CN112621348A - Clamping device with shock attenuation effect - Google Patents
Clamping device with shock attenuation effect Download PDFInfo
- Publication number
- CN112621348A CN112621348A CN201910953368.2A CN201910953368A CN112621348A CN 112621348 A CN112621348 A CN 112621348A CN 201910953368 A CN201910953368 A CN 201910953368A CN 112621348 A CN112621348 A CN 112621348A
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- CN
- China
- Prior art keywords
- elastic body
- hole
- clamping jaw
- elastic
- plate
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0032—Arrangements for preventing or isolating vibrations in parts of the machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping device with a shock absorption effect, which is provided with a switching seat connected with a mechanical arm, wherein a first plate body of the switching seat is provided with a plurality of upper through holes in a penetrating manner, the first plate body is provided with a first elastic body, each upper through hole is internally provided with a second elastic body and a clamping jaw flange, one side of the clamping jaw flange is connected with a clamping jaw group, a third elastic body is arranged between the other side of the clamping jaw flange and the first plate body, and a plurality of bolts are arranged.
Description
Technical Field
The present invention relates to a clamping device, and more particularly to a clamping device with a damping structure.
Background
The structure of the prior art processing machine generally includes a clamping mechanism and a cutting tool, that is, the clamping mechanism is used to clamp and position the object to be processed, and then the tool is used to cut the object to be processed, the clamping mechanism provided on the processing machine has various types, for example: the robot arm is assembled on a cutting machine for automatic processing, and the robot arm is formed by connecting multiple joints, so that the clamped object to be processed moves in a plane or a three-dimensional space. The robot arm is provided with a controller, a servo mechanism, a sensor and other components, and generates set designated actions according to operation requirements through a program, for example, the robot arm is used for clamping and fixing the object to be processed from a material area and moving the object to be processed to a processing area, a cutter is used for cutting the object to be processed at the moment, and a finished product is transferred to a finished product area after the finished product is finished, so that the robot arm is an automatic finished object.
In the aforementioned multi-axis joint robot arm, one end of the robot arm is a fixed end, the other end of the robot arm is a clamping end, the fixed end is assembled on a processing machine, and after the clamping end of the other end is driven, the clamping end can be moved to a set position through each joint structure to take a material to be processed, or the robot arm can be transferred to a processing area to be processed and cut, or the robot arm can be moved to a finished product area.
Disclosure of Invention
The inventor creats the mechanical arm again aiming at the defects of the prior art, and the elastic piece with the buffer function is arranged as the medium, so that the damage of the high-frequency acting force generated in the processing to the mechanical arm can be reduced when the mechanical arm clamps the object to be processed for processing.
In order to achieve the above objects, the present invention provides a clamping device with damping effect, which comprises a transfer seat, a first elastic body, a plurality of second elastic bodies, a third elastic body, a clamping jaw flange and a clamping jaw set; the adapter is provided with a first plate body and a plurality of bolts, and the first plate body is provided with a plurality of upper through holes in a penetrating way; the first elastic body is a sheet body and has elasticity, a plurality of through holes are arranged on the periphery of the first elastic body in a penetrating way, and each through hole corresponds to each upper through hole; each second elastic body of the second elastic bodies is a hollow cylinder and has elasticity, and a rod hole penetrates through the second elastic bodies; the third elastic body is a sheet body and has elasticity, a plurality of through holes are arranged on the periphery of the third elastic body in a penetrating way, and each through hole corresponds to each upper through hole of the first plate body; the clamping jaw flange is a plate body, and a plurality of lower through holes are arranged on the periphery of the plate body in a penetrating manner; one end of each bolt can penetrate through each through hole of the first elastic body, each upper through hole of the first plate body, each rod hole of the second elastic body, each through hole of the third elastic body and each lower through hole of the clamping jaw flange, and is combined and fixed with a nut; one end of the clamping jaw group is fixedly connected with the clamping jaw flange.
