CN221065474U - Clamping device - Google Patents

Abstract

The utility model provides a clamping device which comprises a clamping assembly, a driving assembly and a first sensing part. The clamping assembly comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm can move relatively along a first direction, the first clamping arm comprises a first arm section and a second arm section, the first arm section is used for clamping a workpiece together with the second clamping arm, the first arm section is in sliding connection with the second arm section, and the first arm section can slide along a second direction perpendicular to the first direction relative to the second arm section; the driving assembly is connected to the second arm section and is configured to drive the second arm section to move along a second direction; the first sensing part is connected to the first arm segment, and the first sensing part is configured to be capable of acquiring a first pressure value corresponding to the first arm segment in the process that the first arm segment slides along the second direction relative to the second arm segment. Therefore, the clamping device disclosed by the utility model can be convenient for sensing the pressure value corresponding to the clamping arm and timely adjusting the clamping device.

Description

Clamping device

Technical Field

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

Background

In the automation field, the clamping device is widely applied to a process of clamping materials through clamping jaws, and the technology mainly comprises the steps of clamping the materials through a cylinder/motor clamping jaw structure, and then moving the mechanical arm to a mounting position to press and mount the materials. Although the clamping device can position the mounting position, the actual production environment is changeable, the positioning is easy to influence, and a specific workpiece can have various structural forms, so that the precision of the clamping jaw cannot be ensured to be suitable for various types of workpieces. In the process of clamping the workpiece by the clamping jaw, on one hand, when the clamping jaw clamps the workpiece, the clamping force is deviated from an ideal value due to the arrangement of the clamping jaw or the influence of external conditions; on the other hand, when the clamping jaw is not aligned to the corresponding position of the workpiece accurately, the clamping device can continuously drive the clamping jaw according to a set control mode, the clamping jaw can be in incorrect contact with the workpiece in the process, the workpiece or the clamping jaw can be deformed and damaged due to continuous pressure, and the clamping process and the follow-up process can be affected. The related art is to monitor the jaw pressure and often connect a drive device and a pressure sensor to the jaw at the same time, which can easily cause pressure to be transmitted from the jaw to the drive device, resulting in inaccurate pressure measurements.

Disclosure of utility model

The utility model mainly aims to provide a clamping device which can conveniently sense the pressure value corresponding to a clamping arm and timely adjust the clamping device.

In order to achieve the above purpose, the embodiment of the present utility model adopts the following technical scheme:

A clamping device is used for clamping a workpiece and comprises a clamping assembly, a driving assembly and a first sensing part.

The clamping assembly comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm can move relatively along a first direction so as to clamp or release a workpiece, the first clamping arm comprises a first arm section and a second arm section, the first arm section is used for clamping the workpiece together with the second clamping arm, the first arm section is in sliding connection with the second arm section, and the first arm section can slide along a second direction perpendicular to the first direction relative to the second arm section;

The driving assembly is connected to the second arm section and is configured to drive the second arm section to move along a second direction;

The first sensing part is connected to the first arm segment, and the first sensing part is configured to be capable of acquiring a first pressure value corresponding to the first arm segment in the process that the first arm segment slides along the second direction relative to the second arm segment.

In some embodiments, the clamping device further comprises a control assembly coupled to the drive assembly, the first sensor configured to send a first signal to the control assembly in response to the first pressure value being greater than the first set point, the control assembly configured to control the drive assembly to stop driving the second arm segment in response to the first signal being acquired.

In some embodiments, the second direction is also parallel to a direction in which an end of the first arm segment facing away from the second arm segment points toward the second arm segment.

In some embodiments, the maximum coefficient of static friction μ of the first arm segment relative to the second arm segment satisfies: mu is more than or equal to 0.02 and less than or equal to 0.05.

In some embodiments, the second clamping arm includes a third arm segment for clamping the workpiece in conjunction with the first arm segment, and a fourth arm segment slidably coupled to the fourth arm segment, the third arm segment being slidable relative to the fourth arm segment in a second direction.

In some embodiments, the clamping device further includes a second sensing portion connected to the third arm segment, the second sensing portion configured to obtain a second pressure value corresponding to the third arm segment during sliding of the third arm segment relative to the fourth arm segment in the second direction.

In some embodiments, the clamping device further includes a third sensing portion and an abutment, the third sensing portion is connected to the second arm segment, the abutment is connected to the second clamping arm, the abutment is located at one side of the third sensing portion along the first direction, the first clamping arm can move along the first direction and is close to the second clamping arm, so that the third sensing portion abuts against the abutment, and the third sensing portion is configured to obtain a third pressure value corresponding to the third sensing portion when the third sensing portion abuts against the abutment.

In some embodiments, the clamping device further comprises a control assembly coupled to the drive assembly, the control assembly having a set pressure range, the third sensing portion configured to send a second signal to the control assembly in response to the third pressure value being greater than a maximum value of the set pressure range or the third pressure value being less than a minimum value of the set pressure range;

the control assembly is configured to control the drive assembly to stop driving the second arm segment in response to acquiring the second signal.

In some embodiments, the clamping device further comprises a control assembly coupled to the drive assembly, the third sensing portion configured to send a third signal to the control assembly in response to the third pressure value being greater than the second set point;

The control assembly is configured to control the driving assembly to stop driving the second arm segment in response to acquiring the third signal; the third signal is used for prompting the abnormal position of the clamping device and/or prompting the abnormal specification of the workpiece; and/or, prompting configuration abnormality of the driving component.

In some embodiments, the clamping device further comprises a control assembly coupled to the drive assembly, the third sensing portion configured to send a fourth signal to the control assembly in response to the third pressure value being less than a third set point;

the control assembly is configured to control the driving assembly to stop driving the second arm segment in response to acquiring the fourth signal; the fourth signal is used for prompting abnormal specification of the workpiece and/or prompting abnormal configuration of the driving assembly.

Compared with the prior art, the utility model has the beneficial effects that:

The first clamping arm and the second clamping arm can move relatively along a first direction, the first arm section is connected with the second arm section in a sliding mode, and the first arm section can slide relative to the second arm section along a second direction perpendicular to the first direction. In the process that the first arm section slides along the second direction relative to the second arm section, the first sensing part can acquire a first pressure value corresponding to the first arm section at the moment. The form of first arm section and second arm section sliding connection can make first centre gripping arm when pressing the work piece, and most power can be conducted first sensing portion, has improved pressure monitoring's accuracy. And when the first clamping arm is too high in pressure and stops moving, the first arm section is acted by a certain inertia force, and the second arm section which is in sliding connection with the first arm section can provide a certain displacement buffer quantity for the first arm section. Therefore, the clamping device disclosed by the utility model can be convenient for sensing the pressure value corresponding to the clamping arm and timely adjusting the clamping device.

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 required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a clamping device according to a first embodiment of the present utility model;

FIG. 2 is a schematic side view of a clamping device according to a first embodiment of the present utility model;

fig. 3 is a schematic perspective view of a clamping device according to a second embodiment of the present utility model;

fig. 4 is an exploded view of the first clamping arm and the first sensor portion combined according to the first embodiment of the present utility model.

Reference numerals illustrate:

100-clamping device;

110-a clamping assembly; 111-a first clamping arm; 1111—a first arm segment; 1112-a second arm segment; 112-a second clamping arm; 1121-a third arm segment; 1122-fourth arm segment;

120-a drive assembly;

130-a first sensing part;

140-a second sensing part;

150-a third sensing part;

160-abutment;

X-a first direction;

y-second direction.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. 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.

It should be noted that, if a directional indication (such as up, down, left, right, front, and rear … …) is included in the embodiment of the present utility model, the directional indication is merely used to explain a relative positional relationship, a movement condition, and the like between the components in a specific posture, and if the specific posture is changed, the directional indication is correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if "and/or", "and/or" and/or "are used throughout, the meaning includes three parallel schemes, for example," a and/or B ", including a scheme, or B scheme, or a scheme where a and B meet simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

In the automation field, the clamping device is widely applied to a process of clamping materials through clamping jaws, and the technology mainly comprises the steps of clamping the materials through a cylinder/motor clamping jaw structure, and then moving the mechanical arm to a mounting position to press and mount the materials. Although the clamping device can position the mounting position, the actual production environment is changeable, the positioning is easy to influence, and a specific workpiece can have various structural forms, so that the precision of the clamping jaw cannot be ensured to be suitable for various types of workpieces. In the process of clamping the workpiece by the clamping jaw, on one hand, when the clamping jaw clamps the workpiece, the clamping force is deviated from an ideal value due to the arrangement of the clamping jaw or the influence of external conditions; on the other hand, when the clamping jaw is not aligned to the corresponding position of the workpiece accurately, the clamping device can continuously drive the clamping jaw according to a set control mode, the clamping jaw can be in incorrect contact with the workpiece in the process, the workpiece or the clamping jaw can be deformed and damaged due to continuous pressure, and the clamping process and the follow-up process can be affected. The related art is to monitor the jaw pressure and often connect a drive device and a pressure sensor to the jaw at the same time, which can easily cause pressure to be transmitted from the jaw to the drive device, resulting in inaccurate pressure measurements.

In view of this, referring to fig. 1-4, a clamping device 100 is provided in an embodiment of the present utility model for clamping a workpiece, where the clamping device 100 includes a clamping assembly 110, a driving assembly 120, and a first sensing portion 130.

Referring to fig. 1-2, the clamping assembly 110 includes a first clamping arm 111 and a second clamping arm 112, the first clamping arm 111 and the second clamping arm 112 being capable of relative movement in a first direction X to clamp or release a workpiece. The first clamping arm 111 includes a first arm segment 1111 and a second arm segment 1112. The first arm section 1111 is used to clamp a workpiece together with the second clamp arm 112. It will be appreciated that the first arm section 1111 may be relatively close to or remote from the second clamping arm 112 so as to cooperate with the second clamping arm 112 to form a clamping action. The first arm section 1111 is slidably connected to the second arm section 1112, and the first arm section 1111 is slidable with respect to the second arm section 1112 in a second direction Y perpendicular to the first direction X. The first direction X is the opposite clamping direction, so in some embodiments, the second direction Y may be the direction of the first arm segment 1111 away from the workpiece.

Referring to fig. 1-2, the drive assembly 120 is coupled to the second arm segment 1112. The drive assembly 120 is configured to drive the second arm segment 1112 to move in the second direction Y. It will be appreciated that the drive assembly 120 can drive the second arm segment 1112 away from or toward the workpiece to bring the clamping assembly 110 toward the workpiece to be clamped. In some embodiments, the first clamping arm 111 is powered away from or toward the workpiece solely by the drive assembly 120, the drive assembly 120 being capable of driving the second arm section 1112 to move in the second direction Y, and the second arm section 1112 being capable of driving the first arm section 1111 to move in the second direction Y. Referring to fig. 1-2, in particular, to drive the second arm segment 1112, the drive assembly 120 may include hydraulic cylinders, air cylinders, electric motors, and the like, for providing a power source.

Referring to fig. 1-2, the first sensing portion 130 is connected to the first arm segment 1111. The first sensor 130 is configured to be able to acquire a first pressure value corresponding to the first arm segment 1111 during sliding of the first arm segment 1111 relative to the second arm segment 1112 in the second direction Y. It can be appreciated that when the second arm section 1112 moves the first arm section 1111 along the second direction Y, the first arm section 1111 can be subjected to an external force, so that the first arm section 1111 can further slide along the second direction Y relative to the second arm section 1112, and the first sensing portion 130 can obtain the first pressure value corresponding to the first arm section 1111 at this time. Since the transmission and detection of the force have errors, for example, the pressure actually applied to the first arm section 1111 is transmitted to the second arm section 1112 and the first sensor 130 at the same time, the first pressure value may be considered to reflect the pressure applied to the first arm section 1111, and the relationship between the first pressure value and the pressure actually applied to the first arm section 1111 may be calculated through experiments. Specifically, the first sensing portion 130 may include a pressure sensor, and may reflect the pressure or the clamping force applied to the first arm segment 1111 by the amount of deformation of the pressure sensor by the pressure.

With respect to the definition of the second direction Y, it is understood that the second direction Y may be a direction parallel to the vertical downward direction of the first arm segment 1111 or may be a direction parallel to the horizontal translation direction of the first arm segment 1111. Thus, referring to fig. 1-2, in some embodiments, the second direction Y is also parallel to a direction in which an end of the first arm segment 1111 facing away from the second arm segment 1112 points toward the second arm segment 1112. 1-2, it can be appreciated that the first sensing portion 130 can enable the first sensing portion 130 to acquire a longitudinal pressure value corresponding to the first arm segment 1111 during the movement of the first clamping arm 111 along the longitudinal direction, so that adjustment of the clamping device 100 corresponding to the longitudinal pressure can be facilitated. Referring to fig. 3, in other embodiments, the second direction Y is also perpendicular to the direction in which the end of the first arm segment 1111 facing away from the second arm segment 1112 points towards the second arm segment 1112. The present embodiment may enable the first sensing portion 130 to acquire a lateral pressure value corresponding to the first arm segment 1111 during the movement of the first clamping arm 111 in the lateral direction, so as to facilitate adjustment of the clamping device 100 corresponding to the lateral pressure.

From a combination of the above embodiments, it can be seen that in some embodiments, the clamping device 100 can have a first clamping arm 111 and a second clamping arm 112 that are capable of relative movement. The first clamping arm 111 comprises a first arm section 1111 and a second arm section 1112, the first arm section 1111 being adapted to jointly clamp a workpiece with the second clamping arm 112 and being slidable in the second direction Y relative to the second arm section 1112. The driving component 120 can drive the second arm segment 1112 to move along the second direction Y, and the second arm segment 1112 can drive the first arm segment 1111 to move along the second direction Y. During the sliding of the first arm segment 1111 in the second direction Y relative to the second arm segment 1112, the first sensor 130 is able to acquire a first pressure value corresponding to the first arm segment 1111 at this time. In a specific case, the driving component 120 drives the second arm section 1112 and drives the first arm section 1111 to approach the workpiece to be clamped, during which the first arm section 1111 is not aligned to the corresponding position of the workpiece due to the factors of the clamping device 100, the positioning system or the external conditions, and if the driving is continued, the first arm section 1111 is erroneously contacted to the workpiece, which results in deformation damage of the workpiece or the clamping jaw. Or in another specific case, the driving component 120 drives the second arm section 1112 and drives the first arm section 1111 to prepare for lowering the workpiece, and in this process, if the workpiece has contacted the placing station, the first arm section 1111 continues to be driven downward erroneously, which also easily causes deformation damage to the workpiece or the clamping jaw. In the above-mentioned case, the first sensing portion 130 of the present utility model can monitor the first pressure value corresponding to the first arm segment 1111 to determine the pressed state of the workpiece and make the adjustment in time, and the form of sliding connection between the first arm segment 1111 and the second arm segment 1112 can enable most of the force to be transmitted to the first sensing portion 130 when the first clamping arm 111 presses the workpiece, so as to improve the accuracy of pressure monitoring. And when the first clamping arm 111 is too much pressure to stop moving, the first arm section 1111 is subjected to a certain inertial force, and the second arm section 1112 slidably connected to the first arm section 1111 can provide a certain displacement buffer for the first arm section 1111. Therefore, the clamping device 100 of the present utility model can facilitate sensing the pressure value corresponding to the clamping arm, and adjust the clamping device 100 in time.

In the form of a sliding connection of the first arm section 1111 with the second arm section 1112. Referring to fig. 4, in some embodiments, the first arm segment 1111 may have a slot and the second arm segment 1112 may have a protrusion accordingly. In other embodiments, the first arm segment 1111 may have a protrusion and the second arm segment 1112 may have a corresponding slot. The slot and the protrusion may both extend in the second direction Y, and the protrusion may be located in the slot, thereby forming a sliding connection of the protrusion with the slot, such that the first arm segment 1111 is capable of sliding in the second direction Y relative to the second arm segment 1112.

In order to facilitate the corresponding adjustment of the clamping arm in time after the first sensor 130 obtains the first pressure value corresponding to the first arm segment 1111. In some embodiments, the clamping device 100 may also include a control assembly. The control assembly is coupled to the drive assembly 120. It should be noted that the control assembly and the driving assembly 120 may be directly connected, for example, mechanically connected; or may be an indirect connection, such as through an electrical connection. In some embodiments, the first sensor 130 is configured to send a first signal to the control assembly in response to the first pressure value being greater than the first set point, the control assembly being configured to control the drive assembly 120 to stop driving the second arm segment 1112 in response to acquiring the first signal. The first setting value may be understood as a threshold value of a first pressure value corresponding to the first arm section 1111, and a first setting value may be provided in the control system (may be the above-mentioned control component) of the clamping device 100, where, due to the interaction of the pressures, the first pressure value exceeds the threshold value, which indicates that the workpiece is subjected to a certain degree of extrusion force. It will be appreciated that the first sensor 130 may send a corresponding first signal when it monitors that the workpiece is under a certain degree of pressure (when the first pressure value is greater than the first set value), and the control component may respond to the first signal, so that the driving component 120 stops driving the second arm segment 1112, and the first arm segment 1111 stops moving. In some embodiments, the first sensing portion 130 may collect the first pressure value in real time through a bus or an analog-to-digital conversion module, and send a pressure value signal to the control assembly in real time to accurately monitor the pressure value and make corresponding adjustments.

The first sensor 130 is mounted. Referring to fig. 4, in some embodiments, the first sensing portion 130 may have a first aperture at one end and the first arm segment 1111 may have a second aperture at one end corresponding to the first aperture. The clamping assembly 110 further includes a first screw that may be configured to simultaneously pass through the first aperture and the second aperture in the second direction Y to fix the position of the first arm segment 1111 relative to the first sensing portion 130. In some embodiments, the force generated by the deformation of the first arm segment 1111 may be transferred to the first sensing portion 130, and the first sensing portion 130 is correspondingly elastically deformed, and the first pressure value corresponding to the first arm segment 1111 is detected through the deformation amount. Therefore, the first sensing portion 130 is connected to the first arm segment 1111 and the first sensing portion 130 by screws, so that pressure transmission is facilitated, and connection is stable.

For the arrangement of the sliding connection of the first arm section 1111 and the second arm section 1112, the friction coefficient therebetween may be defined, so that pressure conduction to the first sensing portion 130 can be facilitated, and accuracy of pressure monitoring is improved. Specifically, in some embodiments, the maximum coefficient of static friction μ of the first arm segment 1111 relative to the second arm segment 1112 satisfies: mu is more than or equal to 0.02 and less than or equal to 0.05. Illustratively, in some embodiments, μmay have a value of one of 0.02, 0.03, 0.04, 0.05.

Corresponding to the arrangement of the first clamping arm 111 and the second clamping arm 112, see fig. 1-2, in some embodiments the second clamping arm 112 may comprise a third arm segment 1121 and a fourth arm segment 1122. The third arm segment 1121 may be used to clamp a workpiece in conjunction with the first arm segment 1111. The third arm segment 1121 may be slidably coupled to the fourth arm segment 1122, and the third arm segment 1121 is slidable relative to the fourth arm segment 1122 in the second direction Y. It will be appreciated that the arrangement of the third and fourth arm segments 1121, 1122 described above is similar to the arrangement of the first and second arm segments 1111, 1112, except that it is provided on the second clamping arm 112, which may also facilitate pressure transfer via a sliding connection.

The third arm segment 1121 and the fourth arm segment 1122 are provided. Referring to fig. 1-2, in some embodiments, the clamping device 100 further includes a second sensing portion 140, the second sensing portion 140 being connectable to the third arm segment 1121. The second sensor 140 is configured to obtain a second pressure value corresponding to the third arm segment 1121 during sliding of the third arm segment 1121 relative to the fourth arm segment 1122 in the second direction Y. It will be appreciated that the arrangement of the second sensing portion 140 is similar to the arrangement of the first sensing portion 130, except that the second sensing portion 140 is connected to the third arm segment 1121. In this embodiment, the first sensing portion 130 may separately monitor the first pressure value, and the second sensing portion 140 may separately monitor the second pressure value. Through the arrangement of the first arm segment 1111, the second arm segment 1112, the third arm segment 1121 and the fourth arm segment 1122, the first arm segment 1111 and the third arm segment 1121 can move relatively to clamp a workpiece, and the first sensing portion 130 and the second sensing portion 140 can respectively monitor the first pressure value corresponding to the first arm segment 1111 and the second pressure value corresponding to the second arm segment 1112, thereby improving the pressure monitoring accuracy. In other embodiments, the first sensing portion 130 may be coupled to both the first arm segment 1111 and the third arm segment 1121 such that the first sensing portion 130 is capable of simultaneously monitoring the first pressure value and the corresponding second pressure value of the third arm segment 1121.

To ensure that the clamping force of the clamping device 100 on the workpiece is acceptable after clamping. In some embodiments, the clamping device 100 may further include a third sensing portion 150 and an abutment 160. The third sensing portion 150 may be connected to the second arm segment 1112 and the abutment 160 may be connected to the second clamp arm 112. The abutment 160 may be located at one side of the third sensing part 150 in the first direction X. The first clamping arm 111 is movable in the first direction X and approaches the second clamping arm 112 so that the third sensing portion 150 abuts against the abutment 160. It is understood that the third sensing portion 150 can abut against the abutment 160 during the movement of the first clamping arm 111 in the first direction X and approaching the second clamping arm 112 (which may be the simultaneous relatively approaching movement of the first clamping arm 111 and the second clamping arm 112). The third sensor 150 is configured to acquire a third pressure value corresponding to the third sensor 150 when the third sensor 150 abuts on the abutment 160. It can be appreciated that, the above-mentioned third sensor 150 and the arrangement of the abutting piece 160 can enable the first clamping arm 111 and the second clamping arm 112 to simultaneously enable the third sensor 150 to abut against the abutting piece 160 in the clamping state, and through pressure conduction, the third pressure value can reflect the clamping force of the first clamping arm 111 and the second clamping arm 112, so that the pressure value of the product clamped can be monitored, the phenomenon that the product is clamped or not clamped due to loosening of the cylinder or the mechanism is predicted in advance, and the loss of the falling product is avoided. It will be appreciated that the abutment 160 serves to limit the third sensing portion 150 and is capable of applying pressure to the third sensing portion 150 to reflect the clamping force. Thus, the abutment 160 may be made of a metallic material, providing monitoring accuracy for reducing damage to the abutment surface, and in some embodiments, the wall of the abutment 160 for abutting the third sensor 150 may be lined with a rubber layer, or subjected to a slip-resistant wear-resistant treatment.

The clamping device 100 further includes a third sensor 150 and an abutment 160. In order to control corresponding to the third pressure value. In some embodiments, the clamping device 100 may further include a control assembly, which may be coupled to the drive assembly 120. It will be appreciated that the control assembly of this embodiment is similar to the embodiments described above, and can be used to control for the third pressure value.

The control assembly may have a different control scheme for the third pressure value. After the clamping device 100 has properly clamped to the workpiece, and during movement of the clamping device 100, the clamping force of the clamping device 100 against the workpiece may be greater or lesser due to various factors. In order to detect this phenomenon, in a first aspect embodiment, the control assembly has a set pressure range. The third sensing portion 150 may be configured to send a second signal to the control assembly in response to the third pressure value being greater than a maximum value of the set pressure range or the third pressure value being less than a minimum value of the set pressure range. The control assembly may be configured to control the drive assembly 120 to stop driving the second arm segment 1112 in response to acquiring the second signal. The pressure range may be a pressure range corresponding to a clamping force range for normally clamping the workpiece. It can be appreciated that in the present embodiment, when the third pressure value deviates from the normal clamping force range (when the clamping force is larger or smaller), the third sensing portion 150 sends the second signal to the control assembly, and after the control assembly obtains the second signal, the control driving assembly 120 stops driving the second arm segment 1112, so that the phenomenon of clamping injury or product clamping failure caused by loosening of the cylinder or the mechanism can be predicted, and loss can be avoided in time.

As the clamping device 100 is driven by the drive assembly 120 to clamp a workpiece by the second arm segment 1112, the clamping device 100 may not properly clamp the workpiece or the clamping force may be greater or lesser due to various factors. To detect this phenomenon, in a second aspect embodiment, the third sensing portion 150 may be configured to send a third signal to the control assembly in response to the third pressure value being greater than the second set point. The control assembly is configured to control the drive assembly 120 to stop driving the second arm segment in response to acquiring a third signal, the third signal being used to indicate an abnormality in the position of the clamping device 100 and/or the third signal being used to indicate an abnormality in the specification of the workpiece and/or the third signal being used to indicate an abnormality in the configuration of the drive assembly 120. It will be appreciated that the third signal is representative of when the clamping force is greater than the upper limit and the product is not properly grasped, and that specific reasons may include: 1. the workpiece is not grasped (due to positional considerations/anomalies in the drive assembly 120) 2. The workpiece is undersized so that the clamping force is entirely on the sensor. Similarly, the control assembly may be further configured to control the drive assembly to stop driving the second arm segment in response to obtaining a fourth signal for prompting that the specification of the workpiece is abnormal; and/or, the fourth signal is used to alert the drive assembly 120 of a configuration anomaly. It will be appreciated that the fourth signal is representative of the clamping force being less than the lower limit value, and that specific reasons may include: 1. the driving assembly 120 is abnormal (air leakage of the air cylinder, seizing inside the driving assembly 120, loosening of the clamping jaw, breakage, etc.) 2. The workpiece is oversized, and the clamping force is entirely dropped on the workpiece, so that the sensing value of the third sensing portion 150 is small or none.

After the clamping device 100 has properly clamped to the workpiece, the clamping force can be adjusted in real time in response to the phenomenon that the clamping force is too large or too small. Thus, in a third aspect of the embodiment, the third sensing portion 150 may be configured to send a third signal to the control assembly in response to the third pressure value being greater than the second set point, the control assembly being configured to control the drive assembly 120 to increase the minimum distance of the first clamping arm 111 from the second clamping arm 112 in the first direction X in response to acquiring the third signal. The second set point may be a maximum pressure value set at normal clamping. It can be appreciated that in this embodiment, when the third pressure value is greater than the second set value (the clamping force is greater at this time), the third sensing portion 150 sends a third signal to the control component, and after the control component obtains the third signal, the control component 120 is controlled to increase the minimum distance between the first clamping arm 111 and the second clamping arm 112 along the first direction X, and the clamping force can be reduced while increasing the clamping arm distance, so that the clamping force can be reduced in real time when the clamping force is greater, so as to reduce the risk of clamping the workpiece. Similarly, the third sensing portion 150 may be further configured to send a fourth signal to the control assembly in response to the third pressure value being less than the third set point. The control assembly is configured to control the drive assembly 120 to decrease the minimum distance of the first clamping arm 111 and the second clamping arm 112 in the first direction X in response to acquiring the fourth signal. The third set point may be a minimum pressure value set at normal clamping. It can be appreciated that in the present embodiment, when the third pressure value is smaller than the third set value (the clamping force is smaller at this time), the third sensing portion 150 sends the third signal to the control component, and after the control component obtains the third signal, the control component controls the driving component 120 to reduce the minimum distance between the first clamping arm 111 and the second clamping arm 112 along the first direction X, and the clamping force can be increased while the clamping arm distance is reduced, so that the clamping force can be conveniently increased in real time when the clamping force is smaller, so as to reduce the risk of dropping the workpiece.

The foregoing description of the preferred embodiments of the present utility model should not be construed as limiting the scope of the utility model, but rather as utilizing equivalent structural changes made in the description and drawings of the present utility model or directly/indirectly applied to other related technical fields under the application concept of the present utility model.

Claims (10)

1. A clamping device for clamping a workpiece, the clamping device comprising:

The clamping assembly comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm can move relatively along a first direction so as to clamp or release the workpiece, the first clamping arm comprises a first arm section and a second arm section, the first arm section is used for clamping the workpiece together with the second clamping arm, the first arm section is connected with the second arm section in a sliding manner, and the first arm section can slide along a second direction perpendicular to the first direction relative to the second arm section;

A drive assembly coupled to the second arm segment, the drive assembly configured to drive the second arm segment in the second direction;

The first sensing part is connected to the first arm segment and is configured to acquire a first pressure value corresponding to the first arm segment in the process that the first arm segment slides along the second direction relative to the second arm segment.

2. The clamping device as claimed in claim 1, characterized in that,

The clamping device further comprises a control assembly connected to the driving assembly, the first sensing portion is configured to send a first signal to the control assembly in response to the first pressure value being greater than a first set value, and the control assembly is configured to control the driving assembly to stop driving the second arm segment in response to acquiring the first signal.

3. The clamping device as claimed in claim 1, characterized in that,

The second direction is also parallel to the direction in which the end of the first arm segment facing away from the second arm segment points toward the second arm segment.

4. The clamping device as claimed in claim 1, characterized in that,

The maximum coefficient of static friction μ of the first arm segment relative to the second arm segment satisfies: mu is more than or equal to 0.02 and less than or equal to 0.05.

5. The clamping device as claimed in claim 1, characterized in that,

The second clamping arm comprises a third arm section and a fourth arm section, the third arm section is used for clamping the workpiece together with the first arm section, the third arm section is in sliding connection with the fourth arm section, and the third arm section can slide along the second direction relative to the fourth arm section.

6. The clamping device as claimed in claim 5, characterized in that,

The clamping device further comprises a second sensing part, the second sensing part is connected to the third arm section, and the second sensing part is configured to obtain a second pressure value corresponding to the third arm section in the process that the third arm section slides along the second direction relative to the fourth arm section.

7. The clamping device as claimed in claim 1, characterized in that,

The clamping device further comprises a third sensing portion and an abutting piece, the third sensing portion is connected to the second arm section, the abutting piece is connected to the second clamping arm, the abutting piece is located on one side of the third sensing portion along the first direction, the first clamping arm can move along the first direction and is close to the second clamping arm, so that the third sensing portion abuts against the abutting piece, and the third sensing portion is configured to obtain a third pressure value corresponding to the third sensing portion when the third sensing portion abuts against the abutting piece.

8. The clamping device as claimed in claim 7, characterized in that,

The clamping device further comprises a control assembly connected to the drive assembly, the control assembly having a set pressure range, the third sensing portion configured to send a second signal to the control assembly in response to the third pressure value being greater than a maximum value of the set pressure range or the third pressure value being less than a minimum value of the set pressure range;

The control assembly is configured to control the drive assembly to stop driving the second arm segment in response to acquiring the second signal.

9. The clamping device as claimed in claim 7, characterized in that,

The clamping device further comprises a control assembly connected to the driving assembly, the third sensing part is configured to send a third signal to the control assembly in response to the third pressure value being larger than a second set value, and the control assembly is configured to control the driving assembly to stop driving the second arm segment in response to the third signal being acquired;

the third signal is used for prompting abnormal position of the clamping device, and/or prompting abnormal specification of the workpiece, and/or prompting abnormal configuration of the driving assembly.

10. The clamping device as claimed in claim 7, characterized in that,

The clamping device further comprises a control assembly connected to the driving assembly, the third sensing part is configured to send a fourth signal to the control assembly in response to the third pressure value being smaller than a third set value, and the control assembly is configured to control the driving assembly to stop driving the second arm segment in response to the fourth signal being acquired;

The fourth signal is used for prompting abnormal specification of the workpiece and/or prompting abnormal configuration of the driving assembly.