CN208601538U - Adjustable equipment clamping device - Google Patents

Abstract

The utility model discloses a kind of adjustable equipment clamping devices, including rack, manipulator and the longitudinal sliding motion structure for driving manipulator oscilaltion；Manipulator includes commutating structure, locking mechanism and clamping limb；The arm of clamping limb includes the left and right arm that can clamp equipment to be held, one of both is equipped with the first clamping device, and another there is the second clamping device, equipment to be held can be fixed by first and second clamping device, commutating structure includes two linking arms, three horizontal commutation joints, one group of connecting plate and a vertical commutation joint.The utility model is able to drive manipulator upper and lower translation by longitudinal sliding motion structure, pass through three horizontal commutation joints and a vertical commutation joint, clamping limb be can be realized in the rotation of horizontal plane and the certain angle of vertical plane, and being matched for clamping tightly by the first clamping device and the second clamping device, clamping force is big, and the angle etc. that can need to put according to test equipment carries out appropriate adjustment.

Description

Adjustable equipment clamping device

Technical field

The utility model belongs to chucking device technical field, in particular to a kind of clamping device for capableing of chucking device.

Background technique

Chip, also known as microcircuit (microcircuit), microchip (microchip), integrated circuit (English: integrated circuit,IC).Refer to the silicon wafer for including integrated circuit, volume very little, often computer or other electronics A part of equipment.And wafer is the component of the most core of chip, in the production process of chip or wafer, to be carried out to it Functionality detection, such as chip pin etc., this kind of test equipment is heavier, reaches more than 100 kg, in order to realize detection process it is complete from Dynamicization is often sent chip to be detected, wiring board etc. to test equipment using special feeding system, and in detection process, Chip to be detected, wiring board are located at the lower section of test equipment, this just needs test equipment inversion to come, work downwards, this With regard to needing special clamping device by test equipment fixed clamp, and due to test equipment in the detection process of chip or wiring board Stablize, levelness height, cannot shake, therefore has higher requirement to clamping device

The chucking power of the manipulator of the equipment of clamping class in the prior art is smaller, and front end is typically provided to pincer, only To be clamped by frictional force between pliers and object to be held, be not suitable for being used to clamp it is heavier (such as 100kg, in addition with On) test equipment, such as a kind of Chinese patent " clamp-type manipulator of robot " (application publication number: CN 107877495 A clamp-type robot manipulator structure disclosed in) is complicated, and is not suitable for the test equipment that crawl is heavier and opposite sides face is parallel, but Structure is complicated, and manufacturing cost is high.

Utility model content

The utility model passes through longitudinal sliding motion mainly solving the technical problems that provide a kind of adjustable equipment clamping device Structure is able to drive manipulator upper and lower translation, additionally by three horizontal commutation joints and a vertical commutation joint, structure essence Letter is not necessarily to power drive, and clamping limb can be realized in the rotation of horizontal plane and the certain angle of vertical plane, rotation process spirit It is living, and being matched for clamping tightly by the first clamping device and the second clamping device, clamping force is big, can be realized to 100-200kg's Test equipment is fixedly clamped, and the angle etc. that can need to put according to test equipment carries out appropriate adjustment.

In order to solve the above technical problems, the technical solution that the utility model uses is: providing a kind of adjustable equipment Clamping device including rack, is installed on the manipulator of rack and drives the longitudinal sliding motion structure of the manipulator oscilaltion；

The manipulator includes commutating structure, locking mechanism and clamping limb, one end of the locking mechanism and the commutation Structure connection, and the other end is connect with the clamping limb；The arm of the clamping limb includes the left side that can clamp equipment to be held Arm and right arm are parallel to each other between the left arm and the right arm, define the clamping limb opening be before, and Be with the side close to equipment it is interior, the front end one of both of the front end of the left arm and the right arm is equipped with the first clamping machine Structure, and it is another there is the second clamping device, by first clamping device and second clamping device can will it is described to Chucking device is fixed；

