CN113878604B - Powerful clamping device for micro driving finger - Google Patents
Powerful clamping device for micro driving finger Download PDFInfo
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- CN113878604B CN113878604B CN202111238026.6A CN202111238026A CN113878604B CN 113878604 B CN113878604 B CN 113878604B CN 202111238026 A CN202111238026 A CN 202111238026A CN 113878604 B CN113878604 B CN 113878604B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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Abstract
The invention relates to a large-force clamping device of a micro driving finger, which comprises more than one pair of workpiece clamping claws with mirror symmetry at left and right, more than one clamping slide block, a mechanical fixing frame shell, more than one driver and more than one workpiece; by utilizing the radial lever mechanics principle generated by linearly pushing each pair of extrusion slope surfaces vertically and upwards under each convex arc, the effect of powerful clamping can be achieved only by adopting the thrust of a miniature driver with low energy consumption; the technical problem that a common finger cylinder cannot solve is effectively solved, unnecessary waste is effectively saved, energy consumption of enterprises is greatly reduced, and production benefits of the enterprises are greatly improved.
Description
Technical Field
The invention belongs to the technical field of machinery of intelligent equipment, relates to a multi-workpiece parallel clamping device of an intelligent production line, and particularly relates to a large-force clamping device for a micro driving finger.
Background
In a large intelligent processing and assembling production line of intelligent equipment, multi-workpiece parallel flow processing is the most effective method for improving the equipment productivity in the current intelligent processing and intelligent assembling, and how to effectively and quickly clamp each workpiece which is closely arranged for accurate processing or assembling also becomes a key technical problem influencing the production quality of the whole intelligent production line.
In the existing intelligent processing and intelligent assembly, the clamping tool is suitable for a multi-workpiece parallel flow production line, and most of the clamping tools are solved by using a multi-station clamping die which can be opened and closed up and down or a common finger cylinder, for example, in a steel sleeve assembly device and a hose assembly machine which can assemble a plurality of hoses simultaneously, clamping mechanisms 201 and 202 which can be opened and closed up and down are arranged, the arrangement of the clamping mechanism effectively meets the requirement of assembling the multi-workpiece short-distance parallel quick-clamping hose, the requirement on the pipe diameter of the hose is relatively high, and when a plurality of hoses with large pipe diameter size differences are simultaneously clamped and assembled, the hose with a small diameter has the condition that the clamping force is insufficient to cause improper assembly; the common finger cylinder is used for clamping and assembling multi-station parallel workpieces, the requirement on the distance between the parallel stations is large (the clamping force of the clamping and assembling cylinder is large, the cylinder diameter of the cylinder which can meet the clamping requirement is at least more than 40MM, and the parallel width of the cylinder is at least more than 130 MM), the distance between the parallel assemblies of the multiple workpieces is greatly increased, the volume of equipment is increased by times, the production cost of the equipment is increased, the occupied space of a workshop is increased, unnecessary waste is caused, the energy consumption of an enterprise is greatly improved, and the production benefit of the enterprise is reduced.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides the powerful clamping device of the micro driving finger, which can utilize the clamping force with low energy consumption of more than ten times, effectively solves the technical problem of short-distance parallel quick clamping of multiple workpieces, greatly shortens the parallel assembly distance of the multiple workpieces, simultaneously reduces the volume of equipment by times, reduces the production cost of the equipment, increases the utilization space of a workshop, effectively saves unnecessary waste, greatly reduces the energy consumption of enterprises, and greatly improves the production benefit of the enterprises.
The purpose of the invention is realized by the following technical scheme: a large-force clamping device of a micro driving finger comprises more than one pair of workpiece clamping machine claws which are in mirror symmetry left and right, more than one clamping slide block, a mechanical fixing frame shell, more than one driver and more than one workpiece.
