CN204076288U - A kind of clamping device and robot system - Google Patents
A kind of clamping device and robot system Download PDFInfo
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- CN204076288U CN204076288U CN201420503031.4U CN201420503031U CN204076288U CN 204076288 U CN204076288 U CN 204076288U CN 201420503031 U CN201420503031 U CN 201420503031U CN 204076288 U CN204076288 U CN 204076288U
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Abstract
The utility model relates to field of machining, particularly relates to a kind of clamping device and uses the robot system of clamping device, can realize pinching end linearly track clamping and give up the throne.A kind of clamping device that the utility model provides comprises: driving mechanism, guiding mechanism and two groups of clamp assemblies; The drive end of described driving mechanism and each organize clamp assembly and assemble in the mode that can be movable relatively, described guiding mechanism respectively and the drive end of described driving mechanism and each organize between clamp assembly and assemble in the mode that can be movable relatively; Described guiding mechanism is when described driving mechanism drives described two groups of clamp assemblies, and the drive end limiting described driving mechanism does rectilinear motion along first direction, and limits described two groups of clamp assemblies and relatively do rectilinear motion along second direction.
Description
Technical field
The utility model relates to field of machining, particularly relates to a kind of clamping device and robot system.
Background technology
Clamping device also claims fixture, along with the raising of economic development and productivity, in modern production, fixture becomes a kind of indispensable technological equipment, be widely used in the links such as the machining of machine-building process, heat treatment, assembling, welding and detection, directly affect the manufacturing cost etc. of the precision of work pieces process, labor productivity and product.
According to purposes, it is dissimilar that clamping device comprises machine tool clamping device, assembling clamping device, weld clamp device and detection clamping device etc.Handling characteristics according to clamping device also can be divided into Special clamping device, general clamping device and adjustable clamping device etc.No matter which kind of clamping device, the process operation being thought of as next step is all needed to reserve enough operating spaces, consider that the space that can hold clamping device is more limited, therefore on guarantee clip stability and clamping accuracy basis, miniaturization is the problem needing to consider, and on the basis of miniaturization, clamping device also needs to be applicable to various installation environment, and need the switching action that the pinching end of clamping device can complete linearly track clamping and give up the throne.
Utility model content
The utility model provides a kind of clamping device, can realize pinching end linearly track clamping and the switching action of giving up the throne.
For this reason, an aspect of the utility model embodiment there is provided a kind of clamping device, comprising: driving mechanism, guiding mechanism and two groups of clamp assemblies;
The drive end of described driving mechanism and each organize clamp assembly and assemble in the mode that can be movable relatively, described guiding mechanism respectively and the drive end of described driving mechanism and each organize between clamp assembly and assemble in the mode that can be movable relatively;
Described guiding mechanism is when described driving mechanism drives described two groups of clamp assemblies, and the drive end limiting described driving mechanism does rectilinear motion along first direction, and limits described two groups of clamp assemblies and do relative rectilinear motion along second direction.
In an embodiment of the present utility model, described guiding mechanism has the first directed cavity along first direction distribution, and along the second directed cavity that second direction distributes, described drive end does rectilinear motion along first direction under the restriction of the first directed cavity, and described two groups of clamp assemblies do relative rectilinear motion along second direction under the restriction of the second directed cavity.
In an embodiment of the present utility model, described guiding mechanism comprises two guide pads relatively assembled, each guide pad has the first groove along first direction distribution, and along the second groove that second direction distributes, after two guide pads assemble relatively, two described first grooves form the first directed cavity, and two described second grooves form the second directed cavity.
In an embodiment of the present utility model, each described group clamp assembly has an oblique slot, the oblique slot superposition cross assembly of two groups of clamp assemblies, the drive end of described drive unit does relative rectilinear motion by the bearing pin that is located in two oblique slot superposition cross sections to drive two groups of clamp assemblies.
