TWI681850B - Clamping device with shock absorption effect - Google Patents

Abstract

The invention is a clamping device with shock absorption effect, which has an adapter seat connected with a mechanical arm, the first plate body of the adapter seat is provided with a plurality of upper through holes, and the first plate body is provided with a first An elastic body, a second elastic body is provided in each of the upper through holes, and a clamping jaw flange is provided on one side, a clamping jaw group is connected to one side, and a third elastic body is provided between the other side and the first plate body , A plurality of bolts are also provided, each of which can penetrate the first elastic body, the first plate body, the second elastic body, the third elastic body and the clamping jaw flange, and is combined and fixed with a nut, the clamping jaws are grouped in When clamping the object to be processed, the high-frequency force generated can reduce the damage to the joints of the robotic arm by the shock-absorbing buffer effect formed by each elastic body.

Description

Clamping device with shock absorption effect

The invention is a clamping machine tool, especially a clamping device provided with a shock-absorbing structure on the clamping machine tool.

The processing tool of the prior art generally includes a clamping mechanism and a cutting tool, that is, the clamping mechanism is used to clamp and position the object to be processed, and then the cutting tool to be processed in conjunction with the set tool is processed. There are many types of clamping mechanism, for example: cooperate with the mechanical arm assembled on the cutting machine of automatic processing, this type of mechanical arm is connected by multiple joints, in order to clamp the object to be processed on the plane or three degrees Move in space. The structure of the robotic arm is equipped with components such as controllers, servo mechanisms, sensors, etc., and then the set specified actions are generated according to the operation requirements through the program. For example, the robotic arm is used to clamp and fix the objects to be processed from the material area and move to In the processing area, at this time, the object to be processed is cut and processed with a cutter, and the finished product is transferred to the finished product area after completion, so it is an automated completion of the processing of the object.

In the aforementioned joint multi-axis robotic arm, one end of the robotic arm is a fixed end and the other end is a clamping end. The fixed end is assembled on the processing tool. After the clamping end of the other end is driven, the clamp can be clamped by each joint structure. The holding end moves to the set position to take the material to be processed, or to the processing area for processing and cutting or to move the product to the finished area, but because the structure and joints of the robot arm are made of rigid materials, during processing The generated high-frequency force will directly act on the joint of the robot arm. For example, in the case of a robot arm with a six-axis joint axis, the joints 5 and 6 near the clamping end will be most likely to be affected by high-frequency force or The vibration force is destroyed, which is a disadvantage of the prior art joint multi-axis mechanical arm.

The inventor recreated the shortcomings of the aforementioned prior art mechanical arm. By setting the elastic member with a buffer function as a medium, the mechanical arm can reduce the high frequency generated during processing when clamping the object to be processed The damage caused by the force on the mechanical arm is its purpose.

In order to achieve the aforementioned object, the technical means used in the present invention is to provide a clamping device with a shock absorption effect, which includes an adapter, a first elastic body, a plurality of second elastic bodies, and a third elastic body , A clamping jaw flange and a clamping jaw set; the adapter seat has a first plate body and a plurality of bolts, the first plate body is provided with a plurality of upper through holes; the first elastic body is a piece and has elasticity , A plurality of perforations are formed through the periphery thereof, each of the perforations corresponds to each of the upper through holes; each second elastic body of each second elastic body is a hollow cylinder and has elasticity, and has a rod hole therethrough, The outer diameter of the second elastic body is smaller than the diameter of the upper through-hole, and its height is greater than the thickness of the first plate body provided with the upper through-hole; the third elastic body is one piece and has elasticity, and its peripheral edge is provided with A plurality of perforations, each of which corresponds to each of the upper through holes of the first plate body; the jaw flange is a plate body, and a plurality of lower through holes are penetrated through the periphery of the plate body; one end of each of the bolts can be penetrated In each of the perforations of the first elastic body, each of the upper through holes of the first plate body, each of the rod holes of the second elastic body, each of the perforations of the third elastic body and each of the jaw flanges The lower through hole is combined and fixed with a nut; one end of the clamping jaw group is connected and fixed on the clamping jaw flange.

The clamping device with shock absorption effect further includes a plurality of washers and a plurality of flat washers, each of which is respectively disposed between one end of the stud and the first elastic body and the second elastic body. Each flat washer of the flat washer is located in the perforation of the third elastic body and between the washer and the plate body of the jaw flange.

In the clamping device with shock absorption effect, one end of the second elastic body is located in the perforation of the first elastic body, and the other end is located on the flat washer and the third elastic body.

In the clamping device with shock absorption effect, the seat body of the adapter base has a hollow cylinder, the first plate body is located at one end of the hollow cylinder and is disc-shaped, and the other end is connected to a disc A second plate body shaped like a second arm is connected to a mechanical arm.

In the clamping device with shock absorption effect, wherein the shape of the first elastic body is an annular sheet body, and corresponds to the shape of the first plate body of the adapter, the center of the first elastic body has A middle hole is sleeved on the hollow cylinder of the adapter.

