Clamping device, carrying conveying line and clamping method

Abstract

The invention discloses a clamping device, a carrying conveying line and a clamping method. The clamping device comprises a connecting plate, at least one adjusting piece and at least one pair of clamping jaws, wherein the connecting plate ascends and descends in the vertical direction; the at least one adjusting piece is rotationally arranged relative to the connecting plate; the end face of the adjusting part is provided with a guide groove penetrating through the rotating center of the adjusting part, the clamping jaw is provided with a cam corresponding to the guide groove, and the adjusting part rotates to adjust the included angle of the guide groove relative to the vertical direction so as to change the moving stroke of the clamping jaw in the horizontal direction. According to the clamping device, the clamping device has the adjustable asymmetric moving stroke, and the clamping application range is wider.

Description

Technical Field

[0001] The present application relates to the field of handling and conveying technology, and in particular to a clamping device, a handling and conveying line, and a clamping method. Background Art

[0002] In a conveying conveyor line, a clamping device is usually used to realize the conveying and transfer of products. The clamping device includes a clamping jaw that is driven to open and close. The existing clamping jaws are suitable for clamping operations of symmetrical products. A pair of relatively arranged clamping jaws are driven to open and close with the same movement stroke. A pair of clamping jaws can be relatively clamped and positioned to both sides of the product, and a pair of clamping jaws are simultaneously abutted against both sides of the product.

[0003] Due to the differences in the product's dimensions and structure, the product is provided with a protrusion, which is a vulnerable part. The traditional symmetrical opening and closing clamping jaws are not applicable, which may easily cause the protrusion of the product to be damaged by clamping. It is necessary to use a clamping device with an asymmetrical moving stroke. However, the moving stroke of the clamping device with an asymmetrical moving stroke is fixed, and the scope of application of the product is limited. Summary of the invention

[0004] The purpose of the present invention is to solve the above technical problems and provide a clamping device, a conveying line and a clamping method, so that the clamping device has an adjustable asymmetric moving stroke and can clamp a wider range of applications. In order to achieve the above purpose, the technical solution of the present invention is as follows:

[0005] A clamping device comprises a connecting plate that moves up and down in a vertical direction, at least one adjusting member that is rotatably arranged relative to the connecting plate, and at least one pair of clamping jaws that move relatively in a horizontal direction; the end surface of the adjusting member is provided with a guide groove that runs through its rotation center, and the clamping jaw is provided with a cam corresponding to the guide groove, and the adjusting member is rotated to adjust the angle of the guide groove relative to the vertical direction to change the movement stroke of the clamping jaw in the horizontal direction.

[0006] A conveying conveyor line includes a loading device, a conveying device and a transfer device arranged in sequence. The conveying conveyor line also includes a conveying device, which is arranged on the sides of the conveying device and the transfer device and is used to transport the product on the conveying device to the transfer device. The conveying device includes a clamping device as described above.

[0007] A clamping method is applied to a clamping device, the clamping device is used to clamp a product, the product comprises a body and a convex piece arranged on a side wall of the body, a first clamping area is formed between the bottom of the convex piece and the bottom of the body, and a second clamping area is formed on the side wall of the body opposite to the first clamping area, the clamping device comprises a first clamping block and a second clamping block, the method comprises: in response to identifying that the product is conveyed to a specified position, controlling the first clamping piece to clamp the first clamping area and the second clamping area;

[0008] In response to the first clamping member clamping the product in place, the displacement parameter of the clamping device is determined according to the shape parameter information of the product, and the clamping device is controlled to approach the product according to the displacement parameter, so that the top of the first clamping block and the top of the second clamping block are respectively located below the bottom of the protruding member in the horizontal direction, and the inner side of the first clamping block is flush with the end surface of the protruding member in the vertical direction;

[0009] Determine the distance between the inner side of the second clamping block and the second clamping area. If the distance between the inner side of the second clamping block and the second clamping area is not less than the length of the protrusion along the horizontal direction, control the included angle of the guide groove relative to the vertical direction, and control the connecting plate to move along the vertical direction, so that the first clamping block and the second clamping block move relative to each other in the horizontal direction and are clamped in the first clamping area and the second clamping area;

[0010] In response to the clamping device clamping the product in place, the first clamping member releases the product.