In the large-force clamping device for the miniature driving fingers, one end of the inner side of each pair of workpiece clamping claws is provided with a clamping groove matched with a workpiece, the lower sides of the clamping grooves are respectively and symmetrically provided with a swinging rotating shaft, and a pair of inverted V-shaped extrusion slopes rising upwards and outwards are respectively and symmetrically arranged along the outer sides of the axle centers of the two swinging rotating shafts; each clamping slide block is of a U-shaped structure, and the upper end port of the U-shaped inner groove of each clamping slide block is respectively provided with a convex arc matched with each extrusion slope surface; the mechanical fixing frame shell is of a box structure, the length and the width of the side wall are respectively in precise sliding fit with the length and the width of the outer body of each clamping slide block, the upper ends of the two side walls in the width direction are respectively symmetrically provided with a supporting shaft hole matched with the swinging rotating shaft of each clamping claw, and each swinging rotating shaft is fixedly connected with each supporting shaft hole; each clamping slide block is slidably connected in a box body of the mechanical fixing frame shell and is respectively opposite to the position under each workpiece clamping claw, and the convex arcs of the upper ports of the U-shaped inner grooves of the clamping slide blocks are respectively attached to each pair of extrusion slopes to do vertical pushing movement; and each driver is respectively arranged right below each clamping slide block and fixedly connected with the bottom of the mechanical fixing frame shell, and the driver ejector rod is connected with the bottom of the clamping slide block.
The large force clamping device for the micro driving finger is characterized in that a spring can be arranged between a clamping groove at the inner side of each clamping claw and a swinging rotating shaft, when each workpiece enters each clamping position respectively, a driving cylinder pushes up a clamping slide block, the clamping slide block vertically moves upwards under the guidance of the side wall of a shell of a mechanical fixing frame, a convex arc at the upper end port of each clamping slide block is pressed upwards by abutting against each pair of extrusion slope surfaces respectively, each spring retracts under the action of a fulcrum of the swinging rotating shaft, the clamping grooves of each pair of clamping claws are combined upwards and inwards, so that the inverted eight-shaped small slope surfaces of each pair of extrusion slope surfaces are pressed by vertical and upward linear thrust to generate radial lever force action, each driver only needs to push out a little force, each clamping groove can be used for tightly clamping each workpiece, and when the driver retracts, the clamping grooves of each pair of clamping claws are outwards opened under the action of each spring.
In the large-force clamping device for the miniature driving finger, a pair of arc-shaped protruding stop blocks is respectively and symmetrically arranged below each clamping claw along the outer side surface of the axle center of the two swinging rotating shafts; the maximum extension distance of each pair of protruding stop blocks 14 when the clamping claw 1 is closed is smaller than the width of an inner groove of each clamping slide block 2; the convex arcs respectively move back and forth between the two arc convex stop blocks and the extrusion slope surface.
In the large-force clamping device for the micro driving finger, when the clamping operation is completed, each clamping slide block moves downwards, the convex arcs at the upper end ports of the clamping slide blocks respectively cling to and pull each pair of convex stop blocks to move downwards, and the clamping grooves of each pair of clamping claws swing outwards and open under the action of the fulcrum of each swinging rotating shaft.
The working principle of the large-force clamping device is as follows: when each workpiece enters each clamping position, each driver pushes up each clamping slide block respectively, each clamping slide block vertically moves upwards under the guidance of the side wall of the shell of the mechanical fixing frame, each convex arc at the upper port of each clamping slide block respectively clings to the extrusion slope surface of each pair of clamping claws to push upwards, under the action of a fulcrum of the swinging rotating shaft, the clamping grooves of each pair of clamping claws are inwards closed upwards, so that the inverted eight-shaped small slope surfaces of each pair of extrusion slope surfaces are pressed by vertical upward linear thrust to generate radial lever force action, and each driver can push each clamping groove to tightly clamp each workpiece by using lever mechanics as long as pushing out a little force. When the clamping assembly work is finished, each driver drives each clamping slide block to retreat, the convex arcs at the upper end ports of the clamping slide blocks respectively cling to and pull each pair of convex stop blocks to descend, and the clamping grooves of each pair of clamping claws are outwards swung to be opened under the action of the fulcrums of each swinging rotating shaft; the invention utilizes the radial lever mechanics principle generated by the fact that each pair of extrusion slope surfaces are pushed by straight lines vertically upwards from each convex arc, and can complete the effect of strong force clamping only by adopting the thrust of a miniature driver with low energy consumption; the technical problem that a common finger cylinder cannot solve is effectively solved, unnecessary waste is effectively saved, energy consumption of enterprises is greatly reduced, and production benefits of the enterprises are greatly improved.