The clamping device with the shock absorption effect is further provided with a plurality of washers and a plurality of flat washers, the washers are respectively and correspondingly arranged between one end part of the stud and the first elastic body and the second elastic body, and each flat washer of the flat washers is positioned in the through hole of the third elastic body and between the washer and the plate body of the clamping jaw flange.
The clamping device with the shock absorption effect is characterized in that one end of the second elastic body is located in the through hole of the first elastic body, and the other end of the second elastic body is located on the flat washer and the third elastic body.
The clamping device with the shock absorption effect is characterized in that the base body of the adapter is provided with a hollow cylinder, the first plate body is located at one end of the hollow cylinder and is disc-shaped, the other end of the first plate body is connected with a disc-shaped second plate body, and the second plate body is connected with a mechanical arm.
The clamping device with the shock absorption effect is characterized in that the first elastic body is in an annular sheet body shape and corresponds to the first plate body of the adapter, a middle hole is formed in the center of the first elastic body, and the middle hole is sleeved on the hollow cylinder of the adapter.
The clamping device with the shock absorption effect is characterized in that the clamping jaw set is provided with a body, two opposite sides of one end of the body are respectively provided with a clamping jaw with a finger, a plate body of the clamping jaw flange is provided with a plurality of screw holes, and the other end of the body penetrates through the body and is fixedly combined with the plurality of screw holes of the clamping jaw flange through a plurality of fixing pieces.
Through the application of the technical means, the adapter seat and the clamping jaw flange which are connected with the mechanical arm, the clamping jaw group for clamping the object to be processed and the elastic members such as the first elastic body, the second elastic body, the third elastic body and the like are arranged between the clamping jaw group and the adapter seat, so that high-frequency acting force or vibration force generated by processing the object to be processed is transmitted to the clamping jaw flange and the adapter seat through the clamping jaw group, and a buffer effect is formed by taking the elastic material of each elastic body as a medium, so that the high-frequency acting force generated in a working environment is reduced, and the joint of the mechanical arm cannot be damaged.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is an exploded perspective view of the present invention.
Fig. 3 is a cross-sectional view of the present invention.
Fig. 4 is an enlarged view of a portion of the present invention in section.
FIG. 5 is a schematic view of the robot of the present invention assembled therein.
Detailed Description
As shown in fig. 1 and fig. 2, the clamping device with shock absorption effect of the present invention includes a adapter 10, a first elastic body 20, a plurality of second elastic bodies 30, a third elastic body 40, a clamping jaw flange 50 and a clamping jaw set 60.
The adapter 10 has a base 11 and a plurality of bolts 12, one end of the base 11 is a first plate 111, the first plate 111 of the base 11 is provided with a plurality of upper through holes 112, each of the upper through holes 112 is located around the periphery of the first plate 111, each of the bolts 12 can be respectively sleeved with a washer 121, and referring to fig. 5, the other end of the base 11 of the adapter 10 can be connected and fixed with a manipulator 70, and the structure is not described in detail in the prior art; as shown in the figure, in one embodiment of the adapter 10, the base 11 of the adapter 10 has a hollow cylinder, two ends of the hollow cylinder are respectively connected to a first plate 111 and a second plate 113, which are disc-shaped, and the second plate 113 is connected to the robot arm 70.
Referring to fig. 3 and 4, the first elastic body 20 is a sheet body and has elasticity, the center of the first elastic body 20 has a central hole 21, the periphery of the first elastic body is provided with a plurality of through holes 22, the central hole 21 is sleeved on the hollow cylinder of the adapter 10, each through hole 22 corresponds to each upper through hole 112, and each bolt 12 can be inserted into each through hole 22 and each upper through hole 112; as shown in the embodiment shown in the figures, the first elastic body 20 is in the shape of an annular sheet and corresponds to the shape of the first plate 111 of the seat body 11 of the adapter 10.