The commutating structure includes two linking arms, three horizontal commutation joints, one group of connecting plate and a vertical commutation Joint, two linking arms are respectively the first linking arm and the second linking arm, and three horizontal commutation joints are respectively the One horizontal commutation joint, the second horizontal commutation joint and third level commutation joint, first level commutation joint pass through institute The rear end of the first linking arm is stated, and the rear end of first linking arm can be fulcrum in water using first level commutation joint Rotation in surface, after the described second horizontal commutation joint passes through front end and second linking arm of first linking arm End, and the front end of first linking arm and the rear end of the second linking arm can exist using the described second horizontal commutation joint as fulcrum Horizontal rotation in surface, third level commutation joint pass through the front end of second linking arm and the rear end of the connecting plate, And the front end of second linking arm and the rear end of the connecting plate can be fulcrum in water using third level commutation joint Rotation in surface；The front end of the connecting plate is connect with the clamping limb, and the clamping limb can be with the vertical commutation joint It is fulcrum in vertical rotation in surface；

The locking mechanism includes third set lever, upper locking post and lower locking post, and the vertical commutation joint includes Shaft, bearing block and first bearing, the first bearing seat are respectively positioned on axis in the shaft, the shaft and the first bearing Hold in seat, the shaft is horizontally disposed, the third set lever sequentially pass through a connecting plate, bearing block side, on Locking post, lower locking post, the other side of bearing block and another connecting plate, the upper locking post and the lower locking post point Not from embracing the shaft up and down and fixed the shaft by the third set lever.

In order to solve the above technical problems, the further technical solution that the utility model uses is: first clamping device Including the first grip block, first grip block is able to drive in the rotational structure of vertical rotation in surface and is able to drive described The first swinging structure that one grip block is swung in vertical plane, the rotational structure include rotor plate, auxiliary fixing plate and first Set lever, the rotor plate are located at the outside of first grip block, and the auxiliary fixing plate is located at the outer of the rotor plate The rotor plate and first grip block are fixed by first set lever and the auxiliary fixing plate in side；

Second clamping device includes the second grip block, bolster, is able to drive second grip block in vertical plane Second swinging structure of interior swing and be able to drive that the second grip block translates along the longitudinal direction slide laterally structure, the buffering Part is installed on the inside of the arm；

The width of the distance between first clamping device and second clamping device and the equipment to be held or Length is consistent, and the two sides of the equipment to be held pass through the first grip block and described of first clamping device respectively Second grip block of two clamping devices grips.

It further says, the longitudinal sliding motion structure includes longitudinal sliding block, longitudinal slide rail, third set lever and installation Plate, the commutating structure are installed on the mounting plate, and the longitudinal sliding block is fixed on the mounting plate, and the longitudinal slide rail is parallel In the short transverse of rack, by longitudinal sliding block, sliding rail sliding realizes the lifting of the manipulator and passes through the third along longitudinal direction The fixation of set lever realization manipulator.

Further say, the longitudinal sliding motion structure further includes clump weight, traction belts and guide wheel, the traction belts around It crosses the guide wheel and the mounting plate is fixed in one end, while the other end is fixed on the clump weight.

Further say, the contact surface of the upper locking post and the shaft is cambered surface, the lower locking post with described turn The contact surface of axis is also cambered surface.

It further says, each horizontal commutation joint all includes pin shaft, latch segment, second bearing and spring catch, institute Second bearing is stated in the pin shaft, the latch segment is placed on the pin shaft and realizes by the spring pin locked latch segment and corresponds to Level change arthrotropic locking.

It further says, the rotor plate has round guide groove, and the rotor plate can be with the first locking hand Handle is that fulcrum is rotated along the round guide groove.

Further say, first swinging structure and second swinging structure include two groups of vertical shaft assemblies and One group of horizontal shaft assembly positioned there between, every group of vertical shaft assembly include a vertical axes, at least a bearing and vertical axes Bearing sleeve, the vertical axes and the bearing are respectively positioned in the vertical bearing holder (housing, cover), and the horizontal shaft assembly includes a trunnion axis, extremely A few bearing and trunnion axis bearing sleeve, the trunnion axis and the bearing are respectively positioned in the trunnion axis bearing sleeve.

It further says, first clamping device further includes the first stiffening plate, and first stiffening plate is located at described the Between one grip block and the auxiliary fixing plate, in first swinging structure, the trunnion axis passes through the auxiliary fixing plate With first stiffening plate and and its end formed bellend, and by bellend be installed on the first stiffening plate groove will turn Axis is fixed on first stiffening plate.

It further says, the two vertical bearing holder (housing, cover)s are integral type connection composition bearing holder (housing, cover) in second swinging structure Seat, the trunnion axis bearing sleeve are located at the middle position of the bearing block set, and the bearing block set is installed on second grip block；

The structure that slides laterally includes the transverse slider for being installed on bearing block set, the transverse direction cunning for the inside for being installed on arm Rail, the sliding slot for being opened in the arm and the second set lever, the transverse slider can be slided along the horizontal slide rail, and The sliding slot and bearing block set are passed through by second set lever, and second clamping device is fixed on the arm.

