CN219666689U - Clamping device - Google Patents

Abstract

The utility model relates to the technical field of manipulators, in particular to a clamping device. Comprises a base, a supporting frame, a mechanical gripper, a rotating rod and a self-locking structure; the base is convexly provided with a connecting seat; the support frame is connected with the connecting seat, and a first through hole is formed in the support frame; the mechanical gripper is suitable for clamping a workpiece; one end of the rotating rod is a driving end, the other end of the rotating rod is a connecting end, and the connecting end can rotationally penetrate through the first through hole to be connected with the mechanical gripper; the self-locking structure is movably connected to the support frame and is provided with a self-locking position which is matched with the mechanical gripper and limits the mechanical gripper to rotate and an unlocking position which is far away from the mechanical gripper. The clamping device provided by the utility model can realize free rotation of the workpiece.

Description

Clamping device

Technical Field

The utility model relates to the technical field of manipulators, in particular to a clamping device.

Background

Industrial manipulators have been developed in recent decades, and have high accuracy in manipulator operation, and have the ability to perform operations in various environments, and have wide applications in the industrial production field, and conventional manipulators can realize functions of clamping, moving, extracting, placing, and the like. In industrial production, workpieces such as round pipes and square pipes are required to rotate in the processes of cutting, drilling, painting and the like, and a traditional manipulator cannot rotate after realizing the clamping function of the workpieces, so that the problem of difficult workpiece rotation is caused, the limitation of production operation is large, and the working efficiency is low.

Disclosure of Invention

Therefore, the utility model aims to overcome the defect that the manipulator cannot rotate after realizing the clamping function on the workpiece in the prior art, thereby providing the clamping device capable of realizing free rotation of the workpiece.

In order to solve the problems, the utility model provides a clamping device which comprises a base, a support frame, a mechanical gripper, a rotating rod and a self-locking structure; the base is convexly provided with a connecting seat; the support frame is connected with the connecting seat, and a first through hole is formed in the support frame; the mechanical gripper is suitable for clamping a workpiece; one end of the rotating rod is a driving end, the other end of the rotating rod is a connecting end, and the connecting end can rotationally penetrate through the first through hole to be connected with the mechanical gripper; the self-locking structure is movably connected to the support frame and is provided with a self-locking position which is matched with the mechanical gripper and limits the mechanical gripper to rotate and an unlocking position which is far away from the mechanical gripper.

The clamping device provided by the utility model comprises a limiting seat and a movable clamping assembly; the limiting seat is sleeved on the periphery of the rotating rod, axially limited on the rotating rod and in limiting fit with the self-locking structure in the circumferential direction or far away from each other; the movable clamping component is connected with the connecting end and is in transmission connection with the limiting seat; when the self-locking structure is at the self-locking position, the movable clamping assembly is driven by the rotary rod to have a clamping state of being close to the limiting seat and clamping the workpiece and a loosening state of being far away from the limiting seat to loosen the workpiece; when the self-locking structure is positioned at the unlocking position, the rotating rod drives the limiting seat and the movable clamping assembly to synchronously rotate.

According to the clamping device provided by the utility model, the limiting seat is axially provided with the third through hole, and is circumferentially provided with at least two first connecting parts; the movable clamping assembly comprises at least two connecting rods, at least two clamping jaws and a movable seat; one end of each of the at least two connecting rods is rotatably connected with the at least two first connecting parts; one end of each clamping jaw is rotatably connected with the other end of the connecting rod, and the other end of each clamping jaw clamps a workpiece to be rotated; the movable seat is axially provided with a threaded hole, and is circumferentially provided with at least two second connecting parts which are respectively and rotatably connected with at least two clamping jaws; the connecting end sequentially passes through the first through hole and the third through hole and is in threaded connection with the threaded hole; when the self-locking structure is positioned at the self-locking position, the connecting end is suitable for rotating when the driving end is driven, and drives the movable seat to be close to the limiting seat so as to drive the clamping jaw to clamp the workpiece, or drives the movable seat to be far away from the limiting seat so as to drive the clamping jaw to loosen the workpiece; when the self-locking structure is in the unlocking position, the connecting end is suitable for rotating when the driving end is driven, and the movable seat and the limiting seat are driven to synchronously rotate.

The clamping jaw comprises a first connecting section, a second connecting section and a third connecting section; one end of the first connecting section is rotatably connected with the other end of the connecting rod, and the other end of the first connecting section is rotatably connected with the movable seat; the second connecting section and the first connecting section are arranged at a first included angle, and one end of the second connecting section is connected with the other end of the first connecting section; the third connecting section and the second connecting section are arranged at a second included angle, one end of the third connecting section is connected with the other end of the second connecting section, and the other end of the third connecting section is suitable for clamping a workpiece; the first included angle and the second included angle are opposite to the bending direction of the second connecting section.

According to the clamping device provided by the utility model, one end of the self-locking structure is rotatably connected with the support frame, and the other end of the self-locking structure is provided with a self-locking position extending between the two first connecting parts and an unlocking position far away from the limiting seat; and/or the connecting end is provided with a connecting thread, a limit flange is arranged at the position of the rotating rod close to the connecting thread, and the limit seat is arranged between the limit flange and the support frame.

According to the clamping device provided by the utility model, the driving end is convexly provided with the frustum; the clamping device further comprises a spring which is sleeved on the periphery of the rotating rod and is abutted between the frustum and the supporting frame.

The clamping device provided by the utility model further comprises a handle, wherein the handle comprises a connecting block and a grip; one end of the connecting block is detachably connected with one end of the frustum, which is away from the supporting frame, and is perpendicular to the direction in which the axial direction of the rotating rod is positioned; the handle is located one side of connecting block that deviates from the rotary rod, and one end is rotatable with the other end of connecting block and is connected, and the direction that the handle axial is located is perpendicular with the connecting block.

According to the clamping device provided by the utility model, one side, connected with the rotary rod, of the connecting block is provided with the boss in a protruding mode, the boss is provided with at least two limiting parts in a protruding mode, one end, away from the supporting frame, of the frustum is provided with at least two clamping grooves, and the two limiting parts are respectively detachably connected in the two clamping grooves.

The clamping device provided by the utility model further comprises a cone cover, one end of the cone cover is detachably connected with the supporting frame, the other end of the cone cover is rotatably connected with the connecting block, and the spring, the cone table and the boss are all positioned in the cavity of the cone cover.

The utility model provides a clamping device, wherein a connecting seat comprises a first seat body and a second seat body; the first seat body is provided with a first slideway; the second seat body and the first seat body are arranged at intervals and are provided with a second slide way which is arranged opposite to the first slide way; the support frame is located between first pedestal and the second pedestal, and the both sides of support frame are connected with first slide and second slide slidable through the fastener respectively.

The utility model has the following advantages:

1. the utility model provides a clamping device which comprises a base, a support frame, a mechanical gripper, a rotating rod and a self-locking structure, wherein the base is provided with a clamping groove; the base is convexly provided with a connecting seat; the support frame is connected with the connecting seat, and a first through hole is formed in the support frame; the mechanical gripper is suitable for clamping a workpiece; one end of the rotating rod is a driving end, the other end of the rotating rod is a connecting end, and the connecting end can rotationally penetrate through the first through hole to be connected with the mechanical gripper; the self-locking structure is movably connected to the support frame and is provided with a self-locking position which is matched with the mechanical gripper and limits the mechanical gripper to rotate and an unlocking position which is far away from the mechanical gripper.

After the mechanical gripper clamps the workpiece, the driving end drives the rotary rod to rotate, so that the mechanical gripper is driven to rotate, the workpiece can rotate according to requirements in the process of cutting, drilling, painting and other working procedures, the working procedures can be completed better, the limitation of production operation is reduced, the working efficiency is effectively improved, and the practicability is wider.

When the self-locking structure is matched with the mechanical gripper and is positioned at the self-locking position, the mechanical gripper can be locked at a corresponding angle, and the rotation of the mechanical gripper is limited; when the self-locking structure is far away from the mechanical gripper and is in the unlocking position, the mechanical gripper can rotate along with the rotating rod under the driving action of the driving end, so that the workpiece can rotate as required in the process of cutting, drilling, painting and other working procedures.

2. The clamping device provided by the utility model comprises a limiting seat and a movable clamping assembly; the limiting seat is sleeved on the periphery of the rotating rod, axially limited on the rotating rod and in limiting fit with the self-locking structure in the circumferential direction or far away from each other; the movable clamping component is connected with the connecting end and is in transmission connection with the limiting seat; when the self-locking structure is at the self-locking position, the movable clamping assembly is driven by the rotary rod to have a clamping state of being close to the limiting seat and clamping the workpiece and a loosening state of being far away from the limiting seat to loosen the workpiece; when the self-locking structure is positioned at the unlocking position, the rotating rod drives the limiting seat and the movable clamping assembly to synchronously rotate.

When the self-locking structure is positioned at the self-locking position, the self-locking structure is in limit fit with the limit seat in the circumferential direction, and when the driving end drives the rotary rod to rotate clockwise, the limit seat is kept in a static state under the limit of the self-locking structure, and the movable clamping assembly moves towards the direction close to the limit seat and clamps the workpiece; when the driving end drives the rotating rod to rotate anticlockwise, the limiting seat keeps a static state under the limit of the self-locking structure, and the movable clamping assembly moves in the direction away from the limiting seat and loosens the workpiece.

After the clamping jaw clamps the workpiece, the movable self-locking structure is far away from the limiting seat, the self-locking structure is in an unlocking position, and the rotating rod drives the limiting seat and the movable clamping assembly to synchronously rotate under the driving action of the driving end to drive the workpiece to rotate.

Through the arrangement of the self-locking structure, the functions of rotating the workpiece, clamping the workpiece, loosening the workpiece and the like can be independently realized by driving the rotating rod to rotate.

3. According to the clamping device provided by the utility model, the driving end is convexly provided with the frustum; the clamping device further comprises a spring which is sleeved on the periphery of the rotating rod and is abutted between the frustum and the supporting frame.

The spring applies elastic force between the frustum and the supporting frame, so that the rotary rod and the supporting frame are prevented from sliding relatively; the friction between the rotary rod and the support frame is increased, one end of the rotary rod for clamping the workpiece is prevented from freely rotating under the action of external force (misoperation, dead weight and wind load), the workpiece is driven to freely rotate, the purpose that the rotary rod can be driven to rotate only when the driving end is driven is achieved, the workpiece is driven to rotate, the influence of the external force (misoperation, dead weight and wind load) on the workpiece is counteracted, and the structure is enabled to be more stable.

4. The utility model provides a clamping device, wherein a connecting seat comprises a first seat body and a second seat body; the first seat body is provided with a first slideway; the second seat body and the first seat body are arranged at intervals and are provided with a second slide way which is arranged opposite to the first slide way; the support frame is located between first pedestal and the second pedestal, and the both sides of support frame are connected with first slide and second slide slidable through the fastener respectively.

The support frame is connected with the first slide and the second slide in a sliding way, and the height of the support frame on the first seat body and the second seat body can be adjusted, so that the working range is further improved. The first slide way and the second slide way are arranged oppositely, the lengths of the first slide way and the second slide way are consistent, the height of the first slide way on the first seat body is also consistent with the height of the second slide way on the second seat body, and the first slide way and the second slide are used for limiting the movement direction of the support frame so as to prevent the support frame from shifting.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view showing the overall structure of a clamping device;

FIG. 2 shows a schematic structural diagram of the connection relationship of the support frame, the rotating rod and the mechanical gripper;

fig. 3 shows a schematic structural diagram of P in fig. 2;

FIG. 4 shows a schematic structural view of a handle;

FIG. 5 shows a schematic structural view of a mechanical gripper;

fig. 6 shows a schematic structural view of the clamping jaw.

Reference numerals illustrate:

1. a base; 11. a first base; 12. a first slideway; 13. a second seat body; 14. a second slideway; 2. a support frame; 21. a second through hole; 31. a rotating rod; 311. a connecting thread; 32. a frustum; 321. a clamping groove; 33. a spring; 34. a handle; 341. a connecting block; 342. a grip; 343. a boss; 344. a limit part; 35. a cone cover; 4. a mechanical gripper; 41. a limit seat; 411. a third through hole; 412. a first connection portion; 42. a connecting rod; 43. a clamping jaw; 431. a first connection section; 432. a second connection section; 433. a third connecting section; 44. a movable seat; 441. a threaded hole; 442. a second connecting portion; 5. an adjusting bolt; 6. self-locking structure.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

As shown in fig. 1 to 6, the present embodiment provides a clamping device, which includes a base 1, a support frame 2, a mechanical gripper 4, a rotating rod 31, and a self-locking structure 6; the base 1 is convexly provided with a connecting seat; the support frame 2 is connected with the connecting seat, and a first through hole is formed in the support frame 2; the mechanical gripper 4 is suitable for clamping a workpiece; one end of the rotating rod 31 is a driving end, the other end is a connecting end, and the connecting end rotatably penetrates through the first through hole and is connected with the mechanical gripper 4; the self-locking structure 6 is movably connected to the support frame 2, and has a self-locking position which is matched with the mechanical gripper 4 and limits the mechanical gripper 4 to rotate, and an unlocking position which is far away from the mechanical gripper 4.

After the mechanical gripper 4 clamps the workpiece, the driving end drives the rotary rod 31 to rotate, so that the mechanical gripper 4 is driven to rotate, the workpiece can be rotated according to the needs in the process of cutting, drilling, painting and other working procedures, the working procedures can be completed better, the limitation of production operation is reduced, the working efficiency is effectively improved, and the practicability is wider.

When the self-locking structure 6 is matched with the mechanical gripper 4 to be in a self-locking position, the mechanical gripper 4 can be locked at a corresponding angle, and the rotation of the mechanical gripper 4 is limited; when the self-locking structure 6 is far away from the mechanical gripper 4 and is in the unlocking position, the mechanical gripper 4 can rotate along with the rotating rod 31 under the driving action of the driving end, so that the workpiece can rotate as required in the process of cutting, drilling, painting and other procedures.

In the clamping device in the embodiment, the mechanical gripper 4 comprises a limiting seat 41 and a movable clamping assembly; the limiting seat 41 is sleeved on the periphery of the rotating rod 31, axially limited on the rotating rod 31 and in limiting fit with the self-locking structure 6 in the circumferential direction or mutually far away; the movable clamping component is connected with the connecting end and is in transmission connection with the limiting seat 41; when the self-locking structure 6 is at the self-locking position, the movable clamping assembly is driven by the rotary rod 31 to have a clamping state of being close to the limiting seat 41 and clamping the workpiece and a loosening state of being far away from the limiting seat 41 to loosen the workpiece; when the self-locking structure 6 is at the unlocking position, the rotating rod 31 drives the limiting seat 41 and the movable clamping assembly to synchronously rotate.

When the self-locking structure 6 is positioned at the self-locking position, the self-locking structure 6 is in limit fit with the limit seat 41 in the circumferential direction, and when the driving end drives the rotary rod 31 to rotate clockwise, the limit seat 41 is kept in a static state under the limit of the self-locking structure, and the movable clamping assembly moves towards the direction close to the limit seat 41 and clamps a workpiece; when the driving end drives the rotating rod 31 to rotate anticlockwise, the limiting seat 41 is kept in a static state under the limit of the self-locking structure, and the movable clamping assembly moves in a direction away from the limiting seat 41 and loosens the workpiece.

After the clamping jaw 43 clamps the workpiece, the movable self-locking structure 6 is far away from the limiting seat 41, the self-locking structure 6 is in an unlocking position, and the rotating rod 31 drives the limiting seat 41 and the movable clamping assembly to synchronously rotate under the driving action of the driving end so as to drive the workpiece to rotate.

By the arrangement of the self-locking structure 6, the functions of rotating the workpiece, clamping the workpiece, loosening the workpiece and the like can be independently realized by driving the rotating rod 31 to rotate.

In the clamping device in this embodiment, the limiting seat 41 is provided with a third through hole 411 in the axial direction and at least two first connecting portions 412 in the circumferential direction; the mobile clamping assembly comprises at least two links 42, at least two clamping jaws 43 and a mobile seat 44; one end of at least two connecting rods 42 is rotatably connected with at least two first connecting parts 412 respectively; one end of at least two clamping jaws 43 is respectively rotatably connected with the other end of the connecting rod 42, and the other end clamps a workpiece to be rotated; the movable seat 44 is axially provided with a threaded hole 441, and is circumferentially provided with at least two second connecting parts 442 which are respectively rotatably connected with the at least two clamping jaws 43; the connection end sequentially passes through the first through hole and the third through hole 411 and is in threaded connection with the threaded hole 441; when the self-locking structure 6 is in the self-locking position, the connecting end is suitable for rotating when the driving end is driven, and drives the movable seat 44 to be close to the limiting seat 41 so as to drive the clamping jaw 43 to clamp a workpiece, or drives the movable seat 44 to be far away from the limiting seat 41 so as to drive the clamping jaw 43 to loosen the workpiece; when the self-locking structure 6 is in the unlocking position, the connecting end is suitable for rotating when the driving end is driven, and drives the movable seat 44 and the limiting seat 41 to synchronously rotate.

When the self-locking structure 6 is at the self-locking position, the rotation of the limiting seat 41 is limited; when the driving end drives the rotating rod 31 to rotate clockwise, the limiting seat 41 is kept in a static state, the connecting end rotates relative to the movable seat 44, the movable seat 44 moves towards the direction close to the limiting seat 41 under the action of the screw thread, the connecting rod 42 rotates relative to the first connecting part 412, the included angle between the connecting rod 42 and the end where the connecting end of the rotating rod 31 is located is increased, and the clamping jaw 43 rotates relative to the connecting rod 42 to clamp a workpiece; when the driving end drives the rotating rod 31 to rotate anticlockwise, the limiting seat 41 is kept in a static state, the connecting end rotates relative to the moving seat 44, the moving seat 44 moves away from the limiting seat 41 under the action of the screw thread, the connecting rod 42 rotates relative to the first connecting portion 412, the included angle between the connecting rod 42 and the end where the connecting end of the rotating rod 31 is located is reduced, and the clamping jaw 43 rotates relative to the connecting rod 42 to loosen a workpiece.

After the clamping jaw 43 clamps the workpiece, the self-locking structure 6 is far away from the limiting seat 41 and is in an unlocking position, the connecting end rotates when the driving end is driven, the movable seat 44 and the limiting seat 41 are driven to synchronously rotate, and the workpiece can rotate under the driving of the clamping jaw 43.

In a specific embodiment, the design of four clamping jaws 43 can be applied to workpieces with more shapes, such as square tubes, round tubes and the like.

The clamping device in this embodiment, the clamping jaw 43 includes a first connection section 431, a second connection section 432 and a third connection section 433; one end of the first connecting section 431 is rotatably connected with the other end of the clamp connecting rod 42, and the other end of the first connecting section is rotatably connected with the movable seat 44; the second connecting section 432 and the first connecting section 431 are arranged at a first included angle, and one end of the second connecting section 432 is connected with the other end of the first connecting section 431; the third connecting section 433 and the second connecting section 432 are arranged at a second included angle, one end of the third connecting section is connected with the other end of the second connecting section 432, and the other end of the third connecting section is suitable for clamping a workpiece; wherein the first and second angles are opposite to each other with respect to the second connection section 432.

The movable seat 44 is close to the limit seat 41, the connecting rod 42 rotates relative to the first connecting part 412, the included angle between one end of the connecting rod 42 and the connecting end of the rotating rod 31 is increased, one end of the first connecting section 431 rotates relative to the connecting rod 42, the other end of the connecting section 431 rotates relative to the movable seat 44, the included angle between the first connecting section 431 and the connecting rod 42 is reduced, the included angle between the second connecting section 432 and one end of the connecting end of the rotating rod 31 is reduced, the relative distance between the third connecting sections 433 of at least two clamping jaws 43 is reduced, and the workpiece clamping device is suitable for clamping workpieces; the movable seat 44 is far away from the limiting seat 41, the connecting rod 42 rotates relative to the first connecting portion 412, the included angle between the connecting end of the connecting rod 42 and the connecting end of the rotary rod 31 becomes smaller, one end of the first connecting section 431 rotates relative to the connecting rod 42, the other end rotates relative to the movable seat 44, the included angle between the first connecting section 431 and the connecting rod 42 becomes larger, the included angle between the second connecting section 432 and the connecting end of the rotary rod 31 becomes larger, and the relative distance between the third connecting sections 433 of the at least two clamping jaws 43 becomes larger, so that the workpiece is suitable for loosening.

In a specific embodiment, the clamping surface of the third connecting section 433 is provided with an elastic piece, and the elastic piece is used for contacting with the workpiece when the workpiece is clamped, and when the clamping jaw 43 clamps the workpiece, the elastic piece is elastically deformed to apply elastic force to the workpiece. Specifically, the elastic sheet may be made of a material having a good elasticity such as rubber or silica gel. When the clamping jaw 43 clamps a workpiece, the elastic sheet is sunken, the elastic sheet applies elastic force to the workpiece, the workpiece cannot be damaged, meanwhile, the contact area between the elastic sheet and the workpiece is increased, friction force is increased, and the clamping jaw 43 clamps the workpiece more stably.

In the clamping device of the present embodiment, one end of the self-locking structure 6 is rotatably connected with the supporting frame 2, and the other end has a self-locking position extending between the two first connecting portions 412 and an unlocking position far away from the limiting seat 41.

When the other end of the self-locking structure 6 abuts against the first connecting portion 412, the rotation of the limiting seat 41 can be limited, and when the driving end drives the rotating rod 31 to rotate, the limiting seat 41 is in a static state, and the movable clamping assembly is driven by the rotating rod 31 to clamp the workpiece close to the limiting seat 41 or release the workpiece away from the limiting seat 41.

In the clamping device in this embodiment, the connecting end is provided with a connecting thread 311, the position of the rotating rod 31 close to the connecting thread 311 is provided with a limit flange, and the limit seat 41 is arranged between the limit flange and the support frame 2.

The limiting flange can prevent the limiting seat 41 from moving to the connecting thread 311, and under the condition that the driving end drives the rotating rod 31 to rotate, the limiting seat 41 and the movable clamping assembly can not synchronously displace on the rotating rod 31, so that the movable clamping assembly can not be close to the limiting part 344 to clamp a workpiece, or the movable clamping assembly can not be far away from the limiting part 344 to loosen the workpiece.

In the clamping device in the embodiment, the driving end is convexly provided with a frustum 32; the clamping device further comprises a spring 33 sleeved on the periphery of the rotary rod 31 and abutted between the frustum 32 and the supporting frame 2.

The spring 33 applies elastic force between the frustum 32 and the support frame 2, so that the rotary rod 31 and the support frame 2 are prevented from sliding relatively; the friction between the rotary rod 31 and the support frame 2 is increased, one end of the rotary rod 31 for clamping a workpiece is prevented from freely rotating under the action of external force (misoperation, dead weight and wind load), the workpiece is driven to freely rotate, the purpose that the rotary rod 31 can be driven to rotate only when the driving end is driven, the workpiece is driven to rotate is achieved, the influence of the external force (misoperation, dead weight and wind load) on the workpiece is counteracted, and the structure is enabled to be more stable.

The clamping device in the embodiment further comprises a handle 34, wherein the handle 34 comprises a connecting block 341 and a grip 342; one end of the connecting block 341 is detachably connected with one end of the frustum 32, which is away from the supporting frame 2, and is perpendicular to the axial direction of the rotating rod 31; the handle 342 is located at one side of the connecting block 341 away from the rotating rod 31, one end of the handle 342 is rotatably connected with the other end of the connecting block 341, and the axial direction of the handle 342 is perpendicular to the connecting block 341.

The axial direction of the rotating rod 31 is parallel to the axial direction of the grip 342, the rotating rod 31 is positioned at one end of the connecting block 341, the grip 342 is positioned at the other end of the connecting block 341, and the rotating rod 31 and the grip 342 are respectively positioned at two sides of the connecting block 341; when the driving handle 342 drives the connecting block 341 to rotate, the connecting block 341 drives the driving end to rotate, thereby driving the rotating rod 31 to rotate.

In the clamping device in this embodiment, a boss 343 is protruding from one side of the connection block 341 connected with the rotating rod 31, at least two limiting portions 344 are protruding from the boss 343, at least two clamping grooves 321 are provided at one end of the frustum 32 away from the supporting frame 2, and the two limiting portions 344 are detachably connected in the two clamping grooves 321 respectively.

In a specific embodiment, the clamping grooves 321 are symmetrically distributed at one end of the frustum 32 away from the supporting frame 2, and at least two limiting parts 344 are respectively clamped in at least two clamping grooves 321, so that the handle 34 and the rotating rod 31 can be conveniently assembled.

The clamping device in this embodiment further includes a cone cover 35, one end of the cone cover 35 is detachably connected with the support frame 2, the other end of the cone cover 35 is rotatably connected with the connecting block 341, and the spring 33, the frustum 32 and the boss 343 are all located inside the cavity of the cone cover 35.

The boss 343 is located inside the cavity of the cap 35 to prevent the handle 34 from falling off the rotary rod 31.

In the clamping device in the embodiment, the connecting seat comprises a first seat body 11 and a second seat body 13; the first seat body 11 is provided with a first slideway 12; the second seat body 13 is arranged at intervals with the first seat body 11, a second slide way 14 is arranged, and the second slide way 14 is arranged opposite to the first slide way 12; the support frame 2 is located between the first seat 11 and the second seat 13, and two sides of the support frame 2 are slidably connected with the first slide rail 12 and the second slide rail 14 through fasteners respectively.

The support frame 2 is slidably connected with the first slide way 12 and the second slide way 14, and the height of the support frame 2 on the first seat body 11 and the second seat body 13 can be adjusted, so that the working range is further improved. The first slide way 12 and the second slide way 14 are oppositely arranged, the lengths of the first slide way 12 and the second slide way 14 are consistent, the height of the first slide way 12 on the first seat body 11 and the height of the second slide way 14 on the second seat body 13 are also consistent, and the movement direction of the support frame 2 is limited by the first slide way 12 and the second slide, so that the support frame 2 is prevented from being deviated.

The support frame 2 is provided with a second through hole 21, and the direction of the second through hole 21 in the axial direction is perpendicular to the direction of the first through hole in the axial direction; one end of a stud of the adjusting bolt 5 is positioned at one side of the first slideway 12, which is away from the second slideway 14, and the other end sequentially passes through the first slideway 12, the second through hole 21 and the second slideway 14, so that the support frame 2 is slidably connected with the first seat body 11 and the second seat body 13; the nut of the adjusting bolt 5 is positioned on one side of the second slideway 14 away from the first slideway 12 and is rotatably connected with the other end of the stud.

Before the clamping assembly is moved to clamp a workpiece, the heights of the support frame 2 on the first seat body 11 and the second seat body 13 are adjusted according to the appearance parameters of the workpiece to be clamped; the adjusting nut moves on the other end of the stud in a direction away from the second slideway 14, so that the clamping force between the support frame 2 and the first slideway 12 and the second slideway 14 is reduced, the support frame 2 can slide up and down between the first slideway 12 and the second slideway 14, the support frame 2 is adjusted to a proper height, then the adjusting nut moves on the other end of the stud in a direction close to the second slideway 14, so that the clamping force between the support frame 2 and the first slideway 12 and the second slideway 14 is increased, and the positions of the support frame 2 on the first seat 11 and the second seat 13 are fixed.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.

Claims (10)

1. A clamping device, comprising:

a base (1) is convexly provided with a connecting seat;

the support frame (2) is connected with the connecting seat, and a first through hole is formed in the support frame (2);

a mechanical gripper (4) adapted to grip a workpiece;

one end of the rotating rod (31) is a driving end, the other end is a connecting end, and the connecting end rotatably penetrates through the first through hole to be connected with the mechanical gripper (4) _；

The self-locking structure (6) is movably connected to the supporting frame (2), and is provided with a self-locking position which is matched with the mechanical gripper (4) and limits the mechanical gripper (4) to rotate and an unlocking position which is far away from the mechanical gripper (4).

2. Clamping device according to claim 1, characterized in that the mechanical gripper (4) comprises:

the limiting seat (41) is sleeved on the periphery of the rotating rod (31), axially limited on the rotating rod (31) and in limiting fit or mutual distance with the self-locking structure (6) in the circumferential direction;

the movable clamping assembly is connected with the connecting end and is in transmission connection with the limiting seat (41);

when the self-locking structure (6) is positioned at the self-locking position, the movable clamping assembly is driven by the rotary rod (31) to have a clamping state of being close to the limiting seat (41) and clamping the workpiece and a loosening state of being far away from the limiting seat (41) to loosen the workpiece; when the self-locking structure (6) is positioned at the unlocking position, the rotating rod (31) drives the limiting seat (41) and the movable clamping assembly to synchronously rotate.

3. Clamping device according to claim 2, characterized in that the limit seat (41) is provided with a third through hole (411) in the axial direction and with at least two first connecting portions (412) in the circumferential direction;

the mobile clamping assembly includes:

at least two connecting rods (42), one end of each of which is rotatably connected with at least two first connecting parts (412);

one end of each clamping jaw (43) is rotatably connected with the other end of the connecting rod (42), and the other end clamps a workpiece to be rotated;

the movable seat (44) is axially provided with a threaded hole (441), and is circumferentially provided with at least two second connecting parts (442) which are respectively and rotatably connected with the at least two clamping jaws (43);

the connecting end sequentially passes through the first through hole and the third through hole (411) and is in threaded connection with the threaded hole (441);

when the self-locking structure (6) is positioned at the self-locking position, the connecting end is suitable for rotating when the driving end is driven, and drives the movable seat (44) to be close to the limiting seat (41) so as to drive the clamping jaw (43) to clamp a workpiece, or drives the movable seat (44) to be far away from the limiting seat (41) so as to drive the clamping jaw (43) to loosen the workpiece;

when the self-locking structure (6) is positioned at the unlocking position, the connecting end is suitable for rotating when the driving end is driven, and drives the movable seat (44) and the limiting seat (41) to synchronously rotate.

4. A clamping device according to claim 3, characterized in that the clamping jaw (43) comprises:

a first connecting section (431) having one end rotatably connected to the other end of the link (42) and the other end rotatably connected to the movable base (44);

the second connecting section (432) is arranged at a first included angle with the first connecting section (431), and one end of the second connecting section is connected with the other end of the first connecting section (431);

the third connecting section (433) is arranged at a second included angle with the second connecting section (432), one end of the third connecting section is connected with the other end of the second connecting section (432), and the other end of the third connecting section is suitable for clamping a workpiece;

wherein the first and second angles are opposite in bending direction relative to the second connection section (432).

5. A clamping device according to claim 3, characterized in that one end of the self-locking structure (6) is rotatably connected to the support frame (2), and the other end has the self-locking position extending between the two first connecting portions (412) and the unlocking position away from the limit seat (41);

and/or the connecting end is provided with a connecting thread (311), a limit flange is arranged at the position of the rotating rod (31) close to the connecting thread (311), and the limit seat (41) is arranged between the limit flange and the support frame (2).

6. Clamping device according to claim 1, characterized in that the driving end is provided with a protruding frustum (32); the clamping device further comprises a spring (33) sleeved on the periphery of the rotating rod (31) and propped between the frustum (32) and the supporting frame (2).

7. The clamping device of claim 6, further comprising a handle (34), the handle (34) comprising:

one end of the connecting block (341) is detachably connected with one end of the frustum (32) deviating from the supporting frame (2) and is perpendicular to the axial direction of the rotating rod (31);

the handle (342) is positioned on one side of the connecting block (341) away from the rotating rod (31), one end of the handle is rotatably connected with the other end of the connecting block (341), and the direction of the handle (342) along the axial direction is perpendicular to the connecting block (341).

8. The clamping device according to claim 7, wherein a boss (343) is provided on a protruding portion on a side, connected to the rotating rod (31), of the connecting block (341), at least two limiting portions (344) are provided on the boss (343) in a protruding manner, at least two clamping grooves (321) are provided on an end, facing away from the supporting frame (2), of the frustum (32), and the two limiting portions (344) are detachably connected in the two clamping grooves (321) respectively.

9. The clamping device according to claim 8, further comprising a cone cover (35), wherein one end of the cone cover (35) is detachably connected with the support frame (2), the other end of the cone cover is rotatably connected with the connecting block (341), and the spring (33), the frustum (32) and the boss (343) are all located inside a cavity of the cone cover (35).

10. The clamping device as claimed in any of claims 1-9, wherein the connector comprises:

the first seat body (11) is provided with a first slideway (12);

the second seat body (13) is arranged at intervals with the first seat body (11) and is provided with a second slide way (14), and the second slide way (14) is arranged opposite to the first slide way (12);

the support frame (2) is located between the first seat body (11) and the second seat body (13), and two sides of the support frame (2) are respectively connected with the first slide way (12) and the second slide way (14) in a sliding mode through fasteners.