In the clamping device with shock absorption effect, wherein the clamping jaw set has a body, two opposite sides of one end of the body are respectively provided with a clamping jaw with a finger, and the plate body of the clamping jaw flange is provided with a plurality of screw holes At the other end of the body, a plurality of fixing pieces penetrate the body and the plurality of screw holes of the jaw flange are combined and fixed to each other.

According to the application of the aforementioned technical means, the present invention is provided with a first elastic body and a second elastic body due to the adapter seat connected to the mechanical arm, the jaw flange and the jaw set used to clamp the object to be processed The elastic parts such as the body and the third elastic body enable the high-frequency acting force or vibration force generated during the processing of the object to be processed to be transmitted to the clamping jaw flange and the adapter seat through the clamping jaw set. The elastic material of the body is used as a medium to form a buffering effect to reduce the high-frequency force generated in the working environment, so that the joints of the mechanical arm will not be damaged.

As shown in FIGS. 1 and 2, the clamping device with shock absorption effect of the present invention includes an adaptor 10, a first elastic body 20, a plurality of second elastic bodies 30, a third elastic body 40, a The clamping jaw flange 50 and a clamping jaw group 60.

The adapter base 10 has a base 11 and a plurality of bolts 12, one end of the base 11 is a first plate 111, and the first plate 111 of the base 11 is provided with a plurality of upper through holes 112, each of which The hole 112 surrounds the periphery of the first plate body 111, each of the bolts 12 can be sleeved with a washer 121, as shown in FIG. 5, the other end of the base body 11 of the adapter base 10 can be connected to a robot arm 70 The connection is fixed. This structure is not described in detail in the prior art. As shown in the figure, one of the specific embodiments of the adaptor base 10 is that the seat body 11 of the adaptor base 10 has a hollow cylinder and two ends are respectively connected A first plate 111 and a second plate 113 in the shape of a disk are connected to the robot arm 70.

With reference to FIG. 3 and FIG. 4, the first elastic body 20 is one piece and has elasticity. The first elastic body 20 has a middle hole 21 in the center, a plurality of perforations 22 are penetrated through the periphery, and 21 sets of the middle holes The hollow cylinder provided in the adaptor 10 and each of the through holes 22 correspond to each of the upper through holes 112, and each of the bolts 12 can pass through each of the through holes 22 and each of the upper through holes 112; as shown in the figure In the specific embodiment shown, the shape of the first elastic body 20 is an annular sheet, and corresponds to the shape of the first plate 111 of the seat 11 of the adaptor 10.

Each second elastic body 30 of each second elastic body 30 is a hollow cylinder and has elasticity, and has a rod hole 31 therethrough, the second elastic body 30 can be placed on the first plate body 111 In the through hole 112, one end of the bolt 12 can penetrate the rod hole 31 of the second elastic body 30; and the outer diameter of the second elastic body 30 is smaller than the diameter of the upper through hole 112, the height of the second elastic body 30 It is greater than the thickness of the first plate 111 provided with the upper through-hole 112, and one end of the second elastic body 30 is located in the through hole 22 of the first elastic body 20.

The third elastic body 40 is a piece and has elasticity, and a plurality of perforations 41 are penetrated through the periphery thereof, each of the perforations 41 corresponds to each of the upper through holes 112 of the first plate 111, and each of the perforations A flat washer 42 is provided in 41, and the other end of the second elastic body 30 is located on the flat washer 42 and the third elastic body 40. One end of the bolt 12 can penetrate the flat washer 42 located in the through hole 41; The first elastic body 20, each of the second elastic body 30 and the third elastic body 40 can be made of rubber (NBR), excellent rubber (PU), fluoroelastomer (FPM), high molecular polyethylene (UPE), polymer Made of PEEK, Teflon, plastic steel (POM), nylon 66 (MC), polypropylene (PP) or polyethylene (PVC).

The jaw flange 50 is a plate body and has a shape corresponding to the first plate body 111. A plurality of lower through holes 51 and a plurality of screw holes 510 are provided through the periphery of the plate body of the jaw flange 50 The hole 51 corresponds to each of the through holes 41 of the third elastic body 40 and each of the upper through holes 112 of the first plate body 111, one end of the aforementioned bolt 12 can penetrate through the lower through hole 51 again, and a spring is sleeved The washer 521 is combined with a nut 52 to fix it. After the aforementioned assembly is completed, due to the combination and fixing of the bolt 12 and the nut 52, the first elastic body 20, the second elastic body 30, and the third elastic body 40 may be slightly deformed when pressed.

The jaw set 60 has a body 61. Two opposite sides of one end of the body 61 are respectively provided with a jaw 62 with a finger 63. The other end of the body 61 penetrates the body 61 and the jaw flange 50 with a plurality of fixing members 64. The plural screw holes 510 are combined and fixed with each other. When the two fingers 63 corresponding to the position are driven to move away from or approach each other, the two jaws 62 can have a clamping or releasing effect. This part of the structure is not detailed in the prior art. Narrate.

With reference to FIG. 5, it is a schematic diagram of a robot arm 70 assembled according to the present invention. In the present invention, the second plate 113 of the adapter 10 and the robot arm 70 are connected to each other by different axial directions of the robot arm 70. Joints to drive the invention to clamp the object to be processed by the clamping jaw set 60 and move to the set processing position to perform various processing, although vibration occurs during the processing, but because the invention is installed in the connecting seat The first elastic body 20, the second elastic body 30, and the third elastic body 40 between the jaw flange 50 and the third elastic body, that is, the elastic material characteristics of each elastic body are used as a medium to reduce the working environment High-frequency forces cause damage to the joints of the robotic arm.

10‧‧‧Adapter 11‧‧‧Body 111‧‧‧The first plate 112‧‧‧Upper hole 113‧‧‧Second plate 12‧‧‧bolt 121‧‧‧washer 20‧‧‧First elastomer 21‧‧‧Medium hole 22‧‧‧Perforation 30‧‧‧Second elastomer 31‧‧‧Pole hole 40‧‧‧third elastomer 41‧‧‧Perforation 42‧‧‧flat washer 50‧‧‧Jaw flange 51‧‧‧Lower through hole 510‧‧‧Screw hole 52‧‧‧Nut 521‧‧‧Spring washer 60‧‧‧Jaw group 61‧‧‧Body 62‧‧‧Jaw 63‧‧‧ finger 64‧‧‧Fixed parts 70‧‧‧Robot

FIG. 1 is a perspective external view of the present invention. 2 is an exploded perspective view of the present invention. 3 is a cross-sectional view of the present invention. 4 is an enlarged view of a part of the cross section of the present invention. 5 is a schematic diagram of the invention assembled on a robot arm.

10‧‧‧Adapter

11‧‧‧Body

111‧‧‧The first plate

12‧‧‧bolt

121‧‧‧washer

20‧‧‧First elastomer

30‧‧‧Second elastomer

40‧‧‧third elastomer

50‧‧‧Jaw flange

51‧‧‧Lower through hole

52‧‧‧Nut

60‧‧‧Jaw group

61‧‧‧Body

62‧‧‧Jaw

63‧‧‧ finger

Claims (6)

A clamping device with shock absorption effect includes an adapter seat, a first elastic body, a plurality of second elastic bodies, a third elastic body, a clamping jaw flange and a clamping jaw group; The adapter seat has a first plate body and a plurality of bolts, and the first plate body is provided with a plurality of upper through holes; The first elastic body is a piece and has elasticity, and a plurality of perforations are formed through the periphery of the first elastic body, and each of the perforations corresponds to each of the upper through holes; Each second elastic body of each second elastic body is a hollow cylinder and has elasticity, and has a rod hole therethrough, the outer diameter of the second elastic body is smaller than the diameter of the upper through hole, and its height is greater than The thickness of the first plate body of the upper through hole; The third elastic body is a piece and has elasticity, and a plurality of perforations are penetrated through the periphery thereof, and each of the perforations corresponds to each of the upper through holes of the first plate body; The clamping jaw flange is a plate body, and a plurality of lower through holes are penetrated through the periphery of the plate body; One end of each bolt can be penetrated through each perforation of the first elastic body, each upper through hole of the first plate body, each rod hole of the second elastic body, each perforation of the third elastic body and the Each lower through hole of the jaw flange is combined and fixed with a nut; One end of the clamping jaw set is connected and fixed on the clamping jaw flange. The clamping device with shock absorption effect as described in claim 1, further comprising a plurality of washers and a plurality of flat washers, each of which is respectively disposed at one end of the stud and the first elastic body and the second elastic body In the meantime, each flat washer of each flat washer is located in the perforation of the third elastic body and between the washer and the plate body of the jaw flange. The clamping device with shock absorption effect as described in claim 2, wherein one end of the second elastic body is located in the perforation of the first elastic body, and the other end is located on the flat washer and the third elastic body. The clamping device with shock absorption effect as described in any one of claims 1 to 3, wherein the base of the adapter has a hollow cylinder, and the first plate body is located at one end of the hollow cylinder and is round A disk-shaped, the other end is connected with a second plate body in the shape of a disk, and the second plate body is connected with a mechanical arm. The clamping device with shock absorption effect as described in claim 4, wherein the shape of the first elastic body is an annular piece, and corresponds to the shape of the first plate body of the adapter, the first elastic The center of the body has a hollow hole, and the hollow hole is sleeved on the hollow cylinder of the adapter. The clamping device with shock absorption effect as described in claim 5, wherein the clamping jaw set has a body, two opposite sides of one end of the body are respectively provided with a clamping jaw with a finger, and the plate body of the clamping jaw flange is provided There are a plurality of screw holes, and the other end of the body is penetrated by a plurality of fixing pieces and the plurality of screw holes of the jaw flange are combined and fixed with each other.

Images