged on the surfaces of the upper clamping seat 26 and the lower clamping seat 27, which are in contact with the special-shaped workpiece, so that scratches on the special-shaped workpiece are avoided.
In the process of using the clamping device provided by this embodiment, the clamping assembly 2 may be first in an open state, and then the upper clamping seat 26 and the lower clamping seat 27 of the clamping assembly 2 are driven to close by the clamping driving mechanism, so as to clamp the special-shaped workpiece.
Compared with the prior art, the clamping device provided by the embodiment can automatically clamp the special-shaped workpiece, so that manual participation is avoided, potential safety hazards can be effectively reduced, in addition, the clamping device is in contact with the special-shaped workpiece in the process of clamping the special-shaped workpiece, the clamping device cannot be directly in contact with the surface or the cable of the robot, and damage to the surface or the cable of the robot caused by the special-shaped workpiece with higher temperature can be avoided.
On the basis of the embodiment, the clamping assembly 2 can further comprise a Y-shaped seat 21 which is used for being connected with the clamping driving mechanism and can move up and down, a U-shaped seat 22 fixedly arranged on the bottom surface of the mounting base body 1 and a connecting rod 23;
One end of the connecting rod 23 is rotatably and slidably arranged relative to the Y-shaped seat 21, the other end is rotatably connected with the U-shaped seat 22, one end of the connecting rod 23, which is close to the U-shaped seat 22, is connected with the upper clamping seat 26, and the lower clamping seat 27 is arranged at a position corresponding to the upper clamping seat 26 in the mounting base body 1.
Preferably, a first pin hole may be formed in the Y-shaped seat 21, a U-shaped groove may be formed at one end of the connecting rod 23, such that the first pin shaft 24 passes through the first pin hole and the U-shaped groove, a second pin hole may be formed in the U-shaped seat 22, a third pin hole for being matched with the second pin hole may be formed at the other end of the connecting rod 23, and the second pin shaft 25 passes through the second pin hole and the third pin hole, such that the connecting rod 23 is rotatably disposed with respect to the U-shaped seat 22; in the use process, the Y-shaped seat 21 can move up and down under the drive of the clamping driving mechanism so as to drive one end of the connecting rod 23 provided with the U-shaped groove to lift or fall, the first pin shaft 24 slides in the U-shaped groove, the connecting rod 23 can rotate relative to the first pin shaft 24, the other end of the connecting rod 23 rotates around the second pin shaft 25, and the upper clamping seat 26 can rotate around the second pin shaft 25 due to the fact that the other end of the connecting rod 23 is connected with the upper clamping seat 26, the lower clamping seat 27 is arranged at the lower part of the upper clamping seat 26 and fixedly arranged on the base 14 of the installation base body 1, and in the process that the clamping driving mechanism drives the Y-shaped seat 21 to lift, the upper clamping seat 26 can be opened or clamped relative to the lower clamping seat 27.
On the basis of the above embodiment, in order to detect whether the upper clamping seat 26 and the lower clamping seat 27 are in a clamped state, a corresponding sensor 6 may be provided, and the sensor 6 may be a photoelectric sensor or other detecting components, such as a proximity switch, a laser sensor, and the like. The sensor 6 is arranged on the base 14 of the mounting base 1, and the sensor 6 can transmit a signal to an associated control mechanism when the upper clamp 26 and the lower clamp 27 are closed.
On the basis of the above-described embodiment, the clamping driving mechanism may be provided as the clamping cylinder 4, the clamping cylinder 4 being mounted to the lower bottom surface of the mounting base 1, and the mounting base 1 being provided with a through hole for passing the projecting end of the clamping cylinder 4; of course, the clamping driving mechanism can also be a driving structure such as a motor, an electric cylinder and the like, and is specifically determined according to actual conditions, and details are not described herein.
In addition to the clamping device, the invention also provides a robot comprising the clamping device, the robot can be used for clamping special-shaped workpieces with higher temperature, and other structures of the clamping robot refer to the prior art and are not repeated herein.