Compared with the prior art, the large-force clamping device for the miniature driving finger adopts the radial lever mechanics principle that each pair of convex arcs of the upper port of each clamping slide block vertically extrudes each pair of extrusion slope surfaces to generate, can meet the technical requirement of short-distance parallel rapid clamping assembly of the hose in the background technology only by adopting the small-sized cylinder with the cylinder diameter of 16, can finish the effect of large-force clamping only by adopting the thrust of the miniature driver with low energy consumption, effectively solves the technical problem that the commonly used finger cylinder cannot solve, greatly saves the occupied space of equipment, reduces unnecessary waste, greatly reduces the energy consumption of enterprises, and greatly improves the production benefit of the enterprises.
Drawings
Fig. 1 is a schematic view of an initial state of a high-force gripping device for a micro-actuated finger.
Fig. 2 is a schematic view of the clamping state of a high-force clamping device for a micro-actuated finger.
Fig. 3 is a schematic view of the open state of a high-force clamping device consisting of a single clamping jaw, a clamping slide and a drive.
FIG. 4 is a left side view of a high force gripping device for a microcylinder finger.
Fig. 5 is a front view of the housing of the mechanical fixing frame.
Fig. 6 is a schematic top view of a housing of the mechanical fixture.
FIG. 7 is a schematic view of the clamping jaws clamping the workpiece closed.
FIG. 8 is a schematic view of the inside of the clamping jaws with springs in an open position.
Fig. 9 is a three-dimensional schematic view of a high force gripping device for a miniature drive finger.
In the figure, 1, clamping a gripper; 2. clamping the sliding block; 3. a mechanical mount housing; 4. a driver; 5. a workpiece; 6. a spring; 11. clamping the groove; 12. swinging the rotating shaft; 13. extruding the slope surface; 14. a protruding stop block; 21. a convex arc; 30. And supporting the shaft hole.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, a pair of or more workpiece clamping jaws 1 that are mirror images of each other in the left-right direction, one or more clamping sliders 2, a mechanical holder housing 3, one or more actuators 4, and one or more workpieces 5; the workpiece clamping device is characterized in that one end of the inner side of each pair of workpiece clamping machine claws 1 is provided with a clamping groove 11 matched with a workpiece 5, the lower sides of the clamping grooves 11 are respectively and symmetrically provided with a swinging rotating shaft 12, and a pair of extrusion slopes 13 which are upward and outward in a reversed V shape are respectively and symmetrically arranged along the outer sides of the axes of the two swinging rotating shafts 12; each clamping slide block 2 is of a U-shaped structure, and a convex arc 21 matched with each extrusion slope surface 13 is respectively arranged at the upper end port of the U-shaped inner groove of each clamping slide block 2; the mechanical fixing frame shell 3 is of a box structure, the length and the width between the side walls are respectively and precisely matched with the length and the width of the outer body of each clamping slide block 2 in a sliding manner, the upper ends of the two side walls in the width direction are respectively and symmetrically provided with a supporting shaft hole 30 matched with the swinging rotating shaft 12 of each clamping claw 1, and each swinging rotating shaft 12 is fixedly connected with each supporting shaft hole 30; each clamping slide block 2 is slidably connected in a box body of the mechanical fixed frame shell 3 and is respectively opposite to the right lower part of each clamping claw 1, and a convex arc (21) at the upper end port of a U-shaped inner groove of each clamping slide block 2 is respectively attached to each pair of extrusion slope surfaces 13 to do vertical pushing movement; and each driver 4 is respectively arranged under each clamping slide block 2 and fixedly connected with the bottom of the mechanical fixing frame shell 3, and a top rod of each driver 4 is connected with the bottom of each clamping slide block 2.
As shown in fig. 8, a spring 6 may be provided between the clamping groove 11 and the swing shaft 12 inside each of the clamping jaws 1.
As shown in fig. 2, 4, 5, 6, 8, 9, when each workpiece 5 enters each clamping position, the driver pushes up the clamping slider 2, and moves vertically upward under the guidance of the side wall of the mechanical fixing frame housing 3, the convex arc 21 of the upper port of each clamping slider 2 presses upward against each pair of extrusion slopes 13, under the action of the fulcrum of the swing rotating shaft 12, the clamping groove 11 of each pair of clamping claws 1 closes upward, each spring 6 is stressed to retract, so that the inverted eight-shaped small slopes of each pair of extrusion slopes 13 are stressed by the vertical upward linear thrust, the radial lever force is generated, and each driver 4 can push each clamping groove 11 tightly to clamp each workpiece 5 by the lever force as long as pushing out a little small force; when the driver 4 is retracted, the clamping recesses 11 of each pair of clamping jaws 1 are opened outwardly by the action of the respective spring 6.