[0011] Compared with the prior art, the clamping device, conveying line and clamping method of the present invention have the following beneficial effects:

[0012] The end face of the adjusting member is provided with a guide groove which is connected to the rotation center thereof, and a cam which corresponds to the guide groove is provided on the clamping jaw. A pair of clamping jaws can realize a clamping effect with an asymmetric moving stroke. By rotating the angle of the adjusting member, the included angle of the guide groove in the vertical direction can be changed, thereby changing the direction of the guide groove. During the lifting and lowering process of the connecting plate, the cam on the clamping jaw slides in the guide groove, and the guide groove on the adjusting member is arranged in a rotating manner. The moving stroke of the clamping jaw in the horizontal direction can be adjusted and changed, thereby expanding the application scope of the clamping product. The guide groove is connected to the rotation center of the adjusting member. When the included angle of the guide groove in the vertical direction passes through 0° or 180°, during the lifting and lowering process of the connecting plate, the cam of the clamping jaw can smoothly transition in the guide groove, and the horizontal moving stroke of the clamping jaw is more stable, thereby avoiding the problem of the cam of the clamping jaw being stuck when the connecting plate moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of a conveyor line is provided for an embodiment of the present application;

[0014] Figure 2 A schematic diagram of a transport device is provided for an embodiment of the present application;

[0015] Figure 3 One of the front schematic diagrams of the clamping device is provided for the embodiment of the present application;

[0016] Figure 4 A schematic side view of a clamping device is provided for an embodiment of the present application;

[0017] Figure 5 A schematic diagram of the rear view structure of a clamping device is provided for an embodiment of the present application;

[0018] Figure 6 A second schematic diagram of the main view of the clamping device is provided for the embodiment of the present application;

[0019] Figure 7 A structural schematic diagram of a feeding device is provided for an embodiment of the present application;

[0020] Figure 8 A partial schematic diagram of a conveying device is provided for an embodiment of the present application;

[0021] Fig. 9 A schematic diagram of the structure of a transfer device is provided for an embodiment of the present application;

[0022] Fig.10 A structural schematic diagram of a product is provided for an embodiment of the present application.

[0023] Reference numerals:

[0024] The transport device 1, the connecting plate 11, the adjusting member 12, the guide groove 121, the steering groove 122, the first clamping jaw 13, the first clamping block 131, the claw arm 132, the claw seat 133, the second clamping jaw 14, the second clamping block 141, the cam 15, the fixing rod 16, the center roller 17, the adjusting roller 18, the fixing plate 21, the base plate 22, the vertical guide rail 23, the adjusting part 24, the adjusting groove 241, the transport stand 31, the transport connecting plate 32, and the driving member module 33;

[0025] Feeding device 4, feeding plate 41, feeding trough 411, stopper 412, shifting block 42, bottom plate 43, retaining edge 44, feeding bracket 45;

[0026] Conveying device 5, feeding line 51, guide plate 52, visual inspection module 53, feeding bracket 54, first base 541, second base 542, first clamping member 55, second clamping member 56, end plate 57, pressing plate 58;

[0027] The transfer device 6, the transfer bracket 61, the fixed frame 611, the mobile frame 612, the transfer line 62, the side push assembly 63, the side push seat 631, the side push plate 632, the elastic push member 633, and the carrier plate 64;

[0028] Product 7, body 71, protrusion 72, first clamping area 73, second clamping area 74. DETAILED DESCRIPTION

[0029] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0030] Embodiment 1

[0031] This embodiment provides a clamping device, including a pair of clamping jaws that move relatively, and a conventional pair of clamping jaws are driven to open and close with a symmetrical moving stroke.

[0032] The clamping device performs clamping and carrying actions on the product 7 to be clamped. Due to the differences in the external dimensions and structures of the product 7, some products 7 are provided with convex parts 72 on their sides. The convex parts 72 are precision parts, and clamping collision and appearance damage should be avoided. Conventional clamping devices with symmetrical moving strokes are not applicable. The clamping device in this embodiment can adjust the asymmetrical moving stroke, has a wider range of applications, and can meet the clamping requirements of different external dimensions and structures of the product 7, which is described in detail below.