In addition to the above-mentioned clamping device, the present invention also provides a positioning and clamping device, which comprises a positioning component arranged on the mounting base body 1, a lifting driving mechanism for driving the positioning component 3 to lift, and the clamping device mentioned in any one of the above, wherein the positioning component is provided with a positioning piece for being matched with a special-shaped workpiece to be positioned so as to position the special-shaped workpiece.
It should be noted that the positioning element may be one structure, or may be a combination structure of two or more, and is specifically determined according to the actual situation; preferably, a surface for fitting with the contour of the profiled workpiece may be provided at the positioning element.
It should be noted that, to different special-shaped workpieces, different locating pieces need to be replaced, and preferably, the locating pieces can be detachably arranged to adapt to the locating and clamping of various special-shaped workpieces.
The lifting driving mechanism 5 is used for driving the positioning assembly 3 to integrally lift so as to avoid interference with the special-shaped workpiece to be positioned in the moving process of the positioning clamping device, and simultaneously, in the descending process of the positioning assembly 3, certain pressure can be applied to the special-shaped workpiece, so that the special-shaped workpiece at the deviated position moves and moves to a proper position under the driving of the positioning piece, and the positioning effect is achieved.
In the process of using the positioning and clamping device provided by this embodiment, the positioning component 3 can be driven to rise to a certain height through the lifting driving mechanism 5 so as to move to the upper portion of the special-shaped workpiece to be positioned, at this time, the clamping component 2 is in an open state, then the positioning component 3 is driven to descend through the lifting driving mechanism 5, and the positioning component is matched with the special-shaped workpiece so as to position the special-shaped workpiece, and after positioning, the upper clamping seat 26 and the lower clamping seat 27 of the clamping component 2 are driven to be closed through the clamping driving mechanism so as to clamp the special-shaped workpiece.
Compared with the prior art, the positioning and clamping device provided by the embodiment can automatically position and clamp the special-shaped workpiece, so that manual participation is avoided, potential safety hazards can be effectively reduced, in addition, the positioning and clamping device is in contact with the special-shaped workpiece in the positioning and clamping process of the special-shaped workpiece, the special-shaped workpiece cannot be directly contacted with the surface or the cable of the robot, and damage to the surface or the cable of the robot caused by the special-shaped workpiece with higher temperature can be avoided.
The positioning assembly 3 can further comprise a connecting plate 31 driven to lift by the lifting driving mechanism 5, the connecting plate 31 is connected with a positioning plate 32 for installing a positioning piece, and the positioning piece is arranged on the lower surface of the positioning plate 32.
In the use process, the lifting of the positioning piece can be realized by driving the lifting of the connecting plate 31. To facilitate the disassembly and assembly, the positioning member may be detachably disposed on the positioning plate 32.
On the basis of the embodiment, the positioning piece can comprise a profiling piece 34 and a positioning block 33, the lower surface of the profiling piece 34 is provided with a groove matched with the shape of the special-shaped workpiece to be positioned, and the edge of the groove is provided with a first chamfer which is convenient for the positioning piece to enter; the arrangement of the first chamfer can enable the positioning block 33 to enter more conveniently, and the first chamfer also has the guiding function, so that the positioning block 33 can enter conveniently.
And/or the positioning block 33 is in a cylindrical structure and is used for being matched with a positioning hole of the special-shaped workpiece to be positioned, and the edge of the lower surface of the positioning piece is provided with a second chamfer.
The positioning block 33 may be a block structure or a positioning pin, which is specifically determined according to practical situations, and will not be described herein.
In the use process, the profiling piece 34 can be used for positioning, the positioning block 33 can be used for positioning, or the profiling piece 34 is matched with the positioning block 33 for positioning, and the positioning is particularly determined according to actual conditions.