As shown in fig. 2, 7 and 9, the large-force clamping device for micro driving fingers is characterized in that a pair of arc-shaped protruding stoppers 14 are symmetrically arranged below the outer side surfaces of the clamping claws 1 along the axes of two swing rotating shafts 12; the maximum distance of the outward protrusion of each pair of protrusion stoppers 14 when the clamping claw 1 is closed is smaller than the width of the inner groove of each clamping slide block 2; the convex circular arcs 21 respectively move back and forth between the two arc convex stoppers 14 and the extrusion slope 13.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 7, and fig. 9, when the clamping operation is completed, each clamping slider 2 moves downward, the convex arcs 21 at the upper end of each clamping slider 2 respectively pull each pair of convex stoppers 14 downward, and the clamping grooves 11 of each pair of clamping jaws 1 swing outward under the fulcrum action of each swing rotating shaft 12.
The working principle of the large-force clamping device is as follows: when each workpiece 5 enters each clamping position respectively, each driver 4 pushes up each clamping slide block 2 respectively, each clamping slide block 2 vertically moves upwards under the guidance of the side wall of the mechanical fixing frame shell 3, each convex arc 21 of the upper port of each clamping slide block 2 respectively clings to the extrusion slope surface 13 of each pair of clamping claws 1 to push upwards, under the action of the fulcrum of the swinging rotating shaft 12, the clamping grooves 11 of each pair of clamping claws 1 are upwards combined, so that the inverted eight-shaped small slope surfaces of each pair of extrusion slope surfaces 13 are extruded by vertical and upward linear thrust to generate radial lever force action, and each driver 4 can push each clamping groove 11 to tightly clamp each workpiece 5 by using lever mechanics as long as pushing out a little force; when the clamping assembly work is finished, each driver 4 drives each clamping slide block 2 to retreat, each pair of convex arcs 21 of the upper end opening of each clamping slide block 2 respectively cling to and pull each pair of convex stoppers 14 to move downwards, and the clamping grooves 11 of each pair of clamping claws 1 swing outwards and open under the action of the fulcrum of each swinging rotating shaft 12; the invention utilizes the mechanical principle of the radial lever generated by the inverted splayed slope of the extrusion slope surface 13 and the vertical upward linear thrust of the convex stop block 14, can complete the effect of strong clamping only by adopting the thrust of a miniature driver with low energy consumption, effectively solves the technical problem which cannot be solved by a common finger cylinder, effectively saves unnecessary waste, greatly reduces the energy consumption of enterprises, and greatly improves the production benefit of the enterprises.
The large-force clamping device for the miniature driving finger adopts the radial lever mechanical principle that each pair of convex arcs 21 arranged at the upper port of each clamping slide block 2 vertically extrudes each pair of extrusion slopes 13, and can sufficiently achieve the technical requirements of driving the background technology by adopting the thrust of a small cylinder with the cylinder diameter 16, wherein the hoses are parallel in short distance and can be quickly clamped and assembled, the effect of large-force clamping can be achieved by efficiently adopting the thrust of a small-energy-consumption miniature driver, the technical problem which cannot be solved by a common finger cylinder is effectively solved, the occupied space of equipment is greatly saved, unnecessary waste is reduced, the energy consumption of enterprises is greatly reduced, and the production benefit and market competitiveness of the enterprises are greatly improved.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (2)
1. A large-force clamping device for a micro-cylinder finger comprises more than one pair of workpiece clamping machine claws (1) which are in mirror symmetry left and right, more than one clamping slide block (2), a mechanical fixing frame shell (3), more than one driver (4) and more than one workpiece (5); the workpiece clamping device is characterized in that one end of the inner side of each pair of workpiece clamping machine claws (1) is provided with a clamping groove (11) matched with a workpiece (5), the lower sides of the clamping grooves (11) are respectively and symmetrically provided with a swinging rotating shaft (12), and a pair of inverted eight-shaped extrusion slopes (13) rising upwards and outwards are respectively and symmetrically arranged along the outer sides of the axes of the two swinging