The beneficial effects of the utility model are:

One, the utility model includes rack, manipulator and the longitudinal sliding motion structure for driving manipulator oscilaltion；It is mechanical Hand includes commutating structure, locking mechanism and clamping limb；The arm of clamping limb includes the left hand and right hand that can clamp equipment to be held Arm, one of both be equipped with the first clamping device, and it is another there is the second clamping device, pass through first and second clamping device Equipment to be held can be fixed, commutating structure includes two linking arms, three horizontal commutation joints, one group of connecting plate and one Vertical commutation joint, is able to drive manipulator upper and lower translation by longitudinal sliding motion structure, additionally by three horizontal joints of commutating With a vertical commutation joint, structure is simplified, and power drive is not necessarily to, and clamping limb can be realized the one of horizontal plane and vertical plane Determine the rotation of angle, first is that rotation process is flexible, two are easy for when clamping plus measurement equipment and the present apparatus are maintenance, maintain, Save space；And being matched for clamping tightly by the first clamping device and the second clamping device, clamping force is big, can be realized to 100- The test equipment of 200kg is fixedly clamped, and the angle etc. that can need to put according to test equipment carries out appropriate adjustment

Two, the manipulator of the utility model includes commutating structure, locking mechanism and clamping limb, and wherein commutating structure includes two A linking arm, three horizontal commutation joints, one group of connecting plate and a vertical commutation joint, are changed arthrotropic by three levels Adjusting can be realized clamping limb and be rotated in a certain range at any angle in the horizontal plane, then cooperate vertical commutation joint can be real Any rotation of existing clamping limb certain angles in vertical plane, structure are simplified, and are not necessarily to power drive, be can be realized clamping limb in water The rotation of the certain angle of plane and vertical plane, rotation process is flexible, and clamping limb is precisely fixed in vertical plane and horizontal plane Position；

Three, the contact surface of the upper locking post in the utility model manipulator and shaft is cambered surface, lower locking post and shaft Contact surface is also cambered surface, is matched using two cambered surfaces with shaft and is locked again by third set lever, this design, which can increase, to be connect Contacting surface, and then increase coupling mechanism force, avoid clamping limb shaft when clamping heavier work pieces or equipment from loosening, and the therefore wind of appearance Danger；More preferably, also fixed plate and clamping limb are fixed by lock handle, further increases the lock between shaft and clamping limb Clamp force；

Four, it all includes the depth for positioning in horizontal plane that the horizontal bearing for changing arthrotropic pin shaft is placed in the utility model Ditch ball bearing and plane bearing for positioning in vertical plane guarantee horizontal commutation joint by being used cooperatively for two kinds of bearings And arthrotropic radial water Pingdu and axially vertical degree are changed vertically, also improve the smoothness in rotation process；

Five, first clamping device of the utility model includes the first grip block, is able to drive the first grip block in vertical plane The rotational structure of interior rotation and it is able to drive the first swinging structure that the first grip block is swung in vertical plane, rotational structure includes Rotor plate, auxiliary fixing plate and the first set lever, by loosening the first set lever, and turn rotor plate can then drive first For grip block in vertical rotation in surface, the angle of rotation is related with the round angle of guide groove, while in the perpendicular of the first swinging structure Under the action of d-axis component and horizontal shaft assembly, the first grip block can carry out the swing of certain angle in vertical plane；

Similarly, the second clamping device includes the second grip block, bolster, is able to drive the second grip block and puts in vertical plane Dynamic the second swinging structure and be able to drive that the second grip block translates along the longitudinal direction slide laterally structure, by sliding laterally The transverse slider horizontal slide rail of structure, the second grip block can guarantee the second grip block along the arm sliding translation of clamping limb Threaded hole can be opposite with the position of equipment upper installing hole to be held, and can be consolidated the second clamping device by the second set lever Due to arm, while under the action of the vertical shaft assembly of the second swinging structure and horizontal shaft assembly, the second grip block can be The swing of certain angle is carried out in vertical plane；

By being used cooperatively for the first clamping device and the second clamping device, the fixing clamp for treating chucking device can be realized Tightly, and adjusting appropriate can be carried out according to angle, the position etc. that equipment needs are put, structure is simplified, but is capable of chucking device Weight is larger, and clamping force is strong, can guarantee that band chucking device is fixed, works convenient for band chucking device；

Six, the bolster of the utility model is installed on the inside of arm, and the second swing mechanism is avoided to drive the second grip block During the swing, the second grip block is protected for limiting the oscillating stroke of the second grip block in the inside for bumping against arm.

