WO2021035591A1 - Clamping device - Google Patents

Abstract

A clamping device. The clamping device comprises: a first clamping part (1) and a second clamping part (3), and at least one clamping linkage mechanism (4); the first clamping part (1) is connected to one end of a power unit (2), and the second clamping part (3) is connected to the other end of the power unit (2); the clamping linkage mechanism (4) comprises a movable part (41), an elastic plunger (42), and a linkage mechanism (43); the movable part (41) is movably provided on the first clamping part (1); during clamping of the second clamping part (3) and the first clamping part (1), the elastic plunger (42) pushes the linkage mechanism (43) to move the movable part (41). The movable part (41) performs secondary positioning on a target object in the clamping process, so that the technical problem in the prior art that, due to the limitation of the structure of a clamping device and an inconsistent spatial position of the target object therewith, the positioning of the spatial position of the target object after clamping is difficult is solved.

Description

Clamping device Technical field

The invention relates to the field of implementing device design, in particular to a clamping device.

Background technique

At present, the clamping process of the target object in production can be realized by a clamping device. For example, in the field of robotics, one end of the robotic arm is used to fix the robotic arm on the work site, while the other end of the robotic arm can be connected to the actuator. The execution device can be designed into various devices according to different application scenarios, then the clamping of the target object can be completed by the clamping device. The clamping device installed on the mechanical arm can further move the target object to the target position in space after clamping the target object.

However, due to the limitation of the structure of the clamping device in the prior art and the inconsistent spatial position of the target object, each time the clamping device clamps the target object, the relative position between the target object and the clamping device is inconsistent, which seriously affects Then the accuracy of moving the target object to the target position.

In addition, those skilled in the art are still working to find technical solutions to solve the difficulty in locating the target position to which the target object is moved after the clamping due to the inconsistent placement of the clamped target object.

Summary of the invention

In view of this, the present application provides a clamping device, including:

A first clamping part connected to one end of a power unit; and

A second clamping portion connected to the other end of the power unit, so that the second clamping portion can be clamped or separated from the first clamping portion through the power unit;

At least one set of clamping linkage mechanism, each set of clamping linkage mechanism includes:

A moving part, which is movably arranged on the first clamping part;

An elastic plunger, which is arranged on the second clamping part;

A linkage mechanism, which is arranged on the first clamping portion, when the second clamping portion is clamped with the first clamping portion, the elastic plunger squeezes the linkage mechanism to make the The linkage mechanism drives the moving component to move to the space between the first clamping portion and the second clamping portion.

Obviously, this application uses the linkage mechanism so that only one power unit can drive the first clamping portion and the second clamping portion to achieve clamping, as well as the movement of the moving parts. The clamping of the first clamping part and the second clamping part and the movement of the moving part realize the secondary positioning of the clamped target object, which solves the problem of the clamping in the prior art. The limitation of the structure of the clamping device and the inconsistency of the spatial position of the target object have led to the technical problem of difficulty in positioning the spatial position of the target object after clamping.

In an embodiment, the linkage mechanism includes:

A driving rod, which is hinged on the first clamping part, and the first end of the driving rod abuts against one end of the moving part;

When the second clamping portion is clamped with the first clamping portion, the elastic plunger contacts the second end of the driving rod and pushes the driving rod, so that the first end squeezes Pressing the moving member drives the moving member to move to the space between the first clamping portion and the second clamping portion.

In this embodiment, a specific structure of the linkage mechanism is provided, so that the movement of the moving component is triggered by the clamping action of the first clamping portion and the second clamping portion.

In an embodiment, the linkage mechanism further includes:

An elastic resetting part, one end of the elastic resetting part abuts against the moving part, and the other end of the elastic resetting part abuts against the first clamping part to provide the moving part facing the first clamp The reverse tension of the space between the closing portion and the second clamping portion;

When the second clamping part is far away from the first clamping part, the elastic plunger is disengaged from the second end of the driving rod, and the elastic resetting member makes the movement The component moves in a direction opposite to the space between the first clamping portion and the second clamping portion.

This embodiment provides a specific implementation for resetting the moving part. The elastic resetting part provides tension so that when the second clamping part is far away from the first clamping part, the After the elastic plunger is disengaged from the second end of the drive rod, the elastic resetting member causes the moving member to move between the first clamping portion and the second clamping portion through a tensioning force. The space moves in the opposite direction.

