WO2022193206A1

WO2022193206A1 - Flexible clamping device

Info

Publication number: WO2022193206A1
Application number: PCT/CN2021/081433
Authority: WO
Inventors: 张伟; 付春; 李婷; 孟西陵; 余建华
Original assignee: 上海精智实业股份有限公司
Priority date: 2021-03-18
Filing date: 2021-03-18
Publication date: 2022-09-22
Also published as: CN113474471B; CN113474471A

Abstract

A flexible clamping device, comprising a driving assembly (1), a first driving arm (2) and a second driving arm (3), and a plurality of floating clamp bodies (4). A first end of the first driving arm (2) and a first end of the second driving arm (3) are hinged to the driving assembly (1); the first driving arm (2) and the second driving arm (3) are arranged opposite each other; and the driving assembly (1) is configured to drive the first driving arm (2) and the second driving arm (3) to rotate, and to enable a second end of the first driving arm (2) and a second end of the second driving arm (3) to match each other to form a clamping space (5). The plurality of floating clamp bodies (4) are arranged on the first driving arm (2) and the second driving arm (3) and are distributed in the circumferential direction of the clamping space (5); each floating clamp body (4) is provided with multiple contacts (6); and the multiple contacts (6) are configured to extend into the clamping space (5), and the length for extending into the clamping space (5) is adjustable.

Description

Flexible clamping device

technical field

The present disclosure relates to the technical field of clamp equipment, for example, to a flexible clamping device.

Background technique

There are many kinds of automobile fixtures, and it is necessary to make fixtures of specific shapes according to different parts. With the advancement of technology, the fixtures that use manual fastening in related technologies have been eliminated, and replaced by semi-automatic cylinder clamping.

Among them, the stabilizer bar is a device equipped on most automobile chassis. When the stabilizer bar is subjected to intermediate frequency quenching, the stabilizer bar needs to be fixed first, and then the intermediate frequency quenching is performed. During the scanning intermediate frequency quenching of the lateral stabilizer bar, in order to reduce the energy consumption and the uniformity of product heating, it is necessary to ensure that the stabilizer bar has sufficient stability during the clamping process. The offset is greater than 1mm or more.

Since the stabilizer bar is a bent pipe fitting, there is a large deviation in dimensional tolerance and geometrical tolerance, and the form of deviation of each product is different, so there are adaptive requirements for the gripper.

In addition, the clamps in the related art usually use V-shaped blocks to clamp the stabilizer bar, which may cause technical problems such as large clamping deformation and difficult adjustment of the clamping jaws, thereby affecting the quality of the product.

SUMMARY OF THE INVENTION

The present disclosure provides a flexible clamping device, which can solve the technical problems of poor stability of the clamp, large deformation of the workpiece and difficult adjustment of the workpiece during the clamping process.

An embodiment provides a flexible clamping device, comprising: a drive assembly; a first drive arm and a second drive arm, the first end of the first drive arm and the first end of the second drive arm being connected to The drive assembly is hinged, the first drive arm and the second drive arm are arranged opposite to each other, and the drive assembly is configured to drive the first drive arm and the second drive arm to rotate and make the first drive arm rotate. The second end of a driving arm cooperates with the second end of the second driving arm to form a clamping space; and a plurality of sets of floating clip bodies, the plurality of floating clip bodies are arranged on the first driving arm and the The two driving arms are distributed along the circumference of the clamping space, each of the floating clamps is provided with a plurality of contacts, and the plurality of contacts are arranged to extend into the clamping space and extend into the clamping space. The length in the clamping space is adjustable.

Description of drawings

1 is a perspective view of a flexible clamping device provided by an embodiment;

2 is a front view of a flexible clamping device provided by an embodiment;

3 is a schematic cross-sectional view of FIG. 2 at A-A;

Figure 4 is a schematic cross-sectional view at B-B of Figure 2;

5 is a schematic structural diagram of a first locking shaft provided by an embodiment;

6 is a schematic structural diagram of a second locking shaft provided by an embodiment;

7 is a schematic structural diagram of a first floating body according to an embodiment;

FIG. 8 is a schematic structural diagram of a second floating body provided by an embodiment;

FIG. 9 is a schematic structural diagram of a first support base or a second support base according to an embodiment.