rotating shafts (12); each clamping slide block (2) is of a U-shaped structure, and a convex arc (21) matched with each extrusion slope surface (13) is respectively arranged at the upper end port of a U-shaped inner groove of each clamping slide block (2); the mechanical fixing frame shell (3) is of a box structure, the length and the width of the side wall are respectively and precisely matched with the length and the width of the outer body of each clamping slide block (2), the upper ends of the two side walls in the width direction are respectively and symmetrically provided with a supporting shaft hole (30) matched with the swinging rotating shaft (12) of each clamping claw (1), and each swinging rotating shaft (12) is fixedly connected with the supporting shaft hole (30); each clamping slide block (2) is connected in a box body of the mechanical fixing frame shell (3) in a sliding way, and is respectively opposite to the right lower part of each workpiece clamping claw (1), and a convex arc (21) at the upper end opening of a U-shaped inner groove of each clamping slide block (2) is respectively attached to each pair of extrusion slope surfaces (13) to carry out vertical pushing movement; each driver (4) is respectively arranged right below each clamping slide block (2) and fixedly connected with the bottom of the mechanical fixing frame shell (3), and a top rod of each driver (4) is connected with the bottom of each clamping slide block (2); when each workpiece (5) respectively enters each clamping position, the drivers (4) push the clamping sliders (2) upwards, the clamping sliders (2) vertically move upwards under the guidance of the side wall of the mechanical fixing frame shell (3), the convex arcs (21) of the upper ports of the clamping sliders (2) respectively cling to each pair of extrusion slope surfaces (13) to extrude upwards, under the action of the fulcrum of the swing rotating shaft (12), the clamping grooves (11) of each pair of clamping claws (1) are inwards fitted upwards, so that the inverted eight-shaped small slope surfaces of each pair of extrusion slope surfaces (13) are extruded by vertical and upward linear thrust to generate radial lever force action, and each driver (4) can push each clamping groove (11) to tightly clamp each workpiece (5) by utilizing lever mechanics as long as a little small force is generated by each driver (4).
2. The large-force clamping device for the micro cylinder finger as claimed in claim 1, wherein each clamping claw (1) is symmetrically provided with a pair of arc-shaped protruding stoppers (14) along the lower part of the outer side surface of the axle center of the two swing rotating shafts (12); the maximum distance of the extension protrusion of each pair of protrusion stoppers (14) when the clamping claw (1) is closed is smaller than the width of an inner groove of each clamping slide block (2); the convex arcs (21) respectively move back and forth between the two arc convex stop blocks (14) and the extrusion slope surface (13); when the clamping work is finished, each clamping slide block (2) moves downwards, the convex arcs (21) at the upper end ports of the clamping slide blocks (2) respectively cling to and pull each pair of convex stoppers (14) to move downwards, and the clamping grooves (11) of each pair of clamping claws (1) swing outwards and open under the action of the fulcrums of the swinging rotating shafts (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111238026.6A CN113878604B (en) | 2021-10-25 | 2021-10-25 | Powerful clamping device for micro driving finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111238026.6A CN113878604B (en) | 2021-10-25 | 2021-10-25 | Powerful clamping device for micro driving finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113878604A CN113878604A (en) | 2022-01-04 |
| CN113878604B true CN113878604B (en) | 2023-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111238026.6A Active CN113878604B (en) | 2021-10-25 | 2021-10-25 | Powerful clamping device for micro driving finger |
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| Country | Link |
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| CN (1) | CN113878604B (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2819622A1 (en) * | 1978-05-05 | 1979-11-08 | Festo Maschf Stoll G | GRIPPING PLIERS FOR MANIPULATORS, ROBOTS OR DGL. |
| TW201433845A (en) * | 2013-02-27 | 2014-09-01 | Hon Hai Prec Ind Co Ltd | Lens fixing device |
| CN210389244U (en) * | 2019-06-25 | 2020-04-24 | 湖北三峡职业技术学院 | Clamping manipulator based on wedge block |
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2021
- 2021-10-25 CN CN202111238026.6A patent/CN113878604B/en active Active
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| CN113878604A (en) | 2022-01-04 |
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