In an embodiment, the elastic reset component includes:

A positioning block, which is arranged on the first clamping part;

A return spring, one end of which is connected with the positioning block, and the other end of the return spring is connected with the moving part, so as to provide a tension force between the first clamping part and the moving part.

In this embodiment, a specific structure of the elastic reset part is provided, the positioning block is fixed on the first clamping part, and the return spring provides the first clamping part and the moving part The tension between.

In an embodiment, the elastic plunger includes:

A squeezing part body, which is arranged on the second clamping part, the squeezing part body has an internal cavity, the squeezing part body is provided with an opening, and the squeezing part body passes through the opening Communicate with the internal cavity;

A piston head, one end of which is set in the internal cavity, the other end of the piston head protrudes out of the main body of the pressing part through the opening, and the piston head and the main body of the pressing part pass through a limiting structure Cooperate installation, so that the piston head can make piston movement in the main body of the extrusion part;

A compression spring is arranged in the inner cavity, one end of the compression spring abuts against the piston head, and the other end of the compression spring abuts against the inner wall of the main body of the pressing part in the inner cavity.

In this embodiment, a specific structure of the elastic plunger is provided. After the first clamping portion and the second clamping portion clamp the target object, the moving part needs to be displaced to the target object. make up.

In an embodiment, when the first clamping portion is far away from the second clamping portion, there is a reserved distance between the elastic plunger and the linkage mechanism.

In this embodiment, a specific structure for establishing the clamping process of the first clamping portion and the second clamping portion and the response time of the movement of the moving part by a reserved distance is provided, and the reserved distance The response time between the clamping of the first clamping part and the second clamping part and the movement of the moving part are controlled.

In an embodiment, the at least one set of clamping linkage mechanism is two sets;

The moving parts of the two sets of clamping linkage mechanisms are mirrored and movably arranged on both sides of the first clamping portion to realize the space between the first clamping portion and the second clamping portion mobile.

In this embodiment, a specific structure for clamping the moving part is provided, so as to make the secondary positioning of the clamped target object more accurate.

In an embodiment, the two moving parts are slidably connected to the first clamping part through the same track.

In this embodiment, a specific structure in which the two moving parts slide only through the same track is provided, which simplifies the structure for the sliding connection of the moving parts.

In an embodiment, the moving component includes:

A first beam, which is arranged in the same direction as the track, and the first beam is slidably connected to the track;

A second beam, one end of which is connected with the first beam, so that the second beams on both sides slide toward each other to sandwich the space area between the first clamping portion and the second clamping portion.

In this embodiment, a specific structure of the moving part is provided.

The clamping linkage mechanism further includes:

A pressing wheel is arranged on the first clamping part, and the outer edge of one side of the moving part is arranged in the same direction along the moving direction of the moving part, so that the pressing wheel is in the moving process of the moving part. The outer circle is rolled and pressed on the outer edge.

This embodiment provides a specific structure with a pressure wheel, which can correct the moving direction of the moving part and thereby protect the linear bearing used by the moving part installed on the track.

Description of the drawings

Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings to make the above and other features and advantages of the present invention more clear to those skilled in the art. In the accompanying drawings:

FIG. 1 is a schematic diagram of the overall external structure of a clamping device in an embodiment of the present invention;

2 is a schematic diagram of a side view of the overall external structure of the clamping device in an embodiment of the present invention;

3 is a schematic diagram of the assembly structure of the clamping device after hiding the power unit in an embodiment of the present invention;

4 is a schematic diagram of the assembly of the first clamping portion and the clamping driving structure of the present invention;

Figure 5 is a schematic diagram of the internal structure of the elastic plunger of the present invention.

Among them, the reference signs are as follows:

Label	meaning
1	First clamping part
2	Power unit
3	Second clamping part
4	Clamping linkage mechanism
41	Moving parts
411	First beam
412	Second beam
413	Outer edge
42	Elastic plunger
421	Extrusion part main body
4211	Internal cavity
4212	Opening

422	Piston head
423	Compression spring
43	Linkage agency
431	Drive rod
4311	First end
4312	Second end
432	Elastic reset part
4321	Positioning block
4322	Return spring
44	track
45	Pressure wheel
a	Reserved distance

detailed description

The applicant found that the clamping device cannot accurately locate the target object when only clamping in one direction is achieved. For example, in the production of circuit boards, the clamping device is connected to one end of a mechanical arm, and then the clamping device is driven by the mechanical arm to realize the clamping of the circuit board, and finally through the mechanical The arm moves the clamped circuit board together with the clamping device to a target position.