1. Drive assembly;

2. The first drive arm; 21, The first connecting arm; 22, The second connecting arm; 221, The first clamping part;

3. The second driving arm; 31, the third connecting arm; 32, the fourth connecting arm; 321, the second clamping part;

4. Floating clamp details;

41, the first floating clamp body; 411, the first floating body; 412, the first support seat; 413, the first locking shaft; 4131, the first gap; 414, the first adjusting nut; 415, the first locking screw ; 416, the first gasket;

42, the second floating clamp body; 421, the second floating body; 422, the second support seat; 423, the second locking shaft; 4231, the second gap; 424, the second adjusting nut; 425, the second locking screw ; 426, the second gasket;

5. Clamping space;

6. Contact;

7. Claw fixing plate.

Detailed ways

This embodiment provides a flexible clamping device. As shown in FIGS. 1-9 , the flexible clamping device includes a driving assembly 1 , a first driving arm 22 , a second driving arm 3 and a plurality of floating clamping bodies 4 . The first end of the first drive arm 22 and the first end of the second drive arm 3 are hinged with the drive assembly 1, and the first drive arm 22 and the second drive arm 3 are arranged opposite to each other, The drive assembly 1 is configured to drive the first drive arm 22 and the second drive arm 3 to rotate and make the second end of the first drive arm 22 and the second drive arm 3 rotate The clamping space 5 is formed by cooperation. A plurality of floating clamp bodies 4 are arranged on the first driving arm 22 and the second driving arm 3 and are distributed along the circumferential direction of the clamping space 5. Each floating clamp body 4 is provided with a plurality of contacts 6. The The plurality of contacts 6 are arranged to extend into the holding space 5 , and the length of the contacts 6 extending into the holding space 5 is adjustable.

The flexible clamping device provided in this embodiment clamps the workpiece to be clamped by the first driving arm 22 and the second driving arm 3 , and the first driving arm 22 and the second driving arm 3 along the circumferential direction of the clamping space 5 Setting up multiple floating clamp bodies 4 can ensure stable, firm and balanced clamping of the workpiece, and also realizes the multi-point adjustment of the position of the workpiece in the clamping space 5 along the center line of the workpiece, avoiding the need for single clamping. Excessive movement of the side increases the stability of the fixture.

Among them, the plurality of contacts 6 are hemispherical structures, so that the floating clamp is always in contact with the workpiece to be clamped through point contact, avoiding the problem that the clamp in the related art easily deforms the workpiece during the clamping process. And the point contact method makes it easier to adjust the position of the workpiece.

In one embodiment, as shown in FIG. 1 and FIG. 4 , the plurality of floating clamp bodies 4 include two first floating clamp bodies 41 disposed on the first driving arm 22 and two floating clamp bodies 41 disposed on the second driving arm 22 . The second floating clamp bodies 42 on the drive arm 3 , the two first floating clamp bodies 41 and the two second floating clamp bodies 42 are axially symmetrically arranged with respect to the central axis of the clamping space 5 . Therefore, when the clamp device clamps the workpiece, the clamping force of the workpiece can be balanced, the pressure of the first floating clamp body 41 and the second floating clamp body 42 can be adjusted conveniently, and the firmness of the clamping can be ensured. In this embodiment, two first floating clamp bodies 41 and two second floating clamp bodies 42 are provided to enable flexible clamping of long and special-shaped workpieces to be clamped, which completely solves the problem of large deformation of clamping workpieces in the related art. , the technical problem that the gripper is difficult to adjust.

The first drive arm 22 includes a first connecting arm 21 hinged on the drive assembly 1 and a second connecting arm 22 connected with the first connecting arm 21; the second drive arm 3 includes a second connecting arm 22 hinged on the drive assembly 1 The third connecting arm 31 on the drive assembly 1 and the fourth connecting arm 32 connected with the third connecting arm 31; the two first floating clamp bodies 41 are arranged on the second connecting arm 22, so The two second floating clip bodies 42 are disposed on the fourth connecting arm 32 . One end of the second connecting arm 22 is provided with a first clamping portion 221 , and the two first floating bodies 411 are respectively disposed at the first end of the first clamping portion 221 and the first clamping portion 221 . the second end of the holding portion 221 . One end of the fourth connecting arm 32 is provided with a second clamping portion 321 , and the two second floating bodies 421 are respectively disposed at the first end of the second clamping portion 321 and the second clamping portion The second end of the 321. In this embodiment, the inner side surface of the first clamping portion 221 and the inner side surface of the second clamping portion 321 are semi-arc structures, so that when the first driving arm 22 and the second driving arm 3 are in the clamping position, that is, , when the first connecting arm 21 and the second connecting arm 22 are parallel, a circular clamping space 5 is formed. In other embodiments, the inner side surface of the first clamping portion 221 and the inner side surface of the second clamping portion 321 may also have other shapes, which may be adaptively adjusted according to the shape of the to-be-clamped piece of the clamping device. Not limited. The first clamping part 221 and the second clamping part 321 are V-structures, so that the first driving arm 2 and the second driving arm 3 can clamp the workpiece more firmly. Do limit.

The above-mentioned two first floating clamp bodies 41 are arranged axially symmetrically with respect to the central axis of the first clamping portion 221 , and the two second floating clamping bodies 42 are axially symmetrically arranged with respect to the central axis of the second clamping portion 321 . , so as to ensure that the force to be clamped is balanced during the clamping process.

The first floating clip body 41 includes a first floating body 411 , the second floating clip body 42 includes a second floating body 421 , and the first floating body 411 of one of the first floating clip bodies 41 is set as The first floating body 411 of the other first floating clip body 41 is arranged to pass through the The second end of the first clamping portion 221 extends back into the clamping space 5 .

One of the second floating body 421 of the second floating clip body 42 is disposed to extend into the holding space 5 after passing through the first end of the second holding part 321 , and the other The second floating body 421 of the two floating clip bodies 42 is disposed to pass through the second end of the second clipping portion 321 and then protrude into the holding space 5 .

The plurality of contacts 6 of the first floating clamp body 41 are the first end of the first floating body 411 passing through the first driving arm 22 and the first end passing through the first driving arm 22 . Two ends; the plurality of contacts 6 of the second floating clamp body 42 are the first ends of the second floating body 421 passing through the second driving arm 3 and passing through the second driving arm 3 The second end of arm 3. In this embodiment, the clamping device is provided with four groups of floating clamp bodies, each group of floating clamp bodies has two contacts 6 , and each group of floating clamp bodies can adaptively adjust the two contacts 6 to extend into the clamping space 5 length.

In this embodiment, the first floating bodies 411 of the two first floating clamping bodies 41 and the second floating bodies 421 of the two second floating clamping bodies 42 can be adapted according to the deformation amount and deformation orientation of the workpiece to be clamped, and automatically The size of the adaptability can be adjusted according to the size of the electromagnetic force of the intermediate frequency quenching, and the size of the electromagnetic force and the size of the locking force of the first floating body 411 and the second floating body 421 have a preset proportional relationship.

In one embodiment, as shown in FIGS. 7 and 8 , the first floating body 411 and the second floating body 421 are U-shaped structures, and the two contacts 6 of the first floating clip body 41 are U-shaped The first end and the second end of the first floating body 411 in the U-shaped structure, the two contacts 6 of the second floating clamp body 42 are the first end and the second end of the first floating body 411 in the U-shaped structure end.

The first floating clamp body 41 further includes two first support seats 412 , a first locking shaft 413 and a first adjusting nut 414 , and the two first support seats 412 are disposed on the first clamping portion 221 . above, the first floating body 411 is disposed between the two first support seats 412, and the first locking shaft 413 is disposed to pass through the two first support seats 412 and the first One end of the floating body 411 is threadedly connected with the first adjusting nut 414, the first adjusting nut 414 is disposed on one side of the first support seat 412, and the first floating body 411 is connected to the first adjusting nut 414. The locking shaft 413 is clamped and configured to rotate around the first locking shaft 413 by a first preset angle when the first adjusting nut 414 rotates.

In this embodiment, the first locking shaft 413 and the second locking shaft 423 are stepped shafts, the first floating body 411 and the second floating body 421 are provided with stepped holes, and the first locking shaft 413 passes through the first floating body 411 and the second floating body 421 . When the floating body 411 is fitted with the stepped hole on the first floating body 411 , when the second locking shaft 423 is inserted through the second floating body 421 , it is fitted with the stepped hole on the second floating body 421 .

The second floating clamp body 42 further includes two second support seats 422 , a second locking shaft 423 and a second adjusting nut 424 , and the two second support seats 422 are disposed on the second clamping portion 321 above, the second floating body 421 is disposed between the two second support seats 422, and the second locking shaft 423 is disposed to pass through the two second support seats 422 and the second One end of the floating body 421 is threadedly connected with the second adjusting nut 424, the second adjusting nut 424 is arranged on one side of the second supporting seat 422, and the second floating body 421 is connected to the second adjusting nut 424. The locking shaft 423 is clamped and configured to rotate around the second locking shaft 423 by a second preset angle when the second adjusting nut 424 is rotated.

The first floating body 411 can rotate around the first locking shaft 413 , the second floating body 421 can rotate around the second locking shaft 423 , and the first preset angle and the second preset angle are ±2°. When the first adjusting nut 414 is screwed, the first adjusting nut 414 drives the first locking shaft 413 to rotate, and the first floating body 411 rotates around the first locking shaft 413 , thereby adjusting the first end of the first floating body 411 and the length of the second end of the first floating body 411 extending into the clamping space 5, thereby adjusting the angle of the piece to be clamped in the clamping space 5; when the second adjusting nut 424 is screwed, the second adjusting nut 424 drives the second locking shaft 423 to rotate, and the second floating body 421 rotates around the second locking shaft 423, thereby adjusting the first end of the second floating body 421 and the second end of the second floating body 421 to extend into the clamp The length in the holding space 5 is adjusted, so as to adjust the angle of the piece to be clamped in the holding space 5 .

The four ends of the two first floating clip bodies 41 form the abutment surface of the first side of the to-be-clamped piece, and the four ends of the two second floating clip bodies 42 form the abutment surface of the second side of the clipping piece. The two first floating clamp bodies 41 and the two second floating clamp bodies 42 realize the adjustment of the position of the clamping member in the clamping space 5 .

The first floating clamp body 41 includes a first locking screw 415, and the second floating clamp body 42 includes a second locking screw 425. As shown in FIG. 5, on the first floating clamp body 41, the first adjusting nut 414 is provided on the On one of the first support bases 412 , the first locking screw 415 is disposed on the other first support base 412 and abuts with the first locking shaft 413 , wherein the first locking shaft 413 is provided with a first locking screw 415 . In the notch 4131, the first locking screw 415 passes through the first support base 412 and extends into the first notch 4131 to restrict the rotation of the first locking shaft 413 by the first preset angle; as shown in FIG. 6, in the second floating clamp body 42, the second adjusting nut 424 is arranged on one of the second support seats 422, the second locking screw 425 is arranged on the other second support seat 422, and abuts with the second locking shaft 423, wherein the first A second notch 4231 is defined on the two locking shafts 423 , and the second locking screw 425 passes through the second support base 422 and extends into the second notch 4231 to restrict the second locking shaft 423 from rotating by a second predetermined angle.

The first floating clamp body 41 further includes a first washer 416, and the second floating clamp body 42 further includes a second washer 426. The first washer 416 is disposed on the first floating body 411 and adjacent to the first In the gap between the first support bases 412 of the adjusting nut 414 , the second washer 426 is disposed in the gap between the second floating body 421 and the second support base 422 close to the second adjusting nut 424 . In one embodiment, the first washer 416 and the second washer 426 are made of nylon, which play a damping role and are mainly used to adjust the force required to make the first floating body 411 and the second floating body 421 rotate. When the adjusting nut is locked, the greater the damping force generated by the nylon friction plate, the greater the force required for the first floating body 411 and the second floating body 421 to rotate, and vice versa.

The flexible clamping device further includes a clamping jaw fixing plate 7 on which the driving assembly 1 is fixed.

In one embodiment, the flexible clamping device may be suitable for clamping and fixing a stabilizer bar of an automobile, and may also be used for clamping other workpieces in other embodiments.

Claims

A flexible clamping device, comprising:

drive assembly;

a first drive arm and a second drive arm, the first end of the first drive arm and the first end of the second drive arm are hinged with the drive assembly, the first drive arm and the second drive arm The drive arms are arranged opposite to each other, and the drive assembly is configured to drive the first drive arm and the second drive arm to rotate and make the second end of the first drive arm and the second end of the second drive arm cooperate to form a clamping space; and

A plurality of floating clip bodies, the plurality of floating clip bodies are arranged on the first driving arm and the second driving arm and distributed along the circumferential direction of the clamping space, and each floating clip body is provided with a plurality of floating clip bodies. A plurality of contacts are arranged to extend into the clamping space, and the length of the contacts extending into the clamping space is adjustable.
The flexible clamping device according to claim 1, wherein the plurality of floating clamp bodies comprise two first floating clamp bodies disposed on the first drive arm and two first floating clamp bodies disposed on the second drive arm On the second floating clip body, the two first floating clip bodies are arranged to be axially symmetrical with the two second floating clip bodies with respect to the central axis of the clamping space.
The flexible clamping device of claim 2, wherein the first drive arm comprises a first link arm hinged on the drive assembly and a second link arm connected with the first link arm;

the second driving arm comprises a third connecting arm hinged on the driving assembly and a fourth connecting arm connected with the third connecting arm;

The two first floating clips are specifically arranged on the second connecting arm, and the two second floating clips are specifically arranged on the fourth connecting arm.
The flexible clamping device according to claim 3, wherein one end of the second connecting arm is provided with a first clamping portion, and the two first floating bodies are respectively disposed on the first clamping portion of the first clamping portion. one end and the second end of the first clamping portion;

One end of the fourth connecting arm is provided with a second clamping part, and the two second floating bodies are respectively arranged at the first end of the second clamping part and the second end of the second clamping part .
The flexible clamping device according to claim 4, wherein the inner side surface of the first clamping portion and the inner side surface of the second clamping portion are arc-shaped.
The flexible clamping device according to claim 4, wherein the first floating clip body comprises a first floating body, the second floating clip body comprises a second floating body, and one of the first floating clip bodies comprises The first floating body is arranged to extend into the clamping space after passing through the first end of the first clamping part, and the first floating body of the other first floating clamping body is arranged to pass through the first end of the first clamping part. After passing through the second end of the first clamping part, it extends into the clamping space; the second floating body of one of the second floating clamping parts is arranged to pass through the second clamping part. The first end extends back into the clamping space, and the second floating body of the other second floating clamp body is arranged to pass through the second end of the second clamping portion and then extend into the clamp within the holding space;

The plurality of contacts of the first floating clip body are the first end of the first floating body passing through the first driving arm and the second end passing through the first driving arm; The plurality of contacts of the second floating clip body are the second floating body passing through the first end of the second driving arm and passing through the second end of the second driving arm.
The flexible clamping device according to claim 4, wherein the first floating clamp body further comprises two first support seats, a first locking shaft and a first adjusting nut, and the two first support seats are provided with On the first clamping portion, the first floating body is arranged between the two first support seats, and the first locking shaft is arranged to pass through the two first support seats and the two first support seats. One end of the first floating body is threadedly connected with the first adjusting nut, the first adjusting nut is arranged on one side of the first support seat, and the first floating body is connected with the first lock The tightening shaft is clamped and set to rotate around the first locking shaft by a first preset angle when the first adjusting nut rotates;

The second floating clamp body further includes two second support seats, a second locking shaft and a second adjusting nut, the two second support seats are arranged on the second clamping part, the second The floating body is arranged between the two second support seats, the second locking shaft is arranged to pass through the two second support seats and one end of the second floating body, and is connected with the first Two adjusting nuts are threadedly connected, the second adjusting nut is arranged on one side of the second support base, the second floating body is engaged with the second locking shaft, and is arranged so that when the second adjusting nut is When the nut rotates, it rotates around the second locking shaft by a second preset angle.
The flexible clamping device according to claim 7, wherein the first floating clamp body further comprises a first locking screw, the second floating clamp body further comprises a second locking screw, and the first adjusting nut is provided on one of the On the first support seat, the first locking screw is arranged on the other first support seat, the first locking shaft is provided with a first gap, and the first locking screw is arranged as passing through the first support seat and extending into the first gap;

The second adjusting nut is arranged on one of the second support seats, the second locking screw is arranged on the other second support seat, the second locking shaft is provided with a second gap, and the second locking screw is arranged to pass through the second support seat. The second support base extends into the second gap.
The flexible clamping device according to claim 7, wherein the first floating clip body further comprises a first gasket, the second floating clip body further comprises a second gasket, and the first gasket is arranged on the first gasket In the gap between the floating body and the first support seat near the first adjusting nut, the second washer is arranged in the gap between the second floating body and the second support seat near the second adjusting nut.
The flexible clamping device according to any one of claims 1-9, wherein the plurality of contacts are hemispherical structures.