Each second elastic body 30 of the second elastic bodies 30 is a hollow cylinder and has elasticity, and a rod hole 31 is formed through the second elastic body 30, the second elastic body 30 can be placed in the upper through hole 112 of the first plate 111, and one end of the bolt 12 can penetrate through the rod hole 31 of the second elastic body 30; in addition, the outer diameter of the second elastic body 30 is smaller than the aperture of the upper through hole 112, the height of the second elastic body 30 is greater than the thickness of the first plate 111 provided with the upper through hole 112, and one end of the second elastic body 30 is located in the through hole 22 of the first elastic body 20.
The third elastic body 40, which is a sheet body and has elasticity, has a plurality of through holes 41 penetrating through its periphery, each through hole 41 corresponds to each upper through hole 112 of the first plate 111, a flat washer 42 is arranged in each through hole 41, the other end of the second elastic body 30 is positioned on the flat washer 42 and the third elastic body 40, and one end of the bolt 12 can penetrate through the flat washer 42 positioned in the through hole 41; the first elastic body 20, the second elastic bodies 30 and the third elastic body 40 may be made of rubber (NBR), Polyurethane (PU), fluorine rubber (FPM), polyethylene (UPE), Polyetheretherketone (PEEK), polytetrafluoroethylene (Teflon), plastic steel (POM), nylon 66(MC), polypropylene (PP), Polyethylene (PVC), or the like.
The jaw flange 50 is a plate body and has a shape corresponding to the first plate body 111, the plate body periphery of the jaw flange 50 is provided with a plurality of lower through holes 51 and a plurality of screw holes 510 in a penetrating manner, each of the lower through holes 51 corresponds to each of the through holes 41 of the third elastic body 40 and each of the upper through holes 112 of the first plate body 111, one end of the bolt 12 can further penetrate through the lower through hole 51, and is sleeved with a spring washer 521 to be fixed with a nut 52. After the assembly is completed, the first elastic body 20, the second elastic body 30 and the third elastic body 40 can be slightly deformed when being pressed due to the combination and fixation of the bolt 12 and the nut 52.
The clamping jaw set 60 has a body 61, two opposite sides of one end of the body 61 are respectively provided with a clamping jaw 62 having a finger 63, the other end of the body 61 penetrates the body 61 by a plurality of fasteners 64 to be combined and fixed with a plurality of screw holes 510 of the clamping jaw flange 50, when the two fingers 63 at corresponding positions are driven to move away from or approach each other, the two clamping jaws 62 can have a clamping or releasing function, and the structure of this part is not described in detail in the prior art.
Referring to fig. 5, a schematic diagram of the present invention assembled on a robot arm 70 is shown, wherein the second plate 113 of the adapter 10 and the robot arm 70 are connected to each other, and the object to be processed is held by the clamping jaw set 60 and moved to a set processing position through different axial joints of the robot arm 70, so as to perform various processing operations, although vibrations are generated during the processing operations, since the present invention uses the first elastic body 20, the second elastic bodies 30 and the third elastic body 40 arranged between the base 10 and the clamping jaw flange 50, that is, the elastic material characteristics of the elastic bodies as media, the damage of the high-frequency acting force of the working environment to the joints of the robot arm is reduced.
Claims (6)
1. A clamping device with a damping effect is characterized by comprising a transfer base, a first elastic body, a plurality of second elastic bodies, a third elastic body, a clamping jaw flange and a clamping jaw group;
the adapter is provided with a first plate body and a plurality of bolts, and the first plate body is provided with a plurality of upper through holes in a penetrating way;
the first elastic body is a sheet body and has elasticity, a plurality of through holes are arranged on the periphery of the first elastic body in a penetrating way, and each through hole corresponds to each upper through hole;
each second elastic body of the second elastic bodies is a hollow cylinder and has elasticity, and a rod hole penetrates through the second elastic bodies;
the third elastic body is a sheet body and has elasticity, a plurality of through holes are arranged on the periphery of the third elastic body in a penetrating way, and each through hole corresponds to each upper through hole of the first plate body;
the clamping jaw flange is a plate body, and a plurality of lower through holes are arranged on the periphery of the plate body in a penetrating manner;
one end of each bolt can penetrate through each through hole of the first elastic body, each upper through hole of the first plate body, each rod hole of the second elastic body, each through hole of the third elastic body and each lower through hole of the clamping jaw flange, and is combined and fixed with a nut;
one end of the clamping jaw group is fixedly connected with the clamping jaw flange.
2. The clamping device with the shock absorbing effect as claimed in claim 1, further comprising a plurality of washers and a plurality of flat washers, wherein each washer is disposed between an end of the stud and the first elastic body and the second elastic body, and each flat washer of each flat washer is disposed in the through hole of the third elastic body and between a washer and the plate body of the jaw flange.
3. The clamping device with the shock absorbing effect as claimed in claim 2, wherein one end of the second elastic body is located in the through hole of the first elastic body, and the other end is located on the flat washer and the third elastic body.
4. The clamping device with damping effect as claimed in any one of claims 1 to 3, wherein the base of the adapter has a hollow cylinder, the first plate is located at one end of the hollow cylinder and has a disk shape, and the other end of the hollow cylinder is connected to a second plate having a disk shape, and the second plate is connected to a robot arm.
5. The clamping device with the shock absorbing effect as claimed in claim 4, wherein the first elastic body is shaped as an annular plate body and corresponds to the shape of the first plate body of the adapter, and the first elastic body has a central hole at a center thereof, and the central hole is disposed on the hollow cylinder of the adapter.
6. The clamping device with the shock absorption effect as claimed in claim 5, wherein the clamping jaw set has a body, the two opposite sides of one end of the body are respectively provided with a clamping jaw with a finger, the plate body of the clamping jaw flange is provided with a plurality of screw holes, and the other end of the body is fixed with the plurality of screw holes of the clamping jaw flange by a plurality of fixing members penetrating through the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910953368.2A CN112621348B (en) | 2019-10-09 | 2019-10-09 | Clamping device with shock attenuation effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910953368.2A CN112621348B (en) | 2019-10-09 | 2019-10-09 | Clamping device with shock attenuation effect |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112621348A true CN112621348A (en) | 2021-04-09 |
| CN112621348B CN112621348B (en) | 2022-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910953368.2A Active CN112621348B (en) | 2019-10-09 | 2019-10-09 | Clamping device with shock attenuation effect |
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| Country | Link |
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| CN (1) | CN112621348B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1781634A (en) * | 2004-12-01 | 2006-06-07 | 厄罗瓦公司 | Clamping apparatus for releasable fixing a pallet |
| TWM450456U (en) * | 2012-10-29 | 2013-04-11 | Tctm Hong Kong Ltd Taiwan Branch | Chuck device with damping function |
| TWM551105U (en) * | 2017-06-05 | 2017-11-01 | Shintek Machinery Co Ltd | Arbor-type pneumatic gripper with pneumatic device |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN207058056U (en) * | 2017-08-22 | 2018-03-02 | 成都航空职业技术学院 | A kind of numerical control drilling machine fixed seat |
| CN208681097U (en) * | 2018-09-09 | 2019-04-02 | 济南飞迈数控科技有限公司 | A kind of automatic loading and unloading robot of workpiece |
-
2019
- 2019-10-09 CN CN201910953368.2A patent/CN112621348B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1781634A (en) * | 2004-12-01 | 2006-06-07 | 厄罗瓦公司 | Clamping apparatus for releasable fixing a pallet |
| TWM450456U (en) * | 2012-10-29 | 2013-04-11 | Tctm Hong Kong Ltd Taiwan Branch | Chuck device with damping function |
| TWM551105U (en) * | 2017-06-05 | 2017-11-01 | Shintek Machinery Co Ltd | Arbor-type pneumatic gripper with pneumatic device |
| CN207058056U (en) * | 2017-08-22 | 2018-03-02 | 成都航空职业技术学院 | A kind of numerical control drilling machine fixed seat |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN208681097U (en) * | 2018-09-09 | 2019-04-02 | 济南飞迈数控科技有限公司 | A kind of automatic loading and unloading robot of workpiece |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112621348B (en) | 2022-04-15 |
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