In the process of positioning by using the profiling piece 34, when the profiling piece 34 moves downwards under the drive of the lifting driving mechanism 5, if the position of the special-shaped workpiece has deviation, the special-shaped workpiece is contacted with a first chamfer at the edge of the groove of the profiling piece 34, and under the guiding action of the first chamfer, the special-shaped workpiece is driven to move to a proper position, so that the special-shaped workpiece is matched with the groove in the profiling piece 34, and the positioning of the special-shaped workpiece is realized.
When the positioning block 33 is used for positioning, when the positioning block 33 moves downwards under the drive of the lifting driving mechanism 5, if the position of the special-shaped workpiece is deviated, the special-shaped workpiece is firstly contacted with the second chamfer of the positioning block 33, and the special-shaped workpiece is driven to move to a proper position under the guiding action of the second chamfer, but in the positioning process by using the positioning block 33, the positioning block 33 is of a cylindrical structure, so that the special-shaped workpiece still has the freedom degree of the rotation direction after positioning, and the circumferential positioning deviation is possible, and of course, if the special-shaped workpiece is a round part or other parts, the circumferential deviation does not exist.
When the positioning block 33 and the profiling piece 34 are combined for positioning, firstly, in the process that the positioning block 33 and the profiling piece 34 move downwards under the drive of the lifting driving mechanism 5, if the position of the profiled workpiece has deviation, the positioning block 33 is firstly contacted with the profiled workpiece, so that the profiled workpiece moves to a proper position under the action of a second chamfer of the positioning block 33, when the positioning block 33 descends to a state of just matching with a positioning hole in the profiled workpiece, at the moment, the position of the profiled workpiece has deviation in the circumferential direction, the lifting driving mechanism 5 is controlled to continuously descend, the first chamfer of a groove in the profiling piece 34 is contacted with the profiled workpiece, and if the position of the profiled workpiece has deviation at the moment, the profiled workpiece rotates to a proper position under the guiding action of the second chamfer and is matched with the groove of the profiling piece 34, so that the positioning of the profiled workpiece is realized; after the special-shaped workpiece is positioned, the clamping cylinder 4 is controlled to extend upwards to drive the upper clamping seat 26 to clamp relative to the lower clamping seat 27, so that the special-shaped workpiece is clamped.
Considering that after the special-shaped workpiece is positioned, the clamping of the special-shaped workpiece can be realized after the upper clamping seat 26 and the lower clamping seat 27 are closed, and the setting positions of the upper clamping seat 26 and the lower clamping seat 27 need to be considered so that the special-shaped workpiece is positioned at the upper part of the lower clamping seat 27.
On the basis of the above embodiment, the lifting mechanism may include a lifting cylinder 51 and a sliding assembly 52, where the lifting cylinder 51 is connected to the positioning assembly 3 to drive the positioning assembly 3 to slide along the sliding assembly 52.
In the use process, the lifting cylinder 51 can be arranged on the lower surface of the base 14 of the mounting base body 1, and a through hole for allowing the extending end of the lifting cylinder 51 to pass through is arranged on the base 14, so that the extending end of the lifting cylinder 51 is connected with the positioning assembly 3.
Of course, the lifting cylinder 51 may be replaced by a lifting motor, a lifting cylinder, or the like, which is specifically determined according to the actual situation.
The extending end of the lifting motor may be directly connected to the positioning assembly 3, or the extending end of the lifting motor may be connected to the positioning assembly 3 through the floating joint 511, and the positioning assembly 3 may be provided with an L-shaped connecting member 35, so that the L-shaped connecting member 35 may be connected to the floating joint 511, or the L-shaped connecting member 35 may be connected to the lifting cylinder 51 through a fisheye joint, a Y joint, an I joint, or the like.
In addition to the above embodiment, the slide module 52 may be configured to include a bottom plate 521 attached to the mounting base 1, a slide rail 522 provided to the bottom plate 521, a slider 523 engaged with the slide rail 522, and a stopper for restricting a sliding range of the slider 523; the positioning assembly 3 is connected to the slider 523.