In the implementation process, a plurality of the circuit boards will be transferred to the clamping position one by one through the production line, but the placement angles and placement positions of these circuit boards are different when they are transferred to the clamping position, even if all The placement angle and placement position of the circuit board do not change much, but if the clamping device has only two clamping parts for clamping, then the relative position of the circuit board and the clamping device may also appear after clamping Inconsistency. In addition, when the mechanical arm clamps the circuit board, the motion trajectory of the mechanical arm needs to be programmed. However, due to visual errors, the clamping device may also clamp the circuit board. The geometric center is different from the clamping direction of the clamping device. Finally, every time the clamping device clamps the circuit board, the relative position between the circuit board and the clamping device is also inconsistent, which seriously affects the subsequent positioning of the circuit board to the target position Positioning of accuracy in spatial position.

In some embodiments of the present application, specific implementations of secondary positioning by moving parts are provided. The direction of movement when the two clamping parts of the clamping device are clamped can be understood as the direction of the first degree of freedom, and the direction of movement of the moving part is defined as the direction of the second degree of freedom, regardless of the direction of the first degree of freedom and the direction of the second degree of freedom. Whether the directions of the two degrees of freedom are the same will have a calibration effect on the target object. It needs to be pointed out that after the secondary calibration and positioning, the position of the circuit board on the clamping device is not completely restricted and accurately positioned, but the relative position between the two is the same every time it is grasped.

In order to make the technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to illustrate the present invention, and are not used to limit the protection scope of the present invention.

FIG. 1 is a schematic diagram of the overall external structure of a clamping device in an embodiment of the present invention, and FIG. 2 is a schematic diagram of a side view of the overall external structure of the clamping device in an embodiment of the present invention. As shown in Figures 1 and 2, in one embodiment, the present application provides a clamping device that includes a first clamping portion 1 and a second clamping portion 3, and at least one Sleeve clamping linkage mechanism 4;

Among them, the first clamping portion 1 is connected to one end of a power unit 2, and the second clamping portion 3 is connected to the other end of the power unit 2, so that the second clamping portion 3 is connected to the first by the expansion and contraction of the two ends of the power unit 2. The clamping or distance of a clamping part 1.

The power unit 2 can be understood as an air cylinder, an electric cylinder or a hydraulic cylinder. Either way, the extension end of the cylinder diameter can be connected to the first clamping part 1, and the cylinder block is connected to the second clamping part 2, and finally The first clamping portion 1 and the second clamping portion 2 are clamped or separated. In addition, the power unit 2 can be understood as a device that allows the first clamping portion 1 and the second clamping portion 2 to be clamped or separated. For example, two conductive electromagnets are used to install the first clamping portion 1 and the second clamping portion 1 and the second clamping portion 2 respectively. On the two clamping parts 2, the first clamping part 1 and the second clamping part 2 are slidably mounted on the two ends of the guide rail respectively, and the clamping between the two is realized by generating repulsive force or attractive force by energizing the conductive electromagnet Or stay away.

At least one set of clamping linkage mechanism 4, each set of clamping linkage mechanism 4 includes a moving part 41, an elastic plunger 42, and a linkage mechanism 43;

The moving part 41 is movably arranged on the first clamping part 3, the elastic plunger 42 is arranged on the second clamping part 3, and the linkage mechanism 43 is arranged on the first clamping part 3. When the second clamping When the part 3 is clamped with the first clamping part 1, the elastic plunger 42 squeezes the linkage mechanism 43 so that the linkage mechanism 43 drives the moving part 41 to the gap between the first clamping part 1 and the second clamping part (3). Space movement.