On above-mentioned embodiment basis of the present utility model, H type slide block and T-shaped screw is also comprised in an embodiment of the present utility model, described T-shaped screw fastening is in the end of the drive end of described drive unit, the both sides of described H type slide block one end internally curve discount, the both sides of the other end have the hole wearing described bearing pin respectively, the T connector portion of described T-shaped screw is buckled in described discount, described bearing pin penetrates from the hole of H type slide block side, through the crossover sites of the oblique slot of two superposition cross assemblies, and pass from the hole of described H type slide block opposite side.
In above-mentioned any embodiment of the present utility model, described oblique slot can be bar-shaped trough or deep-slotted chip breaker.
In above-mentioned any embodiment of the present utility model, described is assembled by a transverse groove and at least one feather key between each group clamp assembly and guiding mechanism, wherein said transverse groove is positioned in one of them among clamp assembly and guiding mechanism, a part for each feather key is arranged in transverse groove, and another part of each feather key is installed in clamp assembly and guiding mechanism and does not arrange in one of transverse groove.
In above-mentioned any embodiment of the present utility model, in two groups of described clamp assemblies, the end of one group of clamp assembly has Workpiece fixing parts, and the end that another group clamp assembly is relative has the described Workpiece fixing parts of cooperation and pushes against portion with what clamp workpiece.
Wherein, described Workpiece fixing parts are alignment pin, and described alignment pin one end has the projection of sheathed workpiece central hole structure, described in the portion of pushing against be the depressed part coordinating described projection.
In above-mentioned embodiment, each group clamp assembly comprises clamp and is assemblied in the pressure arm on clamp, and described alignment pin and described depressed part lay respectively at the end of a pressure arm.
The utility model also provides a kind of robot system, comprises robot, and above-mentioned arbitrary described clamping device, and described gripping means grips workpiece, described robot carries out operation to described workpiece.
The above-mentioned clamping device that the utility model provides, utilizes the restriction of guiding mechanism, make the switching action of two groups of clamp assemblies in a second direction linearly track carry out.And because the driving direction of driving force and clamping direction are different directions, according to the position at the relative clamp assembly place of the driving mechanism of spatial accommodation flexible design clamping device, the structure of installing space flexible design clamping device therefore can be coordinated.Above-mentioned clamping device can be used in robot system.
Accompanying drawing explanation
The structural representation of the clamping device that Fig. 1 provides for the utility model;
Fig. 2 a and Fig. 2 b respectively illustrates in the clamping device of Fig. 1, the structural representation of two locating pieces;
Fig. 3 is the structural representation of clamp in the clamping device shown in Fig. 1;
Fig. 4 is in the utility model embodiment, the stressed decomposing schematic representation of clamp;
Fig. 5 is the structural representation of T-shaped screw in the clamping device shown in Fig. 1;
Fig. 6 is the structural representation of H type slide block in the clamping device shown in Fig. 1;
Fig. 7 a and Fig. 7 b is respectively the schematic front view of the clamp structure with arc oblique slot;
Fig. 8 is welded part when being suspension ring, the assembling schematic diagram between the projection on suspension ring and pressure arm.
Detailed description of the invention
In a lot of application scenarios of clamping device, the switching action that the pinching end of clamping device needs to complete linearly track clamping and gives up the throne, and be reserved enough operating spaces, clamping device is generally arranged on below or the rear of workpiece, the clamping device that the utility model provides, can coordinate the structure of installing space flexible design clamping device.
For more clearly understanding the utility model embodiment, with reference to accompanying drawing, be described in detail with specific embodiment.
Fig. 1 is the structural representation of a kind of clamping device in the utility model embodiment, for convenience of description, Fig. 1 shows three-dimensional cartesian coordinate system, in this three-dimensional cartesian coordinate system: the reference axis vertically extended on the surface at the drawing of Fig. 1 is Z axis, the reference axis extended obliquely bottom drawing on the surface at the drawing of Fig. 1 is Y-axis, and be X-axis from the reference axis that drawing extends obliquely from drawing top on the surface, be suitable for too in other accompanying drawings that this rectangular coordinate system uses in the following description.
Hereinafter, the statement that such as X-direction, Y direction and Z-direction are such can be used to be described, it is that example is described that such statement only represents relative to the attitude residing for the clamping device shown in Fig. 1, wherein the forward of Z-direction also can be understood as upwards, and negative sense also can be understood as downwards.
As shown in Figure 1, be the explosive view of a kind of clamping device that the present embodiment provides, this clamping device comprises: driving mechanism 10, guiding mechanism 20 and two groups of clamp assemblies (31,32), wherein:
Driving mechanism 10 can be pneumatic drive mechanism, can be also hydraulic drive mechanism etc., and for pneumatic drive mechanism, comprise cylinder 11 and the gas bar 12 as drive end as shown in Figure 1, gas bar 12 can move reciprocatingly under the gas-powered in cylinder 11.
A kind of example of guiding mechanism 20 is as shown in Figure 1, Figure 2 shown in a and Fig. 2 b, and can comprise two locating pieces (21,22) relatively assembled, Fig. 2 a and Fig. 2 b respectively illustrates the structural representation of two locating pieces (21,22).Locating piece 21 has along the first groove 213 of Y direction distribution and the second groove 224 along X-direction distribution, equally, locating piece 22 has along the first groove 223 of Y direction distribution and the second groove 224 along X-direction distribution, two locating pieces (21,22), after relatively assembling, two the first grooves (213,223) form the first directed cavity, two the second grooves (214,224) form the second directed cavity.In order to dust-proof, a cover plate 23 can be installed in top.Between locating piece (21,22), and between cover plate 23 and locating piece (21,22), the securing members such as screw can be adopted fastening, be this area common technology means, be not described in detail here.
Often organize a kind of example of clamp assembly as shown in Figure 1, clamp (311 can be comprised, 321), be assemblied in clamp (311,321) pressure arm (312 on, 322), be clamped the architectural feature of workpiece of location as required, the structure of location clamping work pieces can be set in the end that two pressure arms are relative.Fig. 3 gives a kind of concrete structure schematic diagram of clamp 311, the structure of clamp 321 is substantially identical with clamp 311, visible see Fig. 3, at clamp (311,321) on, there is oblique slot (3111 respectively, 3211) and transverse groove (3112,3212 (not shown)s), wherein two oblique slots (3111,3211) cross assembly, two transverse grooves (3112,3212 (not shown)) are configured in the side that itself and locating piece assemble respectively.
Driving mechanism 10, guiding mechanism 20 and two groups of clamp assemblies (31,32) assembly relation between as shown in Figure 1, gas bar 12 is by T-shaped screw 14, H type slide block 13 and bearing pin 15 and two clamps (311,321) assemble in the mode that can be movable relatively, two clamps (311,321) two oblique slots (3111,3211) cross assembly part is arranged in H type slide block 13 one end, bearing pin 15 passes the position that two oblique slots (3111,3211) are intersected and the hole being positioned at both sides, H type slide block 13 one end simultaneously.According to the structure of the first directed cavity, the periphery of H type slide block 13 can be rectangular structure, width in the Y-axis direction, with the width coupling of the first directed cavity in Y-axis, H type slide block 13 width in the X-axis direction, with the first directed cavity width coupling in the X-axis direction, like this when two locating pieces (21,22) after relatively assembling, do not affecting under reciprocal free-moving condition, slide block 13 entirety is limited in the first directed cavity, and the inwall of the first guide groove prevents the circumferential play of gas bar 12, thus restriction gas bar 12 does rectilinear motion in the first directed cavity.And clamp (311, 321) in, be provided with oblique slot (3111, 3211) and the position of cross assembly is positioned at the second directed cavity, and clamp (311, 321) transverse groove (3112 on, 3212), respectively by least one feather key (211, 212) side relative to locating piece is formed and assembles, feather key (211, 212) a part is arranged in the transverse groove of clamp, another part is installed in the groove that on locating piece, size matches with it, groove structure is see the groove (215 shown in Fig. 2 a, 216), such two clamps (311, 321) after stressed, utilize the second directed cavity and feather key (211, 212) restriction effect, relative rectilinear motion can only be done in the second directed cavity, namely simultaneously near the other side or move away from the direction of the other side, achieve clamp (311, 321) linearly track clamping and the switching action of giving up the throne.Transverse groove also can be positioned on locating piece, and the groove clamping locating piece is then positioned on clamp.Transverse groove and feather key non-essential, as long as clamp is assemblied in size in the second directed cavity and the second directed cavity matches, just utilizes the second directed cavity to limit two clamps (311,321) and do relative rectilinear motion.
As shown in Figure 4, gas bar 12 is driven to move upward for cylinder 11, the motive force F that gas bar 12 is applied to upper edge in oblique slot 3111 by bearing pin 15 can decompose the F1 of tangential direction and the F2 of vertical direction, F1 is decomposed into F11 and F12 further, F2 is decomposed into F21 and F22 further, under the effect that clamp 311 is made a concerted effort at F21 and F12, move to Y-axis negative sense, gas bar 12 is exerted a force to the upper edge in oblique slot 3112 by bearing pin 15 simultaneously, clamp 312 is stressed to be moved to Y-axis forward, two clamps (311, 321) under the restriction of the second directed cavity, linear relative movement is done to the direction near the other side, realize the closed procedure needed for clamping work pieces.When cylinder 11 drives gas bar 12 to move downward, gas bar 12 passes through bearing pin 15 to oblique slot (3111,3211) the lower edge force in, promote two clamps (311,321) under the restriction of the second directed cavity, do relative rectilinear motion to the direction away from the other side, realize giving up the throne required opening operation.
Thus, can see, under the restriction of guiding mechanism 20, when the gas bar 12 as drive end does rectilinear motion along the Z-direction limited, two groups of clamp assemblies (31,32) relatively rectilinear motion can only be done along the Y direction limited, like this, just can realize two groups of clamp assemblies (31,32) and carry out switching action with straight path, and the driving force in Z-direction is transformed in Y direction, usual Y direction is consistent with needing the direction of the clamping force be applied on workpiece.Realize this purpose, guiding mechanism 20 can possess the directed cavity of two different directions, the first directed cavity such as shown in Fig. 1 and the second directed cavity, first directed cavity and the second directed cavity can along two mutually perpendicular directional spreding, also can along two not mutually perpendicular directional spreding, the distribution arrangement of such as the first directed cavity is consistent with the clamping force direction needed for clamping work pieces, and the distribution arrangement of the second directed cavity can be consistent with the spatial distribution direction holding clamp system.Clamping device shown in Fig. 1, meets and holds the demand that the space of clamping device is just in time positioned at the positive side in the space of clamping operation, positive side such as immediately below or dead astern.If hold the oblique side being spatially located at the space of clamping operation of clamping device, at this moment, by the distribution arrangement of the first directed cavity and the distribution arrangement of the second directed cavity in adjustment guiding mechanism, matched in angle between the two distribution arrangement and oblique side, then can design the structure of clamping device flexibly, those skilled in the art slightly do modification completely and can realize on Fig. 1 example shown basis, repeat no longer one by one here.
As shown in Figure 5 and Figure 6, Fig. 5 is the structural representation of T-shaped screw 14, Fig. 6 is the structural representation of H type slide block 13, the both sides of H type slide block 13 one end internally curve discount, T-shaped screw 14 is fastened on the end of gas bar 12, T connector portion is buckled in the discount of H type slide block 13, the other end of H type slide block 13 has the hole wearing bearing pin 15, two clamps (311, 321) there is oblique slot (3111, 3211) after position cross assembly, the hole of bearing pin 15 from the side being arranged in H type slide block 13 other end penetrates, through two oblique slots (3111, 3211) crossover sites, pass from the hole be arranged in another relative side of H type slide block 13 other end again, realize the gas bar 12 as drive end and two clamps (311, 321) assembling in the mode that can be movable relatively between.
In above-mentioned assembly structure, H type slide block 13, T-shaped screw 14 and bearing pin 15 are all arranged in the first directed cavity of guiding mechanism 20, guiding mechanism 20 is by two locating pieces (21,22) be relatively assembled, H type slide block 13, T-shaped screw 14 and bearing pin 15 are all fastened in the first directed cavity, and this structural design can well meet the demand of miniaturized compact, and prevent to some extent the dropout of three, add durability and reliability.
Example as shown in Figure 3, the oblique slot (3111,3211) on clamp (311,321) can be bar-shaped trough, and under constant driving force effect, clamp (311,321) can in the Y-axis direction at the uniform velocity to move.Change the size of driving force, can change clamp (311,321) can translational speed in the Y-axis direction.If in clamping process, when two pressure arms (3121,322) end is about to contact with clamping work pieces, or when two pressure arms (3121,322) have just started to be separated to unclamp workpiece, need with speed motion more slowly to ensure precision, at this moment can driving force can be smaller, and other processes, larger driving force can be applied mobile to accelerate, thus improve operating efficiency.
As Fig. 7 a or as shown in Figure 7b, above-mentioned speed-change process also can pass through oblique slot (3111, 3211) be set to deep-slotted chip breaker realize, the tangent line of deep-slotted chip breaker near the inside edge at two ends and the angle of Y-axis, relatively be less than the tangent line of mid portion inside edge and the angle of Y-axis, owing to really promoting clamp (311, 321) speed done relative motion along Y direction depends on the component in Y-axis, when therefore making bearing pin 15 be positioned at deep-slotted chip breaker two ends, because the component in Y direction is less, clamp (311, 321) translational speed is slower, when bearing pin 15 is positioned in the middle part of deep-slotted chip breaker, component in Y direction is larger, clamp (311, 321) translational speed is fast.Even if use constant driving force like this, the speed Control of " slow-fast-slow " also can be realized.At startup and stop phase, and will clamp and release stage, clamp (311,321) translational speed is slower, to ensure steadily to clamp and unclamp, and smooth starting or stopping, and very fast in the translational speed in interstage, to save the actuation time of clamping device, improve whole mach efficiency.
As shown in figures 1 and 3, often organize clamp assembly in the relative end of two pressure arms (312,322), the characteristic that can clamp as required, arranges the structure of location clamping work pieces.Shown in Figure 8, such as workpiece is when needing to be welded to the suspension ring 80 on miscellaneous part, due to suspension ring 80 having hole 801, then in order to locate and clamp, alignment pin 313 can be set in the end of pressure arm 312, in the end of pressure arm 322 correspondence, depressed part 323 is set, the external diameter of projection 3131 on alignment pin 313 and the internal diameter of 801 of circular hole close fit as far as possible in detachable scope, and the length of protruding 3131 is less than the thickness of suspension ring 80, the bottom surface of depressed part 323 can for being a bit larger tham the plane of workpiece, like this, when clamp (311, 321) pressure arm (312 is driven, 322) when opening, the circular hole 801 of suspension ring 80 is sleeved on protruding 3131, clamp (311, 321) pressure arm (312 is driven, 322) after clamping, suspension ring 80 are pressed in depressed part 323, regulate the position of clamping device 1 in advance, suspension ring 80 can be made to need the side 802 of welding just in time to arrive the operating position of welding.Again such as having the workpiece that can grasp position, protruding 3131 also can be replaced by the manipulator with at least three-jaw, are promptly pressed in depressed part 323 after workpiece, can also arrange and regulate pad 314, to increase buffering between protruding 3131 and pressure arm 312.According to different qualities and the external form feature of workpiece; perhaps, depressed part 323 is and the projection of the recesses fit on workpiece, manipulator or other positioning elements etc.; these situations will not enumerate; those skilled in the art completely can according to example of the present utility model; be out of shape a little for different workpieces, all should in protection domain of the present utility model.In above-mentioned example, wherein alignment pin 313 and the assembling of pressure arm 312 can be the fastening assemblings of threaded screw bore, or alignment pin 313 also can adopt bolt arrangement to be fastened on pressure arm in corresponding hole at the other end being different from protruding 3131.
In above-mentioned example, can see, clamp (311,321) what do in the Y-axis direction is relative linear motion, this concerning have hole compared with significant small workpiece, still for Fig. 8, farthest can avoid touching suspension ring 80 when protruding 3131 straight lines are given up the throne and be shifted, to avoid impacting welding procedure, other similar workpiece all have identical effect.
In above-mentioned example, often organize the clamp (311 of clamp assembly, 321) and pressure arm (312,322) be Split type structure, alignment pin 313 and pressure arm 312 also can be Split type structures, by dismountable flexible connections such as H type slide block 13, bearing pins 15 between gas bar 12 and clamp (311,321).Facilitate the replacing of consumable accessory like this, consumable accessory is pressure arm, bearing pin and feather key etc. such as, and these consumable accessorys also can adopt the material that intensity is larger to change number of times to reduce, thus improve the service life of non-easy worn part, save maintenance cost on the whole.
Although the utility model has exemplarily been described in detail with the concrete clamping device of the one shown in Fig. 1, those skilled in the art are according to this specific embodiment:
In the clamping device that the utility model provides; guiding mechanism is not limited to have two directed cavity; as long as guiding mechanism is when driving mechanism drives two groups of clamp assemblies; the drive end of restriction driving mechanism does rectilinear motion along first direction; and restriction two groups of clamp assemblies do relative rectilinear motion along second direction; its structure is also not limited to utilize two guide pads to be relatively assembled, and any guiding mechanism that can realize above-mentioned functions, all in protection domain of the present utility model.The guiding mechanism provided in the utility model has the first directed cavity and the second directed cavity, and the first directed cavity restriction drive end does rectilinear motion along first direction, and the second directed cavity limits two groups of clamp assemblies and does relative rectilinear motion along second direction.This structure is only a concrete example, and those skilled in the art according to this example, can utilize groove or other structures also can realize above-mentioned functions, be described in detail no longer one by one here; Also it should be noted that, the cross sectional shape of the first directed cavity and the second directed cavity is also not limited to the quadrangle shown in Fig. 1, also can be circular or oval, and other polygons.Clamp is assemblied in structure in the second directed cavity and the second directed cavity structure matches, and equally, the slide block structure and the first directed cavity structure that are arranged in the first directed cavity match.
In the utility model, clamp in each group clamp assembly can have an oblique slot, the oblique slot superposition cross assembly of two groups of clamp assemblies, the drive end of drive unit does relative rectilinear motion by the bearing pin that is located in two oblique slot superposition cross sections to drive two groups of clamp assemblies.But for realizing the assembling mode that driving mechanism synchronously drives clamp assembly to move, not only have and realized by oblique slot, those skilled in the art also can adopt other modes.And oblique slot is also non-essential is bar-shaped trough, it can also be deep-slotted chip breaker etc.
In the utility model, on the basis of the second directed cavity, utilizing the assembling of transverse groove and at least one feather key between each group clamp assembly and guiding mechanism, is the direction of motion in order to limit clamp assembly further, and non-vital structure.Wherein transverse groove can be positioned on the clamp of clamp assembly, also can be positioned on guiding mechanism, accordingly, a part for each feather key is arranged in transverse groove, and another part of each feather key is installed in clamp assembly and guiding mechanism and does not arrange in one of transverse groove.
In the utility model, for coordinating workpiece features, in two groups of clamp assemblies, the end of one group of clamp assembly has Workpiece fixing parts, and the end that another group clamp assembly is relative has cooperation Workpiece fixing parts and pushes against portion with what clamp workpiece.Workpiece fixing parts and push against portion can according to the size characteristic flexible design of workpiece, such as when workpiece be one there is the workpiece in hole time, Workpiece fixing parts are alignment pin, and alignment pin one end has the projection of sheathed workpiece central hole structure, and the portion of pushing against is the depressed part coordinating workpiece features.
Above-mentioned clamping device may be used in various process for machining, and when can be used in robot system especially, the gripping means grips workpiece utilizing the utility model to provide, the robot in robot system can carry out various operation to workpiece.Such as in welding robot system time, as weld jig, the comparatively small workpiece with pore structure can well be clamped, facilitate the weld job of welding robot, for ensureing weldment size, improving assembly precision and efficiency, preventing welding deformation from providing good guarantee.
Be described in detail specific implementation of the present utility model with reference to accompanying drawing above, obviously, those skilled in the art can carry out various change and modification to the utility model and not depart from spirit and scope of the present utility model.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technologies thereof, then the utility model is also intended to comprise these change and modification.
Claims (12)
1. a clamping device, is characterized in that, comprising: driving mechanism, guiding mechanism and two groups of clamp assemblies;
The drive end of described driving mechanism and each organize clamp assembly and assemble in the mode that can be movable relatively, described guiding mechanism respectively and the drive end of described driving mechanism and each organize between clamp assembly and assemble in the mode that can be movable relatively;
Described guiding mechanism is when described driving mechanism drives described two groups of clamp assemblies, and the drive end limiting described driving mechanism does rectilinear motion along first direction, and limits described two groups of clamp assemblies and do relative rectilinear motion along second direction.
2. clamping device as claimed in claim 1, it is characterized in that, described guiding mechanism has the first directed cavity along first direction distribution, and along the second directed cavity that second direction distributes, described drive end does rectilinear motion along first direction under the restriction of the first directed cavity, and described two groups of clamp assemblies do relative rectilinear motion along second direction under the restriction of the second directed cavity.
3. clamping device as claimed in claim 2, it is characterized in that, described guiding mechanism comprises two guide pads relatively assembled, each guide pad has the first groove along first direction distribution, and along the second groove that second direction distributes, after two guide pads assemble relatively, two described first grooves form the first directed cavity, and two described second grooves form the second directed cavity.
4. clamping device as claimed in claim 1, it is characterized in that, each described group clamp assembly has an oblique slot, the oblique slot superposition cross assembly of two groups of clamp assemblies, the drive end of described drive unit does relative rectilinear motion by the bearing pin that is located in two oblique slot superposition cross sections to drive two groups of clamp assemblies.
5. clamping device as claimed in claim 4, it is characterized in that, also comprise H type slide block and T-shaped screw, described T-shaped screw fastening is in the end of the drive end of described drive unit, the both sides of described H type slide block one end internally curve discount, the both sides of the other end have the hole wearing described bearing pin respectively, the T connector portion of described T-shaped screw is buckled in described discount, described bearing pin penetrates from the hole of H type slide block side, through the crossover sites of the oblique slot of two superposition cross assemblies, and pass from the hole of described H type slide block opposite side.
6. clamping device as claimed in claim 4, it is characterized in that, described oblique slot is bar-shaped trough or deep-slotted chip breaker.
7. clamping device as claimed in claim 1, it is characterized in that, described is assembled by a transverse groove and at least one feather key between each group clamp assembly and guiding mechanism, wherein said transverse groove is positioned in one of them among clamp assembly and guiding mechanism, a part for each feather key is arranged in transverse groove, and another part of each feather key is installed in clamp assembly and guiding mechanism and does not arrange in one of transverse groove.
8. the clamping device as described in as arbitrary in claim 1 ~ 7, it is characterized in that, in two groups of described clamp assemblies, the end of one group of clamp assembly has Workpiece fixing parts, and the end that another group clamp assembly is relative has the described Workpiece fixing parts of cooperation and pushes against portion with what clamp workpiece.
9. clamping device as claimed in claim 8, it is characterized in that, described Workpiece fixing parts are alignment pin, and described alignment pin one end has the projection of sheathed workpiece central hole structure, described in the portion of pushing against be the depressed part coordinating Workpiece structure.
10. clamping device as claimed in claim 9, is characterized in that, each group clamp assembly comprises clamp and is assemblied in the pressure arm on clamp, and described alignment pin and described depressed part lay respectively at the end of a pressure arm.
11. 1 kinds of robot systems, comprise robot, it is characterized in that, also comprise as arbitrary in claim 1 ~ 10 as described in clamping device, described gripping means grips workpiece, described robot carries out operation to described workpiece.
12. robot systems as claimed in claim 11, it is characterized in that, the artificial welding robot of described machine, described workpiece is welded part.
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| CN110449929A (en) * | 2019-07-12 | 2019-11-15 | 广西汽车集团有限公司 | The hole localization method of hole positioning tool and parts to be machined |
| CN110587514A (en) * | 2019-09-10 | 2019-12-20 | 张晓卫 | Automatic rotary fixture tool structure for automobile welding robot |
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