As shown in fig. 8 and 9, the bottom plate 521 has an L-shaped structure, and a bent portion is disposed at the lower portion, so that the sliding range of the sliding block 523 can be limited, two sliding rails 522 are mounted on the bottom plate 521, each sliding rail 522 is provided with a corresponding sliding block 523, the connecting plate 31 is connected with the sliding block 523, a limiting plate 524 is disposed at the upper portion of the bottom plate 521, the limiting plate 524 is provided with a limiting screw 525, and the limiting range can be adjusted by screwing the limiting screw 525; of course, the slide rails 522 may be replaced by other guiding members, such as linear bearings, slide grooves, etc.
On the basis of the above-described embodiment, the clamping assemblies 2 may be provided in two groups, and the two groups of clamping assemblies 2 are symmetrically provided with respect to the middle section in the width direction of the mounting base 1, with the positioning assembly 3 being provided between the two groups of clamping assemblies 2.
In order to make the stress of the special-shaped workpiece more uniform in the clamping process, the two groups of clamping assemblies 2 can be symmetrically arranged relative to the positioning assembly 3.
Two groups of clamping air cylinders 4 can be further arranged to control the opening and closing of the two groups of clamping assemblies 2 respectively, and the clamping air cylinders 4 are symmetrically arranged about the middle section of the mounting base body 1 in the width direction.
In addition to the positioning and clamping device, the present invention further provides a robot including the positioning and clamping device disclosed in the foregoing embodiment, and the structure of each other portion of the robot is referred to the prior art, which is not repeated herein.
In the use process, the positioning and clamping device can be connected with the tail end of the robot through the flange plate 11 and driven by the robot to move.
It should be noted that, the first pin 24 and the second pin 25, the first pin hole, the second pin hole, the third pin hole, the first chamfer and the first, second and third chamfer in the first chamfer and the second chamfer are just for distinguishing the difference of positions, and no sequential distinction is made.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. Any combination of all the embodiments provided in the present invention is within the protection scope of the present invention, and will not be described herein.
The clamping device, the positioning and clamping device, the clamping robot and the robot provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (7)
1. The positioning and clamping device is characterized by comprising a clamping device, a positioning assembly (3) arranged on a mounting base body (1) and a lifting driving mechanism (5) for driving the positioning assembly (3) to lift;
the clamping device comprises: the clamping device comprises a mounting base body (1), a clamping assembly (2) arranged on the mounting base body (1) and a clamping driving mechanism for driving the clamping assembly (2) to open and close;
The clamping assembly (2) comprises an upper clamping seat (26) and a lower clamping seat (27) which can be arranged in a relatively opening and closing manner so as to clamp the special-shaped workpiece;
The clamping assembly (2) further comprises a Y-shaped seat (21) which is connected with the clamping driving mechanism and can move up and down, a U-shaped seat (22) fixedly arranged on the bottom surface of the mounting base body (1) and a connecting rod (23);
One end of the connecting rod (23) is rotatably and slidably arranged relative to the Y-shaped seat (21), the other end of the connecting rod is rotatably connected with the U-shaped seat (22), one end of the connecting rod (23) close to the U-shaped seat (22) is connected with the upper clamping seat (26), and the lower clamping seat (27) is arranged at a position corresponding to the upper clamping seat (26) in the mounting base body (1);
The positioning component (3) is provided with a positioning piece matched with the special-shaped workpiece to be positioned so as to position the special-shaped workpiece;
The positioning assembly (3) further comprises a connecting plate (31) driven to lift by the lifting driving mechanism (5), the connecting plate (31) is connected with a positioning plate (32) for mounting the positioning piece, and the positioning piece is arranged on the lower surface of the positioning plate (32);
The positioning piece comprises a profiling piece (34) and a positioning block (33), a groove matched with the shape of the special-shaped workpiece to be positioned is formed in the lower surface of the profiling piece (34), and a first chamfer is formed in the edge of the groove;
The positioning block (33) is of a cylindrical structure and is used for being matched with a positioning hole of the special-shaped workpiece to be positioned, and a second chamfer is arranged at the edge of the lower surface of the positioning piece.
2. The positioning and clamping device according to claim 1, further comprising a sensor (6) for detecting the open and closed state of the upper clamping seat (26) and the lower clamping seat (27).
3. Positioning and clamping device according to claim 1, characterized in that the clamping drive mechanism is mounted to the lower bottom surface of the mounting base body (1), and that the mounting base body (1) is provided with a through hole for the protruding end of the clamping drive mechanism to pass through.
4. Positioning and clamping device according to claim 1, characterized in that the lifting drive mechanism (5) comprises a lifting cylinder (51) and a sliding assembly (52), the lifting cylinder (51) being connected with the positioning assembly (3) to drive the positioning assembly (3) to slide along the sliding assembly (52).
5. The positioning and clamping device according to claim 4, wherein the sliding assembly (52) comprises a bottom plate (521) mounted on the mounting base (1), a slide rail (522) provided on the bottom plate (521), a slider (523) engaged with the slide rail (522), and a stopper for restricting a sliding range of the slider (523);
The positioning component (3) is connected with the sliding block (523).
6. Positioning and clamping device according to any of claims 1, 4, 5, characterized in that the clamping assemblies (2) are provided in two groups, and that the two groups of clamping assemblies (2) are symmetrically arranged about a widthwise middle section of the mounting base body (1), and that the positioning assembly (3) is arranged between the two groups of clamping assemblies (2).
7. A robot comprising a positioning and clamping device according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010995282.9A CN112157177B (en) | 2020-09-21 | 2020-09-21 | Clamping device, positioning and clamping device, clamping robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010995282.9A CN112157177B (en) | 2020-09-21 | 2020-09-21 | Clamping device, positioning and clamping device, clamping robot and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112157177A CN112157177A (en) | 2021-01-01 |
| CN112157177B true CN112157177B (en) | 2024-07-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN107471234A (en) * | 2017-09-29 | 2017-12-15 | 安徽理工大学 | Foundry robot refers to asynchronous handgrip with omnidirectional more |
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| JPH0785819B2 (en) * | 1991-09-30 | 1995-09-20 | 株式会社栗本鐵工所 | Automatic transport device for forging press |
| CN203622022U (en) * | 2013-10-29 | 2014-06-04 | 天津博信汽车零部件有限公司 | Clamping and positioning device |
| KR101551093B1 (en) * | 2014-05-28 | 2015-09-07 | 현대자동차주식회사 | Assembly device of dual arm robot |
| CN204604346U (en) * | 2015-04-29 | 2015-09-02 | 广东泰格威机器人科技有限公司 | A kind of link-type handgrip of robot |
| CN107775661A (en) * | 2017-11-20 | 2018-03-09 | 深圳春兴数控设备有限责任公司 | Robot device |
| CN108098644B (en) * | 2018-01-17 | 2023-09-19 | 厦门宏发电声股份有限公司 | Device for realizing multidirectional clamping and positioning |
| CN110834315B (en) * | 2019-09-06 | 2021-07-27 | 合肥道一动力科技有限公司 | New forms of energy motor stator shrink fit assembly robot |
| CN210848173U (en) * | 2019-09-26 | 2020-06-26 | 南阳红阳远大重工有限公司 | Intelligent detection high-temperature-resistant hot forging workpiece mechanical clamp |
| CN110666823A (en) * | 2019-10-10 | 2020-01-10 | 南京荧河谷科技有限公司 | Clamping mechanism capable of adjusting direction of clamping jaw |
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| CN107471234A (en) * | 2017-09-29 | 2017-12-15 | 安徽理工大学 | Foundry robot refers to asynchronous handgrip with omnidirectional more |
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