In this embodiment, a specific embodiment is provided in which the first clamping portion 1 and the second clamping portion 2 are controlled by the power unit 2 while controlling the movement of the moving part 41. It should be pointed out that the moving part 41 can be arranged on the first clamping part 3 or on the power unit 2. For example, if the power unit 2 adopts an electric cylinder, the cylinder body can be connected with the first clamping part 1, and the extension end of the cylinder bore can be connected with the second clamping part 2. If the moving part 41 is installed on the cylinder, the distance between the moving part 41 on the cylinder and the second clamping part 2 can still be changed when the power unit 2 stretches, or the linkage mechanism can be squeezed by the elastic plunger 42 43, and then the linkage mechanism 43 drives the moving part 41 to move, but at this time the first clamping part 1 and the cylinder should be understood as the same rigid body, so the structure of the moving part 41 provided on the power unit 2 should fall into this embodiment Within the scope of protection of the method. In the same way, the structure of the elastic plunger 42 provided on the power unit 2 should also fall within the protection scope of this embodiment.

The first clamping portion 1 and the second coupling portion 2 are clamped or separated by the expansion and contraction of the power unit 2, and the elastic plunger 42 is used to squeeze the first clamping portion 1 and the second coupling portion 2 through the distance change. Press the linkage mechanism 43 to make the linkage mechanism 43 drive the moving part 41 to move, and finally realize the clamping positioning of the first clamping part 1 and the second clamping part 2, and the positioning of the target object by the movement of the moving part 41, correcting the position of the target object. The positional relationship between the clamping target object and the clamping device solves the technical problem that the spatial position of the target object is difficult to locate due to the inconsistent spatial positions of the clamped target object.

3 is a schematic diagram of the assembly structure of the clamping device in an embodiment of the present invention after the power unit is hidden, and FIG. 4 is a schematic diagram of the assembly of the first clamping portion and the clamping driving structure of the present invention. As shown in FIGS. 3 and 4, in one embodiment, the linkage mechanism 43 includes a driving rod 431, and the driving rod 431 is hinged on the first clamping portion 3;

The first end 4311 of the driving rod 431 abuts against one end of the moving part 41. When the second clamping part 3 is clamped with the first clamping part 1, the elastic plunger 42 contacts the second end 4312 of the driving rod 431 and pushes the driving rod 431, so that the first end 4311 presses the moving part 41 to drive The moving member 41 moves to the space between the first clamping portion 1 and the second clamping portion 3.

In this embodiment, a specific structure of the linkage mechanism 43 is provided. The structure of the drive rod 431 can make the moving part 41 that does not move in the direction of clamping with the first clamping portion 1 and the second clamping portion 3 also receive power. The effect of the expansion and contraction of unit 2 enables movement. For example, when the direction of the first degree of freedom sandwiched between the first clamping portion 1 and the second clamping portion 3 is the same direction as the direction of the second degree of freedom movement of the moving part 41, the elastic plunger 42 can directly squeeze the moving part. 41. The moving part 41 can move to realize the function, but when the direction of the first degree of freedom and the direction of the second degree of freedom are different, it cannot be realized by directly squeezing the moving part 41, and the first degree of freedom direction and the second degree of freedom direction are preferably implemented in the implementation. The directions of the degrees of freedom should be different, so that the first clamping portion 1 and the second clamping portion 3 are realized, and the moving part 41 realizes clamping from multiple directions around the clamped target object. To sum up, after the driving rod 431 is introduced, the rotation can be realized by the hinge connection with the first clamping part 3, and then the first degree of freedom direction and the second degree of freedom direction can be clamped.

In one embodiment, the linkage mechanism 43 further includes an elastic resetting member 432. One end of the elastic resetting member 432 abuts against the moving member 4, and the other end of the elastic resetting member 432 abuts against the first clamping portion 1 to oppose the moving member 41. Provide a reverse tension force toward the space between the first clamping portion 1 and the second clamping portion 3;

When the second clamping part 3 is far away from the first clamping part 1, the elastic plunger 42 is disengaged from the second end 4312 of the drive rod 431, and the elastic return part 432 causes the squeezed moving part 41 to move toward the second end through tension. The space between the first clamping portion 1 and the second clamping portion 3 moves in the opposite direction.

In this embodiment, a structure that can automatically return the moving part 41 is provided. The elastic reset part 432 can provide tension between the first clamping part 1 and the moving part 41 at any time; when the first clamping part 1 and the third clamping part 3 are clamped by the power unit 2, the elastic plunger 42 The clamping force provided should be greater than the tensioning force. When the first clamping portion 1 and the third clamping portion 3 are far away, they are in a non-contact state, and the tensioning force will move the moving part 41 back.