[0033] In this embodiment, the X-axis direction is set as the horizontal direction, the Y-axis direction is set as the vertical direction, the horizontal and vertical directions are unified as the horizontal direction, and the Z-axis direction is set as the vertical direction.

[0034] like Figure 1-Figure 6 , Fig.10 As shown, this embodiment provides a clamping device, including a connecting plate 11 that moves up and down in a vertical direction, at least one adjusting member 12 that is rotatably arranged relative to the connecting plate 11, and at least one pair of clamping claws that move relatively in a horizontal direction;

[0035] The end surface of the adjusting member 12 is provided with a guide groove 121 which runs through its rotation center, and the clamping jaw is provided with a cam 15 corresponding to the guide groove 121. The adjusting member 12 rotates to adjust the angle of the guide groove 121 relative to the vertical direction to change the movement stroke of the clamping jaw along the horizontal direction.

[0036] The main body of the adjusting member 12 may be a disc structure, and a fixing rod 16 for mounting the adjusting member 12 on the connecting plate 11 is provided on the adjusting member 12, one end of the fixing rod 16 is fixedly connected to the connecting plate 11, and the other end of the fixing rod 16 is connected to the rotation center axis of the adjusting member 12; a central roller 17 is provided at the rotation center of the adjusting member 12, and the central roller 17 is sleeved on the end of the fixing rod 16, and the central roller 17 rotates synchronously with the adjusting member 12 around the end of the fixing rod 16. In this embodiment, the fixing rod 16 is a U-shaped structure, and the fixing rod 16 has the function of suspending the adjusting member 12, and plays a supporting and positioning role.

[0037] A steering groove 122 is provided on the adjusting member 12 along its circumference, and the steering groove 122 is provided concentrically with the adjusting member 12, and the steering groove 122 penetrates the adjusting member 12 axially. An adjusting roller 18 corresponding to the steering groove 122 is provided at the bottom of the connecting plate 11, and the inner wall of the steering groove 122 is relatively meshed with the outer wall of the adjusting roller 18, so that the adjusting roller 18 can be stably connected to the steering groove 122. Among them, the central roller 17 and / or the adjusting roller 18 have a rotation function, which can be driven by a motor to achieve rotation. The adjusting member 12 is suspended on the connecting plate 11 through the fixing rod 16, and the adjusting member 12 can rotate relative to the connecting plate 11.

[0038] A fixing rod 16 is installed on one end surface of the adjusting member 12, and a guide groove 121 is provided on the other end surface of the adjusting member 12, and the guide groove 121 is provided toward the clamping claw. The guide groove 121 is arranged along the diameter of the adjusting member 12, and when the adjusting member 12 rotates, the angle of the guide groove 121 relative to the vertical direction changes. When the connecting plate 11 moves up and down, the movement stroke of the cam 15 in the horizontal direction changes. The change of the angle of the guide groove 121 relative to the vertical direction can allow the cam 15 to have a larger movement stroke range in an adjustable manner, and accordingly, the clamping claw can also have a larger movement stroke range.

[0039] The clamping device also includes a fixed plate 21 spaced apart from the connecting plate 11. The connecting plate 11 and the fixed plate 21 can be arranged in parallel, and the connecting plate 11 is arranged to be lifted and moved relative to the fixed plate 21. Specifically, the connecting plate 11 is detachably mounted on the base plate 22, and the base plate 22 is driven to be lifted and lowered together with the connecting plate 11. A vertical guide rail 23 is arranged between the fixed plate 21 and the base plate 22, and the base plate 22 can move smoothly along the fixed plate 21 through the vertical guide rail 23. Among them, the driving method can be realized by an electric drive module, a pneumatic drive module, and a hydraulic drive module, which will not be described in detail below.

[0040] A pair of relatively movable jaws are provided at the bottom of the fixed plate 21, and the pair of jaws are slidably connected to the bottom of the fixed plate 21 respectively. Specifically, the pair of jaws are installed at the bottom of the fixed plate 21 through transverse guide rails, so that the pair of jaws can slide stably.