The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail It describes in detail bright as after.

Detailed description of the invention

Fig. 1 is the overall structure diagram (not installing traction belts) of the utility model；

Fig. 2 is one of structural schematic diagram of manipulator of the utility model；

Fig. 3 is the second structural representation (clamping equipment to be held) of the manipulator of the utility model；

Fig. 4 .1 is the portion the A enlarged drawing of Fig. 1 of the utility model；

Fig. 4 .2 is the exploded view at the utility model third set lever；

Fig. 5 is the structural schematic diagram of the rack section of the utility model (from below)；

Fig. 6 is the overall structure diagram of the commutating structure of the utility model；

Fig. 7 is the decomposition texture schematic diagram of the commutating structure of the utility model；

Fig. 8 is one of the decomposition texture schematic diagram at the locking mechanism of the utility model；

Fig. 9 is two of the decomposition texture schematic diagram at the locking mechanism of the utility model；

Figure 10 is three of the decomposition texture schematic diagram at the locking mechanism of the utility model；

Figure 11 is the overall structure diagram of first clamping device of the utility model；

Figure 12 is one of the decomposition texture schematic diagram of first clamping device of the utility model；

Figure 13 is the two of the decomposition texture schematic diagram of first clamping device of the utility model；

Figure 14 is the three of the decomposition texture schematic diagram of first clamping device of the utility model；

Figure 15 is the overall structure diagram of second clamping device of the utility model；

Figure 16 is one of the decomposition texture schematic diagram of second clamping device of the utility model；

Figure 17 is the two of the decomposition texture schematic diagram of second clamping device of the utility model；

Each section label is as follows in attached drawing:

Including rack 70, longitudinal sliding motion structure 80, longitudinal sliding block 801, longitudinal slide rail 802, third set lever 201, peace Loading board 804, locking bed 805, latch segment 806, clump weight 807, traction belts 808, guide wheel 809, portability castor 701；

Commutating structure 10, connecting plate 101, vertical commutation joint 102, shaft 1021, bearing block 1022, fixed plate 1023, First mounting hole 10231, first bearing 1024, the first linking arm 103, the second linking arm 104, first level commutation joint 105, The horizontal commutation joint of pin shaft 1051, latch segment 1052, spring catch 1053, deep groove ball bearing 1054, plane bearing 1055, second 106, the commutation of third level joint 107, locking mechanism 20, third set lever 201, upper locking post 202, lower locking post 203, arc Face 2021, clamping limb 30, the second mounting hole 301, left arm 302, right arm 303 and lock handle 304；

Clamping limb 30, equipment to be held 40, left arm 302, sliding slot 3021, right arm 303, the first clamping device 50, One grip block 501, rotational structure 502, the first swinging structure 503, rotor plate 504, round guide groove 5041, auxiliary fixing plate 505, the first set lever 506, vertical shaft assembly 507, vertical axes 5071, plane bearing 5072, deep groove ball bearing 5073, vertical Bearing holder (housing, cover) 5074, horizontal shaft assembly 508, trunnion axis 5081, deep groove ball bearing 5082, trunnion axis bearing sleeve 5083, the first stiffening plate 509, groove 5091, threaded hole 5011, the second clamping device 60, the second grip block 601, bolster 602, the second swinging structure 603, structure 604, bearing block set 605, transverse slider 606, horizontal slide rail 607, the second set lever 608 and second are slid laterally Stiffening plate 609.

Specific embodiment

Illustrate specific embodiment of the present utility model below by way of particular specific embodiment, those skilled in the art can The advantages of the utility model is understood by content disclosed in the present specification easily and effect.The utility model can also it is other not Same mode is practiced, that is, under the scope of revealed without departing substantially from the utility model, can give different modification and change.

Embodiment: a kind of adjustable equipment clamping device, as shown in Figure 1, including rack 70, the manipulator for being installed on rack And drive the longitudinal sliding motion structure 80 of the manipulator oscilaltion；

As shown in Fig. 1 to Figure 10, the manipulator includes commutating structure 10, locking mechanism 20 and clamping limb 30, the lock One end of locking structure is connect with the commutating structure, and the other end is connect with the clamping limb；The arm of the clamping limb includes The left arm 302 and right arm 303 that equipment 40 to be held can be clamped, it is mutually flat between the left arm and the right arm Row, define the clamping limb opening be before, and to be interior, the front end of the left arm and the right side close to the side of equipment The front end one of both of arm be equipped with the first clamping device 50, and it is another there is the second clamping device 60, pressed from both sides by described first The equipment to be held can be fixed by holding mechanism and second clamping device；

The commutating structure changes vertically including two linking arms, three horizontal commutation joints, one group of connecting plate 101 and one To joint 102, two linking arms are respectively the first linking arm 103 and the second linking arm 104, three horizontal commutations Joint is respectively the horizontal commutation joint 106 in first level commutation joint 105, second and third level commutation joint 107, and described the One horizontal commutation joint passes through the rear end of first linking arm, and the rear end of first linking arm can be with first water Flat commutation joint is that fulcrum rotates in the horizontal plane, the described second horizontal commutation joint pass through first linking arm front end and The rear end of second linking arm, and the front end of first linking arm and the rear end of the second linking arm can be with second water Flat commutation joint is that fulcrum rotates in the horizontal plane, third level commutation joint pass through second linking arm front end and The rear end of the connecting plate, and the front end of second linking arm and the rear end of the connecting plate can be changed with the third level It is that fulcrum rotates in the horizontal plane to joint；The front end of the connecting plate is connect with the clamping limb, and the clamping limb can be with The vertical commutation joint is fulcrum in vertical rotation in surface；

As shown in figure 9, the locking mechanism includes third set lever 201, upper locking post 202 and lower locking post 203, institute Stating vertical commutation joint includes shaft 1021, bearing block 1022 and first bearing 1024, the first bearing seat in the shaft, The shaft and the first bearing are respectively positioned in bearing block, and the shaft is horizontally disposed, and the third set lever is successively worn Cross a connecting plate, the side of bearing block, upper locking post, lower locking post, the other side of bearing block and another connection Plate, the upper locking post and the lower locking post respectively from embracing the shaft and by the third set lever by institute up and down Shaft is stated to fix.

As shown in Fig. 4 .1 to Fig. 4 .2, the longitudinal sliding motion structure 80 includes longitudinal sliding block 801, longitudinal slide rail 802, third Set lever 201 and mounting plate 804, the commutating structure are installed on the mounting plate, the longitudinal direction are fixed on the mounting plate Sliding block, the longitudinal slide rail are parallel to the short transverse of rack, and by longitudinal sliding block, the machinery is realized in sliding rail sliding along longitudinal direction The lifting of hand and the fixation that manipulator is realized by the third set lever.

As shown in figure 5, the longitudinal sliding motion structure further includes locking bed 805 and two latch segments 806, the locking bed is fixed In the mounting plate and the longitudinal slide rail is blocked, two latch segments are all located in the locking bed and are located at described vertical To the left and right sides of sliding rail, passes through two latch segments by the third set lever and lock and realize that manipulator is fixed on machine Frame.

In the present embodiment, the latch segment is copper billet, since copper material is relatively soft, has elasticity, when can be improved locking Coupling mechanism force.

The longitudinal sliding motion structure further includes clump weight 807, traction belts (traction belts are not installed completely in attached drawing) 808 With guide wheel 809, the traction belts are around the guide wheel and the mounting plate is fixed in one end, at the same the other end be fixed on it is described Clump weight.The traction belts are pierce tap.The bottom of the rack is able to drive the clamping device movement there are four setting Portability castor 701.

As shown in Fig. 6 to Figure 10, the contact surface of the upper locking post and the shaft is cambered surface 2021, the lower locking post Contact surface with the shaft is also cambered surface 2021.This design can increase contact surface, increase coupling mechanism force.

The upper locking post and the lower locking post are copper post.Since copper material is relatively soft, there is elasticity, can be improved Coupling mechanism force when locking.

Each horizontal commutation joint all includes pin shaft 1051, latch segment 1052, second bearing and spring catch 1053, institute Second bearing is stated in the pin shaft, the latch segment is placed on the pin shaft and by the corresponding horizontal commutation of the spring pin locked Joint.

The second bearing includes deep groove ball bearing 1054 and plane bearing 1055, the deep groove ball bearing and the plane Bearing is set in the pin shaft.

The manipulator further includes lock handle 304, and the front end of the shaft is fixed plate 1023, passes through the locking handle Hand fixes the fixed plate and the clamping limb.

By circumference to multiple first mounting holes 10231 that are intervally arranged in the fixed plate, the rear end of the clamping limb is also pressed Circumference is worn to multiple the second mounting holes 301 corresponding with first position of mounting hole that are intervally arranged by the lock handle It crosses the first mounting hole and corresponding second mounting hole fixes the fixed plate and clamping limb.

The clamping limb can determine in the rotation angle in vertical plane by the quantity and arrangement mode of mounting hole, such as There are six one mounting hole and the second mounting hole are all provided with, and when uniform intervals arrangement, clamping limb just more realizes six in vertical plane The rotation of angle.

As shown in Figure 11 to Figure 17, first clamping device includes the first grip block 501, is able to drive first folder Plate is held in the rotational structure 502 of vertical rotation in surface and is able to drive the first pendulum that first grip block swings in vertical plane Dynamic structure 503, the rotational structure includes rotor plate 504, auxiliary fixing plate 505 and the first set lever 506, the rotor plate Positioned at the outside of first grip block, the auxiliary fixing plate is located at the outside of the rotor plate, locks by described first Handle and the auxiliary fixing plate fix the rotor plate and first grip block；

Second clamping device includes the second grip block 601, bolster 602, is able to drive second grip block and exists The second swinging structure 603 for swinging in vertical plane and be able to drive that the second grip block translates along the longitudinal direction slide laterally structure 604, the bolster is installed on the inside of the arm；

The width of the distance between first clamping device and second clamping device and the equipment to be held or Length is consistent, and the two sides of the equipment to be held pass through the first grip block and described of first clamping device respectively Second grip block of two clamping devices grips.

The rotor plate has round guide groove 5041, and the rotor plate can be using first set lever as fulcrum It is rotated along the round guide groove.

First swinging structure and second swinging structure include two groups of vertical shaft assemblies 507 and be located at both Between one group of horizontal shaft assembly 508, every group of vertical shaft assembly includes a vertical axes 5071, at least a bearing and vertical bearing Set 5074, the vertical axes and the bearing are respectively positioned in the vertical bearing holder (housing, cover), and the horizontal shaft assembly includes a trunnion axis 5081, at least a bearing 5082 and trunnion axis bearing sleeve 5083, the trunnion axis and the bearing are respectively positioned on the trunnion axis bearing sleeve It is interior.

First clamping device further includes the first stiffening plate 509, and first stiffening plate is located at first grip block Between the auxiliary fixing plate, in first swinging structure, the trunnion axis passes through the auxiliary fixing plate and described the One stiffening plate and and its end form bellend, and shaft is consolidated by the groove 5091 that bellend is installed on the first stiffening plate Due to first stiffening plate.

Multiple threaded holes 5011 are distributed on first grip block and second grip block, it will by the threaded hole The equipment to be held is fixed on first grip block and the second grip block.

The two vertical bearing holder (housing, cover)s are integral type connection composition bearing block set 605, the water in second swinging structure Plane bearing set is located at the middle position of the bearing block set, and the bearing block set is installed on second grip block.

The structure that slides laterally includes the cross for being installed on the transverse slider 606 of bearing block set, being installed on the inside of arm To sliding rail 607, it is opened in the sliding slot 3021 of the arm and the second set lever 608, the transverse slider can be along described Horizontal slide rail sliding, and the sliding slot and bearing block set are passed through by second set lever and consolidate second clamping device Due to the arm.

The two vertical bearing holder (housing, cover)s and a trunnion axis bearing sleeve are split type connection or one in first swinging structure The connection of body formula；In second swinging structure two vertical bearing holder (housing, cover)s and a trunnion axis bearing sleeve be also it is split type connection or Integral type connection.

There are two the bolster is set, and it is located at the left and right side of second clamping device.

Second clamping device further includes the second stiffening plate 609, and the bearing block set is installed on second stiffening plate.

It can be clamped between left and right arm for surveying the equipment or instrument for setting and needing to keep a certain fixed position, but not It is limited to this.For example, the equipment to be held is the functional test equipment for testing chip pin performance, such as CHRMOA type Number test equipment.

The weight for the equipment to be held that first clamping device and the second clamping device can be clamped is up to 100- 200kg。

The working principle and the course of work of the utility model are as follows:

The equipment clamped will be needed to be placed between the arm of clamping limb, pass through the spiral shell of the first grip block and the second grip block Matched mounting hole fixes chucking device on pit and equipment, in specific operating process:

Changing arthrotropic adjusting by three levels can be realized clamping limb any angle in a certain range in the horizontal plane Rotation, then any rotation for cooperating vertical commutation joint to can be realized clamping limb certain angles in vertical plane, structure simplify, Without power drive, clamping limb can be realized in the rotation of horizontal plane and the certain angle of vertical plane, rotation process is flexible, and presss from both sides Gripping arm equal precise positioning in vertical plane and horizontal plane；

Wherein, by loosening the first set lever in the first clamping device, and turn rotor plate can then drive the first clamping For plate in vertical rotation in surface, the angle of rotation is related with the round angle of guide groove, while in the vertical axes of the first swinging structure Under the action of component and horizontal shaft assembly, the first grip block can carry out the swing of certain angle in vertical plane；

Similarly, the second clamping device includes the second grip block, bolster, is able to drive the second grip block and puts in vertical plane Dynamic the second swinging structure and be able to drive that the second grip block translates along the longitudinal direction slide laterally structure, by sliding laterally The transverse slider horizontal slide rail of structure, the second grip block can guarantee the second grip block along the arm sliding translation of clamping limb Threaded hole can be opposite with the position of equipment upper installing hole to be held, and can be consolidated the second clamping device by the second set lever Due to arm, while under the action of the vertical shaft assembly of the second swinging structure and horizontal shaft assembly, the second grip block can be The swing of certain angle is carried out in vertical plane；

By being used cooperatively for the first clamping device and the second clamping device, the fixing clamp for treating chucking device can be realized Tightly, and adjusting appropriate can be carried out according to angle, the position etc. that equipment needs are put, structure is simplified, but is capable of chucking device Weight is larger, and clamping force is strong, can guarantee that band chucking device is fixed, works convenient for band chucking device；

It can also be by longitudinal sliding motion structure and to the height requirement of test equipment, so that manipulator upper and lower translation.

The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all Equivalent structure made based on the specification and figures of the utility model is applied directly or indirectly in other relevant technologies Field is also included in the patent protection scope of the utility model.

Claims (10)

1. a kind of adjustable equipment clamping device, it is characterised in that: including rack (70), be installed on the manipulator and band of rack Move the longitudinal sliding motion structure (80) of the manipulator oscilaltion；

The manipulator includes commutating structure (10), locking mechanism (20) and clamping limb (30), one end of the locking mechanism with The commutating structure connection, and the other end is connect with the clamping limb；The arm of the clamping limb is to be held including that can clamp The left arm (302) and right arm (303) of equipment (40), are parallel to each other between the left arm and the right arm, define institute State clamping limb opening be before, and with close to equipment side be it is interior, before the front end of the left arm and the right arm Hold one of both be equipped with the first clamping device (50), and it is another there are the second clamping device (60), pass through first clamping machine Structure and second clamping device can fix the equipment to be held；

The commutating structure includes two linking arms, three horizontal commutation joints, one group of connecting plate (101) and a vertical commutation Joint (102), two linking arms are respectively the first linking arm (103) and the second linking arm (104), and three levels are changed It is respectively first level commutation joint (105), the second horizontal commutation joint (106) and third level commutation joint to joint (107), first level commutation joint passes through the rear end of first linking arm, and the rear end of first linking arm can It is rotated in the horizontal plane using first level commutation joint as fulcrum, the described second horizontal commutation joint passes through described first and connects The front end of arm and the rear end of second linking arm are connect, and the front end of first linking arm and the rear end of the second linking arm can It is rotated in the horizontal plane using the described second horizontal commutation joint as fulcrum, third level commutation joint passes through described second and connects The front end of arm and the rear end of the connecting plate are connect, and the front end of second linking arm and the rear end of the connecting plate can be with institutes Stating third level commutation joint is that fulcrum rotates in the horizontal plane；The front end of the connecting plate is connect with the clamping limb, described Clamping limb can be fulcrum in vertical rotation in surface using the vertical commutation joint；

The locking mechanism includes third set lever (201), upper locking post (202) and lower locking post (203), described to change vertically It include shaft (1021), bearing block (1022) and first bearing (1024) to joint, the first bearing seat is in the shaft, institute It states shaft and the first bearing is respectively positioned in bearing block, the shaft is horizontally disposed, and the third set lever sequentially passes through One connecting plate, the side of bearing block, upper locking post, lower locking post, the other side of bearing block and another connecting plate, The upper locking post and the lower locking post respectively from embracing the shaft and will be described by the third set lever up and down Shaft is fixed.

2. adjustable equipment clamping device according to claim 1, it is characterised in that: first clamping device includes the One grip block (501) is able to drive first grip block in the rotational structure (502) of vertical rotation in surface and is able to drive institute State the first swinging structure (503) that the first grip block is swung in vertical plane, the rotational structure includes rotor plate (504), auxiliary Fixed plate (505) and the first set lever (506) are helped, the rotor plate is located at the outside of first grip block, the auxiliary Fixed plate is located at the outside of the rotor plate, by first set lever and the auxiliary fixing plate by the rotor plate with First grip block is fixed；

Second clamping device includes the second grip block (601), bolster (602), is able to drive second grip block and exists The second swinging structure (603) for swinging in vertical plane and be able to drive that the second grip block translates along the longitudinal direction slide laterally knot Structure (604), the bolster are installed on the inside of the arm；

The width or length of the distance between first clamping device and second clamping device and the equipment to be held Consistent, the two sides of the equipment to be held pass through the first grip block and second folder of first clamping device respectively The second grip block for holding mechanism grips.

3. adjustable equipment clamping device according to claim 1, it is characterised in that: longitudinal sliding motion structure (80) packet Include longitudinal sliding block (801), longitudinal slide rail (802), third set lever (201) and mounting plate (804), the commutating structure installation In fixing the longitudinal sliding block on the mounting plate, the mounting plate, the longitudinal slide rail is parallel to the short transverse of rack, leads to Crossing longitudinal sliding block, sliding rail sliding realizes the lifting of the manipulator and realizes manipulator by the third set lever along longitudinal direction Fixation.

4. adjustable equipment clamping device according to claim 3, it is characterised in that: the longitudinal sliding motion structure further includes Clump weight (807), traction belts (808) and guide wheel (809), the traction belts around the guide wheel and one end be fixed on it is described Mounting plate, while the other end is fixed on the clump weight.

5. adjustable equipment clamping device according to claim 1, it is characterised in that: the upper locking post and the shaft Contact surface be cambered surface (2021), the contact surface of the lower locking post and the shaft is also cambered surface (2021).

6. adjustable equipment clamping device according to claim 1, it is characterised in that: each horizontal commutation joint is all Including pin shaft (1051), latch segment (1052), second bearing and spring catch (1053), the second bearing is in the pin shaft, institute Latch segment is stated to be placed on the pin shaft and realize that corresponding level changes arthrotropic locking by the spring pin locked latch segment.

7. adjustable equipment clamping device according to claim 2, it is characterised in that: the rotor plate has round guiding Slot (5041), the rotor plate can be rotated using first set lever as fulcrum along the round guide groove.

8. adjustable equipment clamping device according to claim 2, it is characterised in that: first swinging structure and described Second swinging structure includes two groups of vertical shaft assemblies (507) and positioned there between one group horizontal shaft assembly (508), often The vertical shaft assembly of group includes a vertical axes (5071), at least a bearing and vertical bearing holder (housing, cover) (5074), the vertical axes and institute It states bearing to be respectively positioned in the vertical bearing holder (housing, cover), the horizontal shaft assembly includes a trunnion axis (5081), at least a bearing (5082) it is respectively positioned in the trunnion axis bearing sleeve with trunnion axis bearing sleeve (5083), the trunnion axis and the bearing.

9. adjustable equipment clamping device according to claim 2, it is characterised in that: first clamping device further includes First stiffening plate (509), first stiffening plate is between first grip block and the auxiliary fixing plate, and described first In swinging structure, the trunnion axis pass through the auxiliary fixing plate and first stiffening plate and and its end formed and expanded End, and shaft is fixed on by first stiffening plate by the groove (5091) that bellend is installed on the first stiffening plate.

10. adjustable equipment clamping device according to claim 2, it is characterised in that: two in second swinging structure The vertical bearing holder (housing, cover) is integral type connection composition bearing block set (605), and the trunnion axis bearing sleeve is located at the bearing block set Middle position, the bearing block set are installed on second grip block；

The structure that slides laterally includes the transverse direction for being installed on the transverse slider (606) of bearing block set, being installed on the inside of arm Sliding rail (607), the sliding slot (3021) for being opened in the arm and the second set lever (608), the transverse slider being capable of edges The horizontal slide rail sliding, and the sliding slot and bearing block set are passed through for second clamping machine by second set lever Structure is fixed on the arm.