In one embodiment, the elastic return member 432 includes a positioning block 4321 and a return spring 4322. The positioning block 4321 is arranged on the first clamping portion 1; one end of the return spring 4322 is connected to the positioning block 4321, and the other end of the return spring 4322 It is connected with the moving part 41 to provide tension between the first clamping part 1 and the moving part 41.

In this embodiment, a specific structure of the elastic reset component 432 is provided, in which the positioning block 4321 can adjust the distance from the moving component 41 through a long hole provided on the first clamping portion 1, so as to adapt to clamping different target objects. Size, for example, the circuit boards of different widths.

Figure 5 is a schematic diagram of the internal structure of the elastic plunger of the present invention. As shown in FIG. 5, in one embodiment, the elastic plunger 42 includes a pressing part main body 421, a piston head 422, and a compression spring 423,

The pressing part main body 421 is disposed on the second clamping part 3, the pressing part main body 421 has an internal cavity 4211, the pressing part main body 421 is provided with an opening 4212, and the pressing part main body 421 is connected to the inner cavity through the opening 4212. The cavity 4211 is connected;

One end of the piston head 422 is arranged in the internal cavity 4211, and the other end of the piston head 422 extends out of the main body 421 of the extrusion part through the opening 4212. The piston head 422 and the main body 421 of the extrusion part are installed in cooperation with the stop structure to make the piston head 422 can make a piston movement in the main body 421 of the squeezing part;

The compression spring 423 is disposed in the internal cavity 4211, one end of the compression spring 423 abuts against the piston head 422, and the other end of the compression spring 423 and the other end of the compression spring 423 abut against the inner wall of the pressing part main body 421 in the internal cavity 4211.

In this embodiment, a specific structure of the elastic plunger 42 is provided, because when the elastic plunger 42 and the linkage mechanism 43 are in constant contact, the two will continue to collide with each other, in order to reduce the impact on the elastic plunger 42 and the linkage mechanism 43 during the collision. , Especially the damage of the driving rod 431, so the compression spring 423 is used to buffer, and finally achieve the function of protecting the linkage mechanism 43 and the elastic plunger 42.

More importantly, after the first clamping portion 1 and the second clamping portion 2 clamp the target object, the moving part 41 needs to perform displacement compensation for the target object, because at this time the first clamping portion 1 and the second clamping portion 2 It can no longer approach, otherwise the target object will be damaged. Therefore, the displacement and movement compensation of the piston head 422 in the elastic plunger 42 is required to make the moving part 41 continue to move to the target object. In addition, the tension force of the elastic reset component 432 should be much smaller than the elastic force provided by the compression spring 423.

In addition, at least one vent hole may be provided on the main body 421 of the pressing part, and the vent hole is in communication with the internal cavity 4211. When the piston head 422 moves, the vent hole can be used to ventilate the internal cavity 4211 to make elasticity. The force of the plunger is more accurate.

In one embodiment, when the first clamping portion 1 and the second clamping portion 3 are far away, there is a reserved distance a between the elastic plunger 42 and the linkage mechanism 43.

In this embodiment, a specific technical solution is provided in which a reserved distance a is preset between the first clamping portion 1 and the second clamping portion 3, and the purpose is to realize the movement of the moving part 42 by setting the reserved distance a. In response to the interval, it takes a while for the power unit 2 to allow the elastic plunger 42 to contact the linkage mechanism 43, and then the power unit 2 continues to let the elastic plunger 42 squeeze the linkage mechanism 43 to realize the movement of the moving part 41, then the power unit 2 makes the elastic column The contact time of the plug 42 and the linkage mechanism 43 is the response time of the moving part 42. The length of the response time is related to the length of the reserved distance a and the expansion speed of the power unit 2.

The response time is set up because when the first clamping part 1 and the third clamping part 3 are clamped, they will interfere with the movement of the moving part 41 in the process of clamping the target object, so the clamping process needs to establish between the two This embodiment provides a specific technical solution for establishing the response time mechanically.

In addition, it can also be seen from this embodiment that the distance a between the adjustment and the linkage mechanism 43 can be adjusted by adjusting the elastic plunger 42.

In one embodiment, at least one set of clamping linkage mechanism 4 is two sets;

The moving parts 41 of the two sets of clamping linkage mechanism 4 are mirrored and movably arranged on both sides of the first clamping portion 3 to realize movement to the space between the first clamping portion 1 and the second clamping portion 3.

This embodiment provides a technical solution with two sets of clamping linkage mechanisms 4, and the moving parts 41 in the two sets of clamping linkage mechanisms 4 are arranged in a mirror image, and the two moving parts 41 can move in a mirror image. Preferably, the direction in which the two moving parts 41 move can be set to a direction perpendicular to the clamping direction of the first clamping portion 1 and the second clamping portion 2. For example, the first clamping part 1 and the second clamping part 2 are clamped in the front and back direction, and the two movable clamping parts 41 can be clamped left and right.

In one embodiment, the two moving parts 41 are slidably connected to the first clamping portion 1 through the same rail 44.

In order to simplify the structure in this embodiment, the two moving parts 41 arranged in mirror images can be arranged on the same track 44 to realize the moving arrangement of the moving parts 41. It should be pointed out that the moving part 41 is not limited to only realize the connection with the first clamping part 1 through the rail 44.

In one embodiment, the moving part 41 includes a first beam 411 and a second beam 412;

The first beam 411 is arranged in the same direction as the rail 44, and the first beam 411 is slidably connected to the rail 44;

One end of the second beam 412 is connected with the first beam 411, so that the second beams 412 on both sides sandwich the space between the first clamping portion 1 and the second clamping portion 3 when sliding toward each other.

In this embodiment, a specific structure of the moving part 41 is provided. When the two moving parts 41 move in a mirror image, the first beam 411 can be connected to the rail 44 to complete the sliding, and the second beam 412 is arranged in a different direction from the first beam 411, and an angle can be formed between the two. Preferably, when the first beam 411 and the rail 44 are arranged in the same direction, for example, the two moving parts 41 are arranged left and right, and the rail 44 is arranged in the left and right direction, that is, the first beam 411 should also be arranged in the left and right direction, then the second beam 412 Then, it can be set up and down to form a form that encloses the space between the first sandwiching portion 1 and the second sandwiching portion 2 that are arranged front and rear.

In one embodiment, the clamping linkage mechanism 4 further includes a pressing wheel 45;

The pressing wheel 45 is arranged on the first clamping part 1, and the outer edge 413 on one side of the moving part 41 is arranged in the same direction along the moving direction of the moving part 41, so that the outer circle of the pressing wheel 45 is rolled and pressed together during the movement of the moving part 41 On the outer edge 413.

In this embodiment, a specific technical solution for setting the pressing wheel 45 is provided. Since the sliding connection between the moving part 41 and the rail 44 can be connected by a sliding block, and if the sliding block is installed on the rail 44, a bearing will be used. If the moving direction of the moving part 41 cannot follow the sliding direction of the sliding block, the bearing will be damaged. For example, if the moving part 41 should move linearly along the track 44, and a pressing wheel 45 contacting the outer edge 413 is provided on the outer edge 413 of the moving part 41, and the pressing wheel 45 rolls on the contact surface of the outer edge 413, then It is possible to correct the moving direction of the moving part 41 to protect the bearing. This design can effectively extend the service life of the bearing.

Its specific beneficial effects:

In the present application, the power unit 2 can drive the clamping of the first clamping portion 1 and the second clamping portion 2 and the movement of the moving part 41 to realize the secondary correction of the clamping target object. In addition, in the present application, only one power unit 2 drives the clamping of the first clamping portion 1 and the second clamping portion 2 and the movement of the moving component 41.

In the present application, the first clamping portion 1 and the second clamping portion 2 are clamped by the reserved distance a, and the delay response of the movement of the moving part 41 is realized.

In this application, the elastic plunger 42 can compensate and adjust the reserved distance a, and the adjustment compression spring 423 can adjust the clamping force when the first clamping portion 1 and the second clamping portion 2 clamp the target object, and the clamping force of the moving part 41 relationship.

The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the present invention. Within the scope of protection.