[0041] The clamping claw includes a claw arm 132, a claw seat 133 connected to the claw arm 132, and a clamping block arranged on the claw arm 132; the top of the claw seat 133 is slidably mounted on the bottom of the fixing plate 21, and the end surface of the claw seat 133 is provided with a cam 15, which extends and is embedded in the guide groove 121, and the cam 15 is slidably matched with the guide groove 121. A clamping block is arranged on the inner side of the claw arm 132, and the clamping block structures of a pair of claw arms 132 can be different. The clamping block is adapted to the outer shape structure of the product 7, and the inner side of the clamping block is correspondingly abutted against the side wall of the product 7.

[0042] A first sensor (not marked in the figure) for detecting the clamping force is provided on the side of the clamping block. When the moving stroke of the clamping jaw is in place, the first sensor can accurately determine the force of the clamping block against the side wall of the product 7, effectively preventing the product 7 from being clamped. At the same time, when the product 7 is being transported, the first sensor can timely feedback the force of the clamping jaws, and other devices can coordinate with the clamping device.

[0043] Exemplarily, the clamping device includes a connecting plate 11 that moves up and down in the vertical direction, an adjusting member 12 that is rotatably arranged relative to the connecting plate 11, and a pair of clamping jaws that move relatively in the horizontal direction; the end surface of the adjusting member 12 is provided with a guide groove 121 that runs through its rotation center, and the clamping jaw is provided with a cam 15 corresponding to the guide groove 121. The adjusting member 12 rotates to adjust the angle of the guide groove 121 relative to the vertical direction to change the movement stroke of the clamping jaw in the horizontal direction, and the above angle is not 0° or 180°. One of the pair of clamping jaws moves horizontally following the adjusting member 12, and the other clamping jaw can be in a stationary state, thereby realizing the relative movement of the pair of clamping jaws.

[0044] Exemplarily, the clamping device includes a connecting plate 11 that moves up and down in the vertical direction, two adjusting members 12 that are rotatably arranged relative to the connecting plate 11, and a pair of clamping jaws that move relative to each other in the horizontal direction; the end faces of the two adjusting members 12 are respectively provided with guide grooves 121, and each clamping jaw is provided with a cam 15 corresponding to the guide groove 121.

[0045] The two adjusting members 12 can be independently rotated and controlled. When the guide grooves 121 of the two adjusting members 12 have the same vertical angle, the angle is not 0° or 180°, and the two guide grooves 121 are symmetrically arranged, the symmetrical movement and clamping of a pair of clamping jaws can be achieved.

[0046] When the included angles of the guide grooves 121 of the two adjusting members 12 along the vertical direction are different, the asymmetric moving stroke clamping effect of a pair of clamping jaws can be achieved. When the included angle of the guide grooves 121 of the adjusting member 12 along the vertical direction gradually changes to 0° or 180°, the clamping jaws can move a certain distance in the horizontal direction and then become stationary. It is understood that when the included angle of the guide grooves 121 of the adjusting member 12 along the vertical direction is 0° or 180°, the lifting and lowering action of the connecting plate 11 does not affect the clamping jaws.

[0047] In this embodiment, the end face of the adjusting member 12 is provided with a guide groove 121 which is connected to its rotation center, and a cam 15 corresponding to the guide groove 121 is provided on the clamping jaw. A pair of clamping jaws can realize a clamping effect with an asymmetric moving stroke. By rotating the angle of the adjusting member 12, the included angle of the guide groove 121 along the vertical direction can be changed, thereby changing the direction of the guide groove 121. During the lifting and lowering process of the connecting plate 11, the cam 15 on the clamping jaw slides in the guide groove 121. The guide groove 121 on the adjusting member 12 is arranged in a rotating manner. The moving stroke of the clamping jaw along the horizontal direction can be adjusted and changed, thereby expanding the application scope of the clamping product 7; the guide groove 121 is connected to the rotation center of the adjusting member 12. When the included angle of the guide groove 121 along the vertical direction passes through 0° or 180°, during the lