WO2020119529A1 - 零件装夹装置 - Google Patents

零件装夹装置 Download PDF

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Publication number
WO2020119529A1
WO2020119529A1 PCT/CN2019/122749 CN2019122749W WO2020119529A1 WO 2020119529 A1 WO2020119529 A1 WO 2020119529A1 CN 2019122749 W CN2019122749 W CN 2019122749W WO 2020119529 A1 WO2020119529 A1 WO 2020119529A1
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WO
WIPO (PCT)
Prior art keywords
clamping block
push rod
clamping device
mounting plate
positioning tube
Prior art date
Application number
PCT/CN2019/122749
Other languages
English (en)
French (fr)
Inventor
徐耀辉
何凯
赵文亮
Original Assignee
深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳先进技术研究院 filed Critical 深圳先进技术研究院
Publication of WO2020119529A1 publication Critical patent/WO2020119529A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine

Definitions

  • the invention belongs to the technical field of clamps, and particularly relates to a part clamping device.
  • the automatic manipulator uses pneumatic clamps to automatically grab the parts on the workbench, and the automation of parts handling and clamping can not only meet the production requirements of large quantities and multiple processes, but also reduce health hazards and the occurrence of safety accidents.
  • automatic fixtures mostly use a driving device such as a pendulum cylinder or a motor to drive the attachment to rotate at a certain angle to achieve the clamping of parts.
  • the current mainstream automatic fixtures have the following disadvantages: (1) The structure is complicated and the volume is large. The main body of the driving device such as the motor and the swing rod cylinder is large, and the attachments that achieve clamping make the structure of the entire automatic fixture complicated, and the volume is further increased. The huge volume is easy to cause interference and collision with other parts during the automated operation. (2) The fixture is heavy. The heavier driving device and accessories increase the load of the mechanical arm, which greatly reduces the load capacity of the robot. (3) The precision of the fixture is low.
  • Existing automatic fixtures are often assembled from multiple sets of components, which have large cumulative errors and low clamping accuracy. It is only suitable for general working conditions such as transportation, and it cannot complete fine operations such as clamping and grinding of small parts.
  • An object of the present invention is to provide a part clamping device, which aims to solve the technical problems of the automatic clamp structure in the prior art that is complicated in structure and low in clamping accuracy.
  • a part clamping device provided by an embodiment of the present invention includes a fixing frame, a supporting frame, a driving member, a positioning tube, a push rod, and a clamping block.
  • the supporting frame and the driving member are both installed on On the fixing frame, the positioning tube is installed on the support frame, the first end of the push rod is connected to the driving end of the driving member, and the second end penetrates into the positioning tube, the positioning tube A positioning head is provided at the end of the mounting head, the positioning head is provided with mounting grooves at both ends, the clamping block is disposed in the mounting groove, and the clamping block is provided with An arc-shaped groove extending at the second end, and a limit bar connected at two ends to the two opposite inner walls of the mounting groove are penetrated in the arc-shaped groove, the second end of the clamping block and the push rod The second end of the clamp is connected in rotation, and the clamping block follows the telescopic movement of the push rod to guide the arc groove and the end surface of the first end of the
  • the driving member is a screw cylinder, and the first end of the push rod is connected to the piston rod of the screw cylinder.
  • the clamping block has an arc shape, and the end surface of the first end of the clamping block is an arc surface.
  • the second end of the clamping block is provided with a shaft hole, and the shaft hole is provided with a rotating shaft connected at both ends to the first end of the push rod.
  • the positioning head has a square shape, and all four corners of the positioning head are provided with chamfered surfaces.
  • a positioning ring surrounding the periphery of the clamping block is provided on the positioning tube.
  • an end plate of the positioning tube relative to the positioning head is provided with a connecting plate, and the connecting plate is connected to the support frame.
  • the support frame includes at least three inclined support members, each of the inclined support members surrounds the side of the positioning tube and is arranged at equal intervals, and the first end of the inclined support member and the positioning tube The second end is connected to the fixing frame.
  • the fixing frame includes an upper mounting plate, a lower mounting plate, and a plurality of connecting posts connected between the upper mounting plate and the lower mounting plate, and the driving member is mounted on the upper mounting plate and The two ends respectively protrude from opposite sides of the upper mounting plate, and the support frame is connected to a side of the upper mounting plate facing away from the lower mounting plate.