Claims (10)

1. Clamping device, including:

   A first clamping portion (1) connected to one end of a power unit (2); and

   A second clamping portion (3), which is connected to the other end of the power unit (2), so that the second clamping portion (3) is connected to the first The clamping or separation of the clamping part (1);

   At least one set of clamping linkage mechanism (4), each set of clamping linkage mechanism (4) includes:

   A moving part (41), which is movably arranged on the first clamping part (3);

   An elastic plunger (42), which is arranged on the second clamping portion (3);

   A linkage mechanism (43), which is arranged on the first clamping portion (3), when the second clamping portion (3) is clamped with the first clamping portion (1), the The elastic plunger (42) squeezes the linkage mechanism (43) so that the linkage mechanism (43) drives the moving part (41) toward the first clamping portion (1) and the second clamping portion (3) Move between the spaces.
2. The clamping device according to claim 1, wherein:

   The linkage mechanism (43) includes:

   A driving rod (431) hinged on the first clamping portion (3), and the first end (4311) of the driving rod (431) abuts against one end of the moving part (41);

   When the second clamping portion (3) is clamped with the first clamping portion (1), the elastic plunger (42) is in contact with the second end (4312) of the driving rod (431) And push the driving rod (431) so that the first end (4311) squeezes the moving part (41) to drive the moving part (41) toward the first clamping part (1) and the The space between the second clamping parts (3) moves.
3. The clamping device according to claim 2, wherein:

   The linkage mechanism (43) also includes:

   An elastic resetting part (432), one end of the elastic resetting part (432) abuts against the moving part (4), and the other end of the elastic resetting part (432) is against the first clamping part (1) Against each other, so as to provide the moving part (41) with a reverse tension force toward the space between the first clamping portion (1) and the second clamping portion (3);

   When the second clamping portion (3) is far away from the first clamping portion (1), the elastic plunger (42) and the second end (4312) of the driving rod (431) Disengaged, the elastic reset member (432) makes the moving member (41) to be opposite to the space between the first clamping portion (1) and the second clamping portion (3) through tensioning force Move in direction.
4. The clamping device according to claim 3, wherein the elastic reset member (432) comprises:

   A positioning block (4321), which is arranged on the first clamping portion (1);

   A return spring (4322), one end of which is connected to the positioning block (4321), and the other end of the return spring (4322) is connected to the moving part (41) to provide the first clamping portion (1) ) And the tension between the moving part (41).
5. The clamping device according to claim 4, wherein the elastic plunger (42) comprises:

   A pressing part main body (421), which is arranged on the second clamping part (3), the pressing part main body (421) has an internal cavity (4211), the pressing part main body (421) An opening (4212) is provided on the upper surface, and the main body (421) of the squeezing part communicates with the internal cavity (4211) through the opening (4212);

   A piston head (422), one end of which is arranged in the internal cavity (4211), and the other end of the piston head (422) extends out of the pressing part main body (421) through the opening (4212), The piston head (422) and the main body (421) of the pressing part are installed in cooperation with a limiting structure, so that the piston head (422) can make a piston movement in the main body (421) of the pressing part;

   A compression spring (423), which is arranged in the internal cavity (4211), one end of the compression spring (423) is against the piston head (422), and the other end of the compression spring (423) is against the piston head (422), and the other end of the compression spring (423) is against the piston head (422). The inner wall of the main body (421) of the pressing part in the inner cavity (4211) is opposed to each other.
6. The clamping device according to claim 2, wherein when the first clamping portion (1) and the second clamping portion (3) are far away, the elastic plunger (42) and the linkage There is a reserved distance (a) between the institutions (43).
7. The clamping device according to any one of claims 1 to 6, wherein:

   The at least one set of clamping linkage mechanism (4) is two sets;

   The moving parts (41) of the two sets of clamping linkage mechanisms (4) are mirrored and movably arranged on both sides of the first clamping portion (3), so as to realize the direction to the first clamping portion (1). And the space between the second sandwiching part (3) and moving.
8. The clamping device according to claim 7, wherein the two moving parts (41) are slidably connected to the first clamping part (1) via the same track (44).
9. The clamping device according to claim 8, wherein the moving part (41) comprises:

   A first beam (411), which is arranged in the same direction as the rail (44), and the first beam (411) is slidably connected to the rail (44);

   A second beam (412), one end of which is connected with the first beam (411), so that the second beams (412) on both sides slide toward each other to sandwich the first clamping portion (1) and the The space area between the second clamping parts (3).
10. The clamping device according to claim 9, wherein the clamping linkage mechanism (4) further comprises:

    A pressing wheel (45), which is arranged on the first clamping portion (1), and the outer edge (413) on one side of the moving part (41) is in the same direction along the moving direction of the moving part (41) It is arranged so that the outer circle of the pressing wheel (45) rolls and presses on the outer edge (413) during the movement of the moving component (41).

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