CN207239718U - Large-scale workpiece clamping device and grasping system - Google Patents

Abstract

The utility model provides large-scale workpiece clamping device, comprising circular chuck body, mounting groove is equipped with the inner ring of chuck body, to install some dismountable grip units；Grip unit includes clamping executive device and grasping drive unit, and grasping drive unit is connected with clamping executive device, for driving axially and/or radially movement of the clamping executive device in chuck body annulus；Each clamping executive device is circumferentially distributed along the inner ring of chuck body；Each grasping drive unit includes the driving device connecting portion being fixedly connected with chuck body；The utility model additionally provides a kind of large-scale workpiece grasping system, and comprising large-scale workpiece clamping device and carrying platform, support base is arranged in parallel with carrying platform；Support base is equipped with and the matched rolling support groove of the outer rim of chuck body.The utility model has the advantage of：Realize clamping of floating, the center of workpiece need not be adjusted repeatedly in clamping workpiece, it is not required that extra structure of assistant support, improves clamping efficiency.

Description

Large-scale workpiece clamping device and grasping system

Technical field

It the utility model is related to frock clamp field, and in particular to large-scale workpiece clamping device and grasping system.

Background technology

With the rapid development of Scientific Industries technology, industrial manufacturing technology achieves revolutionary breakthrough, corresponding processing The clamping process of the stronger and stronger but matched workpiece of equipment performance such as manufacture, detection, experiment or parts fails to obtain Adaptable progress, with the implementation of all kinds of heavy constructions, processing, detection, movement, the fixation of large parts and component entirety Become increasingly conspicuous Deng clamping demand, existing clamping workpiece mode is difficult to fully meet requirement.For example in whole large cylinder work When requiring, there are many common problems for part clamping, fixation, movement, lifting, integral-rotation：Inconvenient, very flexible, lacks Weary safety-type, low precision is of high cost, and efficiency is low；Can there are the local method of clamping of local crowning for some workpiece surfaces Workpiece surface can be caused to damage, or there are clamping force inequality, clamping face and workpiece surface the feelings of relative displacement occurs Condition；It is such in order to solve the problems, such as, it is necessary to carry out in-depth study exploration.

Utility model content

For the deficiency in the presence of the prior art, the utility model, which provides, a kind of realizes that what is uniformly clamped is suitable for body Product, the clamping device that the larger cylindrical workpiece of weight uses and the large-scale workpiece grasping system that can flexibly use.

To achieve the above object, the utility model employs following technical solution：

Large-scale workpiece clamping device, comprising circular chuck body, mounting groove is equipped with the inner ring of chuck body, with installation Some groups of dismountable grip units；Chuck body is in the outer ring side of its annulus or is additionally provided with for engaging biography with outer gear Dynamic driving cog；The grip unit includes clamping executive device and grasping drive unit, and grasping drive unit is performed with clamping Device is connected, for driving axially and/or radially movement of the clamping executive device in chuck body annulus；Each clamping executive device Circumferentially it is distributed along the inner ring of chuck body.

Further, the chuck body is equipped with the biography being used for outer gear engaged transmission in the outer ring side of its annulus Moving teeth.

The utility model is also carried except a kind of large-scale workpiece grasping system, comprising above-mentioned large-scale workpiece clamping device, is also wrapped Containing carrying platform, support base is arranged in parallel with carrying platform；The support base is equipped with and is matched with the outer rim of chuck body Rolling support groove.

Further, guide rail rack is equipped with carrying platform, correspondingly, being equipped with handwheel and transmission in support base Portion；The output of handwheel is connected with driving section, and the output of driving section is and rack is matched leads moving gear to be passed with passing through handwheel driving Support base is moved along guide rail rack in dynamic portion.

For the utility model by the designs of multiple grip units, each grip unit can independently drive corresponding clamping to perform Device；After setting constant output or constant output power, active clamping force of each grasping drive unit to workpiece is balanced, So as to realize the clamping force of bigger on the whole, the local damage to workpiece surface is avoided；And for not rounded workpiece When column structure or the workpiece interface center of circle are not in chuck body shaft core position, feelings that each grasping drive unit is exported in constant force By driving clamping executive device to workpiece surface under condition, and to offset to amount of stress, in rotary course, clamping driving dress Put to be rotated to top by lower part and also can adaptively adjust clamping, clamped so as to fulfill floating, and keep workpiece and bite not to send out Raw relative displacement；When more in the grip unit quantity being distributed in whole circumference, effective contact during Workpiece clamping can be increased Area, reduces the chucking power and required spatial volume and weight of single bite, in addition, the other grip unit of dismounting Clamping device will not have an impact the clamp position of workpiece, occur the shape with clamping face interference to cylindrical workpiece surface Carry out accommodation that can be convenient, flexible during structure.

Compared with the prior art, the utility model has the advantages that：

(1), realize clamping of floating, the center of workpiece need not be adjusted repeatedly in clamping workpiece, it is not required that extra Workpiece structure of assistant support or system, improve clamping efficiency；

(2), balanced clamping is realized, clamping workpiece is more stable；

(3), can quantified controlling be clamped the critical pressure of workpiece surface clamping point；

(4), effectively avoid workpiece from being clamped interference of the region local crowning to grasping system；

(5), the safety coefficient during piece-holder is improved；

(6), suitable for the clamping of the nearly cylindrical workpiece of a variety of different-diameters.

Brief description of the drawings

Fig. 1 is the structure diagram of work holder in embodiment.

Fig. 2 is that the front view of work holder in embodiment is local.

Fig. 3 is the structure diagram of single grip unit in embodiment.

Fig. 4 is the side view of single grip unit in embodiment.

Fig. 5 is the A-A sectional views of Fig. 4.

Fig. 6 is the side view of grasping drive unit in embodiment.

Fig. 7 is the B-B sectional views of Fig. 6.

Fig. 8 is the structure diagram of workpiece clamping system in embodiment.

Fig. 9 is support base front view in embodiment.

Figure 10 is the second support base side view in embodiment.

Embodiment

The technical solution in the utility model is further illustrated with reference to the accompanying drawings and embodiments.

A kind of work holder, as shown in Figure 1 and Figure 2, comprising circular chuck body 1, in the inner ring of chuck body 1 Equipped with mounting groove 8, to install dismountable grip unit, the grip unit quantity that can be installed at the same time is at 30~48；The folder Have body 1 and the driving cog 4 being used for outer gear engaged transmission is equipped with the outer ring side of its annulus；In chuck body 1 along its Groove 5 is equipped with the middle part of annulus extrados, is suitable for the guiding when clamping, lifting, the rotation of spacing or chuck body of external device (ED)； Some mounting holes 6 and guide hole 7 are equipped with the wherein one side of chuck body 1；The installation that the mounting hole 6 is used for grip unit is consolidated It is fixed；The guide hole 7 is used for driving electric wiring or the oil circuit connection of grasping drive unit；The grip unit includes clamping and performs Device and grasping drive unit；Each clamping executive device is circumferentially distributed along the inner ring of chuck body 1.

As shown in Fig. 3, Fig. 4, Fig. 5, clamping executive device includes installation articulamentum 16, the intermediary movements layer 17 of order closed assembly With clamping contact layer 18, the outer surface of clamping contact layer 18 is also bonded or is fixed with to protect the contact protection layer of workpiece surface 19, contact protection layer 19 selects the hardness such as rubber, felt, soft copper, plastics, sponge less than the material of 18 hardness of clamping contact layer； The installation articulamentum 16, clamping contact layer 18 are overall substantially in the list structure that end face is " convex " shape, the intermediary movements Layer 17 is in list structure；The middle part of installation articulamentum 16 is additionally provided with through hole 13, is connected for the screw with grasping drive unit；Folder Hold executive device and include wide clamping executive device 3 and narrow clamping executive device 2, wide clamping 3 corresponding clamping contact of executive device Slice width degree is more than the clamping contact slice width degree of narrow clamping executive device；The clamping action face of clamping contact layer 18 is cambered surface, and each Clamping executive device is circumferentially distributed, its clamping contact layer 18 or the formation of contact protection layer 19 one are same with fixture ring body annulus The cylindrical side of the heart；Due to clamping executive device and the convertibility of its building block, different-diameter size can adapt to Piece-holder；During clamping workpiece, according to by clamping workpiece surface bulge position, the clamping that a certain position is removed in selection performs dress Put, avoid the interference of protrusion and grip unit；Articulamentum 16 is installed and is equipped with side along its length by the side of intermediary movements layer 17 To the long globoidal structure 20 of extension, width of the long 20 corresponding chord length of globoidal structure no more than installation articulamentum 16；Clamping contact Layer 18 is equipped with support boss 27 by the middle part of 17 side of intermediary movements layer, and the length of support boss 27 is clamping contact layer length 1/3；The wide globoidal structure 26 extended along its width, wide 26 corresponding chord length of globoidal structure are equipped with 27 surface of support boss No more than the length of support boss 27；The length range of the intermediary movements layer 17 is convex in the length and support of clamping contact layer 18 Between the length of platform 27；Intermediary movements layer 17 is equipped with the length for matching and coincideing with long globoidal structure 20 by installing the side of articulamentum 16 Cambered surface contact structures 21, to form arcuate movement pair one with long globoidal structure 20；Intermediary movements layer 17 is by clamping contact layer 18 Side, which is equipped with, matches identical wide cambered surface contact structures 28 with wide globoidal structure 26, to form arcuate movement with wide globoidal structure 26 Pair two, the correspondence chord length of wide cambered surface contact structures 28 are not less than the chord length of wide globoidal structure 26；Articulamentum 16, intermediary movements are installed Layer 17 is interconnected and fixed with clamping contact interlayer 18 by spring screw 29, on intermediary movements layer 17 and clamping contact layer 18 Equipped with connecting screw hole 14, in order to be mounted directly fixation；The arcuate movement pair one, arcuate movement pair two, which are used to clamp, to be performed Adaptive adjustment of the device to workpiece surface；Intermediary movements layer 17 is about that clamping contact layer 18 is grown with the length for installing articulamentum 16 The half of degree, with reference to arcuate movement pair one, arcuate movement pair two so that clamping contact layer 18 forms class lever construction, can Prevent it from producing situation about tilting, and can preferably be adjacent to workpiece surface, also there is certain activity with respect to intermediary movements layer 17 Space, conducts easy to strength of the clamping contact layer 18 for intermediary movements layer 17, also allows for 18 pairs of workpiece surface of clamping contact layer It is adaptive, add holding area, ensure that the clamping process of workpiece is more stable；In addition connect in intermediary movements layer 17 and clamping Contact layer 18 also includes the dismounting hole 9 communicated corresponding with through hole 13, and the aperture for dismounting hole 9 is not less than the most imperial palace of through hole 13 Footpath, easy to clamp executive device overall and the fast quick-detach of grasping drive unit, be connected or replacement；By the knot of clamping executive device Structure is formed same with fixture ring body annulus as it can be seen that due to its easily convertibility using different types of clamping executive device The theoretical annulus of the different-diameter of the heart, to adapt to the piece-holder of different-diameter size；And same type of clamping performs dress In putting, difference may be selected in clamping contact slice width degree；During clamping workpiece, removed according to by clamping workpiece surface bulge position, selection The clamping executive device of a certain position, avoids protrusion.

Grasping drive unit includes the electrically driven mechanism or manual actuation that can set power output and/or delivery stroke size Mechanism；Wherein, electrically driven mechanism includes the one of which in cylinder, hydraulic cylinder or electric cylinder, and Manual drive mechanism includes spiral shell One of which in bar, leading screw, rack structure；The present embodiment chooses cylinder as driving mechanism, in use, enabling to each Grasping drive unit exports equal driving force, and also each the clamping force of clamping executive device is equal, is clamped so as to fulfill equilibrium； As shown in fig. 7, cylinder is equipped with slider module 15, the glide direction of slider module 15 and clamping in the side by clamping executive device Driving device directly drives direction shape in an angle, for by grasping drive unit along the axially driving of chuck body annulus It is decomposed into radial drive and transmits clamping executive device；Fig. 8 is the one of which implementation of slider module 15, as shown in figure 8, Slider module 15 includes the first sliding block 32, and in the middle and lower part of the first sliding block 32, level is equipped with horizontal concrete chute 34, in horizontal concrete chute 34 are equipped with the second sliding block 30, and the second sliding block 30 can be along the horizontal relative movement of horizontal concrete chute 34, and the top of the second sliding block 30 Less than the upper surface of the first sliding block 32；It is in the inclined-plane sliding slot of mechanical self-latching angle angle that second sliding block 30, which is equipped with horizontal direction, 33；It is further fixed on matching the sliding friction block 35 contacted with inclined-plane sliding slot 33 on first sliding block 32；On the output terminal 12 of cylinder 11 It is fixed with and is fixedly connected with block 10, for is fixed on the mounting hole 6 of chuck body；When cylinder acts, it is solid to be fixedly connected with block 10 Fixed motionless, cylinder 11 drives the first sliding block 32 to move, and the first sliding block 32 drives sliding friction block 35 opposite on inclined-plane sliding slot 33 Slide, while also so that the opposite slip on horizontal concrete chute 34 of the second sliding block 32, switchs to so as to fulfill by the output of horizontal direction Horizontal direction and the output in vertical direction both direction；Since the circumference of grip unit is to installation so that each clamping performs dress The clamping contact face put is maintained on the concentric disc of 1 annulus of chuck body or the section of concentric disc；Inclined-plane sliding slot 33 and water Square to angle be set to mechanical self-latching angle, when clamping workpiece, can realize self-locking, it is safe and reliable, also can be Cylinder air pipe lines are removed after self-locking, easy to the integral-rotation of chuck body；The gradient of inclined-plane sliding slot 33 is 1：10, so that effectively Fine clamping control is realized using the stroke of cylinder, correspondingly, the angle of the angle is the corresponding arc-tangent value of gradient； The lower end of two sliding blocks 32 is equipped with driving device connecting screw hole 31 so that screw 22 can match connection, be driven so as to fulfill clamping Device and the connection of clamping executive device.

A kind of large-scale workpiece grasping system, as shown in figure 8, including for carrying and moving large-scale workpiece clamping device Carrying platform 36；Rack guide rail 37 is equipped with carrying platform 36, be additionally provided with carrying platform 36 first support base 38 with Second support base 39, the first support base 38 and the second support base 39 are equipped with support groove；Support groove is pressed from both sides with large-scale workpiece 1 outer rim of the chuck body matching of device 40 is held, for support, fixation, spacing and mobile large-scale workpiece clamping device 40；Such as Fig. 9 And shown in Figure 10, three groups of fixation rolling bearings 45 and six groups of floating rolling supportings 46 are equipped with the rolling support groove；It is described solid Determine rolling bearing 45 to fix with support base by concentric shafts bearing sleeve 47, the 45 pivot position fixation of fixed rolling bearing can not Adjust；The floating rolling supporting 46 is fixed by eccentric shaft bearing sleeve 48 with support base, and floating rolling supports 46 pivot positions Putting can be adjusted by eccentric rotation axis bearing sleeve 48, to adapt to the use of more different size chuck bodies；The fixed rolling branch Hold 45 and floating rolling supporting 46 rolling bearing acting surface offset with chuck body outer rim；In the first support base 38 and second Handwheel 41 and driving section are equipped with support base 39, the output of handwheel 41 is connected with driving section；The output of driving section is and tooth Bar guide rail 37 is matched to lead moving gear 49；Driven by handwheel 41 and lead moving gear 49 so that support base can be easily along rack Guide rail 37 moves, so as to adjust the Support Position of clamping workpiece, and causes workpiece 42 to pass through two large-scale workpiece clamping devices 40 Grip；In addition, the second support base 39 is equipped with rotating driving device；The rotating driving device includes rotary driving machine Structure --- motor 43, and the drive gear 44 with 43 output terminal axis connection of motor；The drive gear 44 and large-scale work Set driving cog matching in the chuck body of part clamping device；After motor 43 starts, drive gear 44 and engagement is driven to pass The chuck body rotation of moving teeth；In the case of clamping workpiece, another chuck body also rotates with the first support base Movement.

Illustrated by the description of above structure and relevant use or principle as it can be seen that this work holder or piece-holder system System realizes the flexible contact to workpiece (being particularly suitable for needing priming system to be protected), multiple spot, floating, adaptive, rigidity Clamping, can quantify workpiece surface chucking power numerical value, workpiece force-bearing situation is good, ensures workpiece while workpiece is by reliable retention Safety is not damaged, safe and reliable；In device clamping workpiece, the clamping executive device contacted with workpiece surface is in identical folder With that can realize that adaptive beat moves under the concrete structure collective effect of clamping executive device, each bite can have holding force Effect contact workpiece surface, the bias and local high spot of adaptive workpiece certain angle；Circumferentially have by clamped workpiece multiple (more than 10) clamping contact point realizes finite element multipoint clamping, and each clamping contact point has identical chucking power, and stress is equal Even, safety coefficient is high；Workpiece is adaptively contacted by clamp body and its clamping device, reaches rigid clamping effect, and then workpiece can The stability of clamping is kept when high-precision rotation, translation, beat are when accurate mass motion；It can divide by Workpiece carrier platform Motion base is spent, it can be achieved that the high-precision rotary after piece-holder moves, and rotating center jerk value is small；Multiple spot Automatic-clamping Workpiece, large-scale workpiece only need to be lifted disposably, and clamping execution action can also realize one-touch automation clamping, simple operation；And The center of workpiece need not be adjusted in clamping workpiece, it is not required that extra workpiece structure of assistant support or system, are improved Clamp efficiency；In addition, according to the feature of workpiece surface protrusion, being contacted with workpiece surface for specific quantity and certain region is selected Executive device is clamped, avoids the protrusion on different workpieces surface, the workpiece scope that can be clamped is wide, and may be selected to replace different clampings The different workpiece of clamping executive device clamping diameter of diameter, clamping device and grasping system it is adaptable.

Finally illustrate, above example is merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng The utility model is described in detail according to preferred embodiment, it will be understood by those of ordinary skill in the art that, can be to this The technical solution technical scheme is modified or replaced equivalently of utility model, without departing from the objective and model of technical solutions of the utility model Enclose, it should all cover among the right of the utility model.

Claims (13)

1. large-scale workpiece clamping device, it is characterised in that：Comprising circular chuck body, installation is equipped with the inner ring of chuck body Groove, to install some groups of dismountable grip units；Chuck body the outer ring side of its annulus or be additionally provided with for and outside The driving cog of gear engaged transmission；The grip unit includes clamping executive device and grasping drive unit, grasping drive unit It is connected with clamping executive device, for driving axially and/or radially movement of the clamping executive device in chuck body annulus；Each folder Executive device is held circumferentially to be distributed along the inner ring of chuck body.

2. large-scale workpiece clamping device as claimed in claim 1, it is characterised in that：Outer arc of the chuck body along its circular ring structure Middle face is equipped with groove, is suitable for the guiding when clamping, lifting, the rotation of spacing or chuck body of external device (ED).

3. large-scale workpiece clamping device as claimed in claim 1, it is characterised in that：In the wherein one side circumference of chuck body Equipped with the mounting hole and guide hole identical with grip unit quantity；The installation that the mounting hole is used for grip unit is fixed；It is described to lead Hole is used for driving electric wiring or the oil circuit connection of grasping drive unit.

4. large-scale workpiece clamping device as claimed in claim 1, it is characterised in that：The grasping drive unit is held by clamping The side that luggage is put is equipped with slider module, and the glide direction of slider module and the direction that directly drives of grasping drive unit form one A angle, for by grasping drive unit along chuck body annulus it is axially driving decompose radial drive and be transferred to clamping hold Luggage is put；The angle is mechanical self-latching angle.

5. large-scale workpiece clamping device as claimed in claim 1, it is characterised in that：Clamp executive device and include order closed assembly Articulamentum, intermediary movements layer and clamping contact layer are installed；The installation articulamentum, clamping contact layer are substantially integrally in end face The list structure of " convex " shape, the intermediary movements layer are in list structure；Intermediary movements layer and the length of installation articulamentum are less than folder Hold the length of contact layer；Installation articulamentum, intermediary movements layer and clamping contact layer are interconnected and fixed by screw；Installation connection The middle part of layer is additionally provided with through hole, is connected for the screw with grasping drive unit.

6. large-scale workpiece clamping device as claimed in claim 5, it is characterised in that：Install articulamentum leans on intermediary movements layer one Side is equipped with the long globoidal structure that extends along its length, width of the corresponding chord length of long globoidal structure no more than installation articulamentum Degree；Clamping contact layer is equipped with support boss by the middle part of intermediary movements layer side, and the length of support boss is not more than clamping contact The 2/3 of layer length；The wide globoidal structure extended along its width, the corresponding string of wide globoidal structure are equipped with support boss surface Fail to grow up in the length of support boss；Length and support boss of the length range of the intermediary movements layer in clamping contact layer Between length；Intermediary movements layer contacts knot by installing the side of articulamentum equipped with the long cambered surface coincideing with long cambered surface structure matching Structure, with long cambered surface structure composition arcuate movement pair one；Intermediary movements layer is equipped with and wide cambered surface knot by the side of clamping contact layer The identical wide cambered surface contact structures of structure matching, to form arcuate movement pair two, pair of wide cambered surface contact structures with wide globoidal structure Chord length is answered to be not less than the chord length of wide globoidal structure；Installation articulamentum, intermediary movements layer and clamping contact interlayer pass through spring screw It is interconnected and fixed；The arcuate movement pair one, arcuate movement pair two are used to clamp executive device to the adaptive of workpiece surface It should adjust.

7. large-scale workpiece clamping device as claimed in claim 5, it is characterised in that：The outer surface of clamping contact layer be also bonded or It is fixed with to protect the contact protection layer of workpiece surface；The material hardness of the contact protection layer is less than the material of clamping contact layer Expect hardness.

8. large-scale workpiece clamping device as claimed in claim 5, it is characterised in that：In intermediary movements layer and clamping contact layer also Include the dismounting hole communicated corresponding with the through hole, and the aperture for dismounting hole is not less than the maximum inner diameter of through hole, easy to clamp Executive device it is overall with the fast quick-detach of grasping drive unit, be connected or replacement.

9. large-scale workpiece clamping device as claimed in claim 1, it is characterised in that：The grasping drive unit is included and can set The electrically driven mechanism or Manual drive mechanism of power output and/or delivery stroke size；Wherein, electrically driven mechanism includes gas One of which in cylinder, hydraulic cylinder or electric cylinder；Manual drive mechanism includes the one of which in screw rod, leading screw, rack structure.

A kind of 10. large-scale workpiece grasping system, it is characterised in that：Comprising at least two as described in any one of claim 1 to 9 it is big Type work holder, also comprising carrying platform, support base is arranged in parallel with carrying platform；The support base be equipped with The outer rim of chuck body is matched to roll support groove.

A kind of 11. large-scale workpiece grasping system as claimed in claim 10, it is characterised in that：Guide rail is equipped with carrying platform Rack, correspondingly, being equipped with handwheel and driving section in support base；The output of handwheel is connected with driving section, the output of driving section For with rack is matched leads moving gear, to drive driving section to move support base along guide rail rack by handwheel.

A kind of 12. large-scale workpiece grasping system as claimed in claim 10, it is characterised in that：It is equipped with the rolling support groove At least two groups of fixation rolling bearings and at least one set of floating rolling support；The fixed rolling bearing passes through concentric shafts bearing sleeve and branch Support base is fixed, and fixed rolling bearing pivot position is fixed non-adjustable；The floating rolling supporting passes through eccentric shaft bearing sleeve Fixed with support base, floating rolling supporting pivot position can be adjusted by eccentric rotation axis bearing sleeve；The fixed rolling The rolling bearing acting surface of supporting and floating rolling supporting offsets with chuck body outer rim.

13. large-scale workpiece grasping system as claimed in claim 10, it is characterised in that：At least one support base is equipped with rotation Driving device；The rotating driving device includes rotary drive mechanism, and the drive with rotary drive mechanism output terminal axis connection Moving gear；The drive gear is matched with set driving cog in chuck body.