  • multiple mounting holes are provided on the lower mounting plate.
  • the above one or more technical solutions in the part clamping device provided by the embodiments of the present invention have at least one of the following technical effects: when specifically used, the positioning head provided at the end of the positioning tube is controlled to extend into the hole of the part to be clamped Then, the drive member is used to control the extension of the push rod. When the push rod is extended, it pushes the clamping block connected to the second end of the push rod.
  • the clamping block is provided with a limit rod on the arc groove.
  • the clamping block When the force of the push rod is applied, the clamping block slides with the arc groove as a guide until the end surface of the first end of the clamping block protrudes beyond the opening of one side of the mounting groove of the positioning head, because the positioning head is located on the part In the hole, then the end face of the first end of the clamping block that protrudes beyond the opening of the mounting groove will abut on the inner wall in the hole, and finally the clamping part is realized.
  • the component clamping device of the present invention has a simple structure, and the inner wall of the hole of the component is clamped by extending into the hole of the component to improve the clamping accuracy of the component, even if the component has a complex curved surface or a small volume, as long as the component has a hole , You can clamp it.
  • FIG. 1 is a schematic structural diagram of a part clamping device provided by an embodiment of the present invention.
  • FIG. 2 is a partial cross-sectional view of a part clamping device provided by an embodiment of the present invention.
  • FIG. 3 is an exploded schematic view of the structure of a part clamping device provided by an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a positioning tube of a part clamping device provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a clamping block of a part clamping device provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a component clamping device provided by an embodiment of the present invention when a component is clamped.
  • the first horizontal section 212 The second horizontal section 213—The vertical section
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
  • the features defined as “first” and “second” may explicitly or implicitly include one or more of the features.
  • the meaning of “plurality” is two or more, unless otherwise specifically limited.
  • the terms “installation”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be fixedly connected or may be Disassembly connection or integration; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediary, it can be the connection between two components or the interaction between two components.
  • a part clamping device provided by an embodiment of the present invention is suitable for clamping a part 100 having a hole, even if the part 100 has a complex curved surface or The small size can still achieve high-precision clamping.
  • the part clamping device includes a fixing frame 10, a supporting frame 20, a driving member 30, a positioning tube 40, a push rod 50 and a clamping block 60.
  • the supporting frame 20 and the driving member 30 are both installed on the fixing frame 10.
  • the fixing frame 10 is used to fix and make the installation of the driving member 30 and the supporting frame 20.
  • the positioning tube 40 is installed on the support frame 20.
  • the positioning tube 40 is a pipe with a hollow hole, and is fixed by the support frame 20.
  • the first end of the push rod 50 is connected to the driving end of the driving member 30, and the second end penetrates into the hollow hole of the positioning tube 40.
  • the driving member 30 can drive the component connected to it through the driving end to follow
  • a positioning head 41 is provided at the end of the positioning tube 40.
  • the end of the positioning tube 40 refers to the end connected to the support frame 20.
  • the positioning head 41 is provided with mounting grooves 411 that are open at both ends, the clamping block 60 is disposed in the mounting groove 411, and the volume of the clamping block 60 is smaller than the mounting groove 411 Volume in the groove, so that the clamping block 60 can move in the installation groove 411.
  • the clamping block 60 is provided with an arc-shaped groove 61 extending from its first end toward its second end, that is, the arc-shaped groove 61 has a certain length and curvature.
  • the arc-shaped groove 61 is provided with limit rods 70 at both ends connected to opposite inner walls of the mounting groove 411 respectively. Both ends of the limit rod 70 extend beyond the opposite sides of the clamping block 60.
  • the second end of the clamping block 60 is rotatably connected to the second end of the push rod 50, and the clamping block 60 moves with the arc groove 61 as a guide along with the telescopic movement of the push rod 50 and The end surface of the first end of the clamping block 60 can protrude beyond the opening of the mounting groove 411.
  • the positioning head 41 provided at the end of the positioning tube 40 is controlled to extend into the hole 101 of the component 100 to be clamped, and then controlled by the driving member 30
  • the push rod 50 is extended, and when the push rod 50 is extended, it pushes the clamping block 60 connected to the second end of the push rod 50.
  • the clamping block 60 is provided with a limiting rod 70 through its arc groove 61 to clamp
  • the clamping block 60 slides with the arc groove 61 as a guide until the end surface of the first end of the clamping block 60 protrudes from the side of the mounting groove 411 of the positioning head 41 and opens
  • the positioning head 41 is located in the hole 101 of the part 100, the end surface of the first end of the clamping block 60 protruding outside the opening of the mounting groove 411 will abut on the inner wall in the hole, and finally the clamping part is realized 100.
  • the component clamping device of the present invention has a simple structure, and by extending into the hole 101 of the component 100 to clamp the inner wall of the hole 101 of the component 100, the clamping accuracy of the component 100 is improved even if the component 100 has a complex curved surface or a relatively large volume Small, as long as the part 100 has a hole, it can be clamped.
  • the part clamping device when the part clamping device provided by the embodiment of the present invention is in operation, it can be connected to the fixing frame 10 through the robot manipulator, receive a designated signal through the robot, the controller manipulator reaches the designated position according to the instruction, and issues a gripping signal.
  • the driving member 30 extends and pushes the push rod 50 to move forward, and the push rod 50 drives the clamping block 60 to rotate around the rotational connection with the push rod 50, thereby clamping the part 100.
  • the mounting groove 411 provided on the positioning head 41 of the part clamping device is a flat groove, which can be specifically milled out by a machine tool.
  • the driving member 30 of the part clamping device is a screw cylinder, the first end of the push rod 50 and the piston rod of the screw cylinder connection.
  • the screw cylinder has the advantage of small volume, making it a driving member 30 that is easy to be integrated in the center of the clamping device, and is convenient for the process of grasping, carrying, and even grinding the smaller part 100. It can avoid contact with other parts of the part 100 more.
  • the driving member 30 of the part clamping device may be a motor or an electric cylinder.
  • the clamping block 60 of the part clamping device has an arc shape.
  • the clamping block 60 having an arc shape may be installed in the mounting groove 411
  • the inner eccentric swing can effectively enable the first end to protrude from the opening on one side of the mounting groove 411 during the swing process.
  • the end surface of the first end of the clamping block 60 is an arc-shaped surface 62. Since the end surface of the first end of the clamping block 60 is an arc-shaped surface 62, when it comes into contact with the inner wall of the hole 101 of the part 100 When connected, the damage to the part 100 can be reduced and the integrity of the part 100 can be ensured. At the same time, when it is necessary to release the clamping of the part 100, the clamping block 60 is also more easily out of contact with the part 100.
  • the second end of the clamping block 60 of the part clamping device is provided with a shaft hole 63
  • the shaft hole 63 is provided with A rotating shaft 80 connected at both ends to the first end of the push rod 50.
  • the cooperation between the shaft hole 63 and the rotating shaft 80 can enable the clamping block 60 to rotate relative to the rotating shaft 80, thereby enabling the clamping block 60 to rotate relative to the push rod 50.
  • the positioning head 41 of the part clamping device has a square shape, specifically, the positioning head 41 having a square shape extends into the hole of the part 100
  • the time of 101 can be more favorable for positioning the part 100 and improve the positioning accuracy of the part 100.
  • the four corners of the positioning head 41 are all provided with a chamfered surface 412.
  • the setting of the chamfered surface 412 is similar to the arc-shaped surface 62 provided on the clamping block 60 to prevent the positioning head 41 from damaging the empty inner wall of the part 100 and protect the integrity of the part 100.
  • the positioning tube 40 of the part clamping device is provided with a positioning ring 42 surrounding the periphery of the clamping block 60.
  • the positioning ring 42 can be set to extend the depth of the positioning head 41 into the hole 101 of the part 100, that is, when the positioning ring 42 abuts on the part 100, the depth of the positioning head 41 extending further into the hole is defined It can avoid collision damage to the part 100 because the depth of the positioning head 41 extending into the hole 101 of the part 100 is too large.
  • the positioning tube 40 of the part clamping device is provided with a connecting plate 43 at an end relative to the positioning head 41, the connecting plate 43 Connected with the support frame 20.
  • the arrangement of the connecting plate 43 can increase the contact area of the positioning tube 40 and the support frame 20, thereby increasing the stability and reliability of the connection of the positioning tube 40 and the support frame 20.
  • the support frame 20 of the part clamping device includes at least three inclined support members 21, and each of the inclined support members 21 surrounds the positioning tube 40 And the first end of the inclined support 21 is connected to the positioning tube 40, and the second end is connected to the fixing frame 10.
  • the connection between the positioning tube 40 and the fixing frame 10 through multiple supports not only ensures the stability of the connection between the two, but also reduces the weight of the support frame 20, thereby reducing the mass of the entire clamping device To increase the flexibility of use.
  • fasteners may be used, such as bolts.
  • the support frame 20 of the part clamping device includes at least three inclined support members 21, and each of the inclined support members 21 surrounds the positioning tube 40 And the first end of the inclined support 21 is connected to the connecting plate 43, and the second end is connected to the fixing frame 10.
  • fasteners may be used, such as bolts.
  • the support frame 20 of the part clamping device includes three inclined supports 21.
  • the inclined support 21 of the component clamping device has a zigzag shape or a substantially zigzag shape.
  • the support includes a vertical portion 213 and a first lateral portion 211 and a second lateral portion 212 connected to both ends of the vertical portion 213.
  • the first lateral portion 211 is connected to the connecting plate 43 or the positioning tube 40, and the second lateral portion
  • the portion 212 is connected to the fixing frame 10, and the connection may be a bolt connection.
  • the supporting member of the part clamping device is made of a vertical portion 213, a first lateral portion 211, and a second lateral portion 212 that are integrally formed.
  • the fixing frame 10 of the part clamping device includes an upper mounting plate 11, a lower mounting plate 12, and a connection to the upper mounting plate 11 and all A plurality of connecting posts 13 between the lower mounting plates 12 are described.
  • the connecting posts 13 can be connected to the upper mounting plate 11 and the lower mounting plate 12 by bolts. In this way, there is a space between the upper mounting plate 11 and the lower mounting plate 12, which can be used for accommodating part of the structure of the driving member 30.
  • the driving member 30 is mounted on the upper mounting plate 11 and both ends extend out from opposite sides of the upper mounting plate 11 respectively, the support frame 20 and the upper mounting plate 11 face away from the lower mounting plate The 12 side is connected.
  • the fixing frame 10 with such a structure has good structural stability, small quality and easy installation.
  • the fixing frame 10 of the part clamping device includes an upper mounting plate 11 connected to the second lateral portion 212 by fasteners.
  • the lower mounting plate 12 of the part clamping device is provided with a plurality of mounting holes 121.
  • the mounting hole 121 can be connected to the robot manipulator, thereby facilitating the installation of the entire clamping device on the robot manipulator.

Abstract

一种零件装夹装置，包括固定架(10)、支撑架(20)、驱动件(30)、定位管(40)、推杆(50)和夹紧块(60)，支撑架(20)和驱动件(30)均安装于固定架(10)上，定位管(40)安装于支撑架(20)上，推杆(50)的第一端与驱动件(30)的驱动端连接、第二端穿入定位管(40)内，定位管(40)的末端设有定位头(41)，定位头(41)上设有两端开口的安装槽(411)，夹紧块(60)设于安装槽(411)内，夹紧块(60)上设有弧形槽(61)，弧形槽(61)中穿设有限位杆(70)，夹紧块(60)的第二端与推杆(50)的第二端转动连接，夹紧块(60)随推杆(50)的伸缩运动而以弧形槽(61)为导向运动且夹紧块(60)的第一端的端面能够伸出安装槽(411)的开口外。零件装夹装置能够对具有复杂曲面或者体积较小的带孔零件进行夹持，具有结构简单和夹持精度高的优点。

Description

零件装夹装置 技术领域
本发明属于夹具技术领域，尤其涉及一种零件装夹装置。
 背景技术
目前，在小零件搬运、装夹、工序转移、切削以及打磨过程中主要是由手工来完成。然而对于大批量、多工序生产的工况，一批零件从毛坯状态到产品入库，少则需要几百道工序，多则需要上万甚至几十万道工序，工作量极大，手工操作效率较低，难以满足供货需求，提高产能的需求显得极为迫切。特别地，打磨工序会产生大量的粉尘，对人体健康有较大的危害，上述其他工序由人工操作，时有碰伤等工伤事故产生，存在较大的安全隐患。所以，手工操作已经渐渐的不能满足大批量多工序的工况要求。因此，现有的手工操作已经难以满足大批量、多工序零件生产的要求。
采用自动机械臂用气动夹具自动抓取工作台上的零件，实现零件搬运、装夹等动作的自动化不仅能够满足大批量和多工序的生产要求，还可以降低健康危害，减少安全事故的发生。目前，自动夹具多采用摆杆气缸或电机等驱动装置带动附件旋转一定角度实现零件的夹持。
然而，目前的主流自动夹具存在以下缺点：（1）结构复杂，体积较大。电机及摆杆气缸等驱动装置本体体积较大，实现夹紧的附件使整个自动夹具结构复杂，体积进一步加大，庞大的体积容易使自动化作业过程中与其它部分产生干涉与碰撞等问题。（2）夹具较重。较重的驱动装置及附件，增加了机械臂的负重，大大的减小了机器人的负载能力。（3）夹具精度较低。现有自动夹具，常常由多组零部件装配而成，存在较大的累积误差，夹持精度较低。只适用于搬运等一般工况，无法完成小零件的夹持及打磨等精细化作业。
 技术问题
本发明的目的在于提供一种零件装夹装置，旨在解决现有技术中的自动夹具结构复杂和夹持精度低的技术问题。
 技术解决方案
为实现上述目的，本发明实施例提供的一种零件装夹装置，包括固定架、支撑架、驱动件、定位管、推杆和夹紧块，所述支撑架和所述驱动件均安装于所述固定架上，所述定位管安装于所述支撑架上，所述推杆的第一端与所述驱动件的驱动端连接、第二端穿入所述定位管内，所述定位管的末端设有定位头，所述定位头上设置有两端开口的安装槽，所述夹紧块设置于所述安装槽内，且所述夹紧块上设置有由其第一端朝向其第二端延伸的弧形槽，所述弧形槽中穿设有两端分别与所述安装槽的相对两内壁连接的限位杆，所述夹紧块的第二端与所述推杆的第二端转动连接，所述夹紧块随所述推杆的伸缩运动而以所述弧形槽为导向运动且所述夹紧块的第一端的端面能够伸出所述安装槽的开口之外。
可选地，所述驱动件为螺牙气缸，所述推杆的第一端与所述螺牙气缸的活塞杆连接。
可选地，所述夹紧块呈弧形状，且所述夹紧块的第一端的端面为弧形面。
可选地，所述夹紧块的第二端设有轴孔，所述轴孔中穿设有两端与所述推杆的第一端连接的旋转轴。
可选地，所述定位头呈方形状，且所述定位头的四个角部均设置有倒角面。
可选地，所述定位管上设置有环绕于所述夹紧块周缘的定位环。
可选地，所述定位管相对于所述定位头的端部设置有连接板，所述连接板与所述支撑架连接。
可选地，所述支撑架包括至少三个斜支撑件，各所述斜支撑件环绕于所述定位管的侧部且等间距布置，所述斜支撑件的第一端与所述定位管连接、第二端与所述固定架连接。
可选地，所述固定架包括上安装板、下安装板和连接于所述上安装板与所述下安装板之间的若干连接柱，所述驱动件安装于所述上安装板上且两端分别伸出所述上安装板的相对两侧，所述支撑架与所述上安装板背向所述下安装板的一侧连接。
可选地，所述下安装板上设置有多个装配孔。
 有益效果
本发明实施例提供的零件装夹装置中的上述一个或多个技术方案至少具有如下技术效果之一：具体地使用时，控制定位管末端设置的定位头伸入需要夹持的零件的孔中，然后通过驱动件控制推杆伸出，推杆作伸出运动时推动连接在推杆第二端上的夹紧块，夹紧块由于其弧形槽上穿设有限位杆，夹紧块在受到推杆的作用力时，夹紧块以弧形槽为导向滑动，直至夹紧块的第一端的端面伸出定位头的安装槽的一侧开口之外，由于定位头位于零件的孔中，那么伸出安装槽的开口之外的夹紧块的第一端的端面会抵接在孔中的内壁上，最终实现夹紧零件。本发明的零件装夹装置结构简单，并且通过伸入零件的孔中对零件的孔的内壁进行夹持，提高对零件的夹持精度，即使零件具有复杂曲面或者体积较小，只要零件具有孔，即可对其进行夹持。
 附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的零件装夹装置的结构示意图。
图2为本发明实施例提供的零件装夹装置的局部结构剖切视图。
图3为本发明实施例提供的零件装夹装置的结构分解示意图。
图4为本发明实施例提供的零件装夹装置的定位管的结构示意图。
图5为本发明实施例提供的零件装夹装置的夹紧块的结构示意图。
图6为本发明实施例提供的零件装夹装置装夹有零件时的结构示意图。
其中，图中各附图标记：
10—固定架             11—上安装板 12—下安装板
13—连接柱 20—支撑架21—斜支撑件
30—驱动件             40—定位管             41—定位头
42—定位环             43—连接板             50—推杆
60—夹紧块             61—弧形槽             62—弧形面
63—轴孔               70—限位杆 80—旋转轴
100—零件              101—孔                121—装配孔
211—第一横向部        212—第二横向部 213—竖向部
411—安装槽            412—倒角面。
 本发明的实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图1~6描述的实施例是示例性的，旨在用于解释本发明的实施例，而不能理解为对本发明的限制。
在本发明实施例的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明实施例的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明实施例中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明实施例中的具体含义。
在本发明的一个实施例中，如图1~6所示，提供本发明实施例提供的一种零件装夹装置，适用于对具有孔的零件100进行夹持，即使零件100具有复杂曲面或者体积小，依然可以实现对其高精度夹持。零件装夹装置包括固定架10、支撑架20、驱动件30、定位管40、推杆50和夹紧块60。所述支撑架20和所述驱动件30均安装于所述固定架10上，固定架10用于固定并制成驱动件30和支撑架20的安装。所述定位管40安装于所述支撑架20上，定位管40为具有中空孔的管件，并通过支撑架20安装固定。所述推杆50的第一端与所述驱动件30的驱动端连接、第二端穿入所述定位管40的中空孔内，驱动件30可以通过其驱动端驱动与其连接的部件随动，所述定位管40的末端设有定位头41，定位管40的末端是指相对于与支撑架20连接的一端。
进一步地，如图4所示，所述定位头41上设置有两端开口的安装槽411，所述夹紧块60设置于所述安装槽411内，夹紧块60的体积小于安装槽411的槽内体积，这样夹紧块60可以在安装槽411内活动。并且，所述夹紧块60上设置有由其第一端朝向其第二端延伸的弧形槽61，即弧形槽61具有一定的长度和弧度。所述弧形槽61中穿设有两端分别与所述安装槽411的相对两内壁连接的限位杆70，限位杆70的两端延伸出夹紧块60的相对两侧面之外，所述夹紧块60的第二端与所述推杆50的第二端转动连接，所述夹紧块60随所述推杆50的伸缩运动而以所述弧形槽61为导向运动且所述夹紧块60的第一端的端面能够伸出所述安装槽411的开口之外。
结合图6所示，本发明实施例提供的零件装夹装置具体地使用时，控制定位管40末端设置的定位头41伸入需要夹持的零件100的孔101中，然后通过驱动件30控制推杆50伸出，推杆50作伸出运动时推动连接在推杆50第二端上的夹紧块60，夹紧块60由于其弧形槽61上穿设有限位杆70，夹紧块60在受到推杆50的作用力时，夹紧块60以弧形槽61为导向滑动，直至夹紧块60的第一端的端面伸出定位头41的安装槽411的一侧开口之外，由于定位头41位于零件100的孔101中，那么伸出安装槽411的开口之外的夹紧块60的第一端的端面会抵接在孔中的内壁上，最终实现夹紧零件100。本发明的零件装夹装置结构简单，并且通过伸入零件100的孔101中对零件100的孔101的内壁进行夹持，提高对零件100的夹持精度，即使零件100具有复杂曲面或者体积较小，只要零件100具有孔，即可对其进行夹持。
进一步地，本发明实施例提供的零件装夹装置在工作时，可以通过机器人的机械手与固定架10连接，通过机器人接到指定信号，控制器机械手根据指令到达指定位置，并发出抓取信号，驱动件30伸出推动推杆50向前运动，推杆50带动夹紧块60绕与推杆50的转动连接处旋转，进而夹紧零件100。
在本发明的另一个实施例中，如图4所示，该零件装夹装置的定位头41上设置的安装槽411为扁槽，具体可以通过机床铣出。
在本发明的另一个实施例中，如图3所示，该零件装夹装置的所述驱动件30为螺牙气缸，所述推杆50的第一端与所述螺牙气缸的活塞杆连接。具体地，螺牙气缸具有小体积的优点，使其作为驱动件30使用便于集成于装夹装置的的中心位置，方便对较小的零件100进行抓取、搬运甚至打磨等工序，在操作过程中更能够避免与零件100其他位置接触。
在本发明的另一个实施例中，该零件装夹装置的所述驱动件30可以是电机或者电缸。
在本发明的另一个实施例中，如图5~6所示，该零件装夹装置的所述夹紧块60呈弧形状，具体地，呈弧形状的夹紧块60可以在安装槽411内偏心摆动，可以有效地使得其第一端能够在摆动过程中于安装槽411的一侧的开口伸出。进一步地，所述夹紧块60的第一端的端面为弧形面62，由于夹紧块60的第一端的端面为弧形面62，那么当其与零件100的孔101的内壁抵接时，可以减少对零件100的损伤，确保零件100的完整性。同时，在需要对零件100解除装夹时，夹紧块60也更容易脱离与零件100的接触。
在本发明的另一个实施例中，如图2和图5所示，该零件装夹装置的所述夹紧块60的第二端设有轴孔63，所述轴孔63中穿设有两端与所述推杆50的第一端连接的旋转轴80。具体地，通过轴孔63与旋转轴80的的配合可以使得夹紧块60能够相对于旋转轴80转动，进而使得夹紧块60可以相对于推杆50转动，夹紧块60在转动的过程中还受到限位杆70的限制，只能够以弧形槽61为导向滑动，进而可以只使得夹紧块60的第一端能够在摆动过程中于安装槽411的一侧的开口伸出，以用于夹紧零件100。
在本发明的另一个实施例中，如图4和图6所示，该零件装夹装置的所述定位头41呈方形状，具体地，呈方形状的定位头41伸入零件100的孔101中时可以更有利于对零件100进行定位，提高对零件100的定位精度。并且，所述定位头41的四个角部均设置有倒角面412。倒角面412的设置和夹紧块60上设置的弧形面62作用类似，用于避免定位头41对零件100的空的内壁造成损伤，保护零件100的完整性。
在本发明的另一个实施例中，如图1~4和图6所示，该零件装夹装置的所述定位管40上设置有环绕于所述夹紧块60周缘的定位环42。具体地，定位环42的设置可以对定位头41伸入零件100的孔101中的深度，即当定位环42抵接在零件100上时，即限定了定位头41进一步伸入到孔的深度，可以避免因为定位头41伸入零件100的孔101中的深度过大而对零件100造成碰撞损坏。
在本发明的另一个实施例中，如图1~4所示，该零件装夹装置的所述定位管40相对于所述定位头41的端部设置有连接板43，所述连接板43与所述支撑架20连接。具体地，连接板43的设置可以增加定位管40与支撑架20的接触面积，进而增加定位管40与支撑架20连接的稳定性和可靠性。
在本发明的另一个实施例中，如图3所示，该零件装夹装置的所述支撑架20包括至少三个斜支撑件21，各所述斜支撑件21环绕于所述定位管40的侧部且等间距布置，所述斜支撑件21的第一端与所述定位管40连接、第二端与所述固定架10连接。具体地，通过多个支撑件连接在定位管40与固定架10之间，不但可以确保两者之间连接的稳定性，并且还可以减少支撑架20的重量，进而减少整个装夹装置的质量，提升使用的灵活性。其中，支撑件的两端与固定架10和定位管40连接时，可以采用紧固件连接，例如是螺栓。
在本发明的另一个实施例中，如图3所示，该零件装夹装置的所述支撑架20包括至少三个斜支撑件21，各所述斜支撑件21环绕于所述定位管40的侧部且等间距布置，所述斜支撑件21的第一端与所述连接板43连接、第二端与所述固定架10连接。其中，支撑件的两端与固定架10和连接板43连接时，可以采用紧固件连接，例如是螺栓。
在本发明的另一个实施例中，如图3所示，该零件装夹装置的所述支撑架20包括三个斜支撑件21。
在本发明的另一个实施例中，如图1~3所示，该零件装夹装置的所述斜支撑件21呈Z字形状或者大致呈Z字形状。具体地，支撑件包括竖向部213和连接于竖向部213的两端的第一横向部211和第二横向部212，第一横向部211与连接板43或定位管40连接，第二横向部212与固定架10连接，连接可以采用螺栓连接。
在本发明的另一个实施例中，该零件装夹装置的支撑件由竖向部213、第一横向部211和第二横向部212一体成型而制。
在本发明的另一个实施例中，如图1~3所示，该零件装夹装置的所述固定架10包括上安装板11、下安装板12和连接于所述上安装板11与所述下安装板12之间的若干连接柱13，连接柱13与上安装板11和下安装板12之间可以通过螺栓连接。如此使得上安装板11与下安装板12之间具有空间，该空间可以供驱动件30的部分结构容置。所述驱动件30安装于所述上安装板11上且两端分别伸出所述上安装板11的相对两侧，所述支撑架20与所述上安装板11背向所述下安装板12的一侧连接。如此结构的固定架10，结构稳定性好，质量小，易于安装。
在本发明的另一个实施例中，该零件装夹装置的所述固定架10包括上安装板11通过紧固件与第二横向部212连接。
在本发明的另一个实施例中，如图1和图3所示，该零件装夹装置的所述下安装板12上设置有多个装配孔121。装配孔121的设置可以与机器人的机械手连接，从而便于将整个装夹装置安装于机器人的机械手上。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种零件装夹装置，其特征在于：包括固定架、支撑架、驱动件、定位管、推杆和夹紧块，所述支撑架和所述驱动件均安装于所述固定架上，所述定位管安装于所述支撑架上，所述推杆的第一端与所述驱动件的驱动端连接、第二端穿入所述定位管内，所述定位管的末端设有定位头，所述定位头上设置有两端开口的安装槽，所述夹紧块设置于所述安装槽内，且所述夹紧块上设置有由其第一端朝向其第二端延伸的弧形槽，所述弧形槽中穿设有两端分别与所述安装槽的相对两内壁连接的限位杆，所述夹紧块的第二端与所述推杆的第二端转动连接，所述夹紧块随所述推杆的伸缩运动而以所述弧形槽为导向运动且所述夹紧块的第一端的端面能够伸出所述安装槽的开口之外。
  2. 根据权利要求1所述的零件装夹装置，其特征在于：所述驱动件为螺牙气缸，所述推杆的第一端与所述螺牙气缸的活塞杆连接。
  3. 根据权利要求1所述的零件装夹装置，其特征在于：所述夹紧块呈弧形状，且所述夹紧块的第一端的端面为弧形面。
  4. 根据权利要求1所述的零件装夹装置，其特征在于：所述夹紧块的第二端设有轴孔，所述轴孔中穿设有两端与所述推杆的第一端连接的旋转轴。
  5. 根据权利要求1所述的零件装夹装置，其特征在于：所述定位头呈方形状，且所述定位头的四个角部均设置有倒角面。
  6. 根据权利要求1所述的零件装夹装置，其特征在于：所述定位管上设置有环绕于所述夹紧块周缘的定位环。
  7. 根据权利要求1所述的零件装夹装置，其特征在于：所述定位管相对于所述定位头的端部设置有连接板，所述连接板与所述支撑架连接。
  8. 根据权利要求1~7任一项所述的零件装夹装置，其特征在于：所述支撑架包括至少三个斜支撑件，各所述斜支撑件环绕于所述定位管的侧部且等间距布置，所述斜支撑件的第一端与所述定位管连接、第二端与所述固定架连接。
  9. 根据权利要求1~7任一项所述的零件装夹装置，其特征在于：所述固定架包括上安装板、下安装板和连接于所述上安装板与所述下安装板之间的若干连接柱，所述驱动件安装于所述上安装板上且两端分别伸出所述上安装板的相对两侧，所述支撑架与所述上安装板背向所述下安装板的一侧连接。
  10. 根据权利要求9所述的零件装夹装置，其特征在于：所述下安装板上设置有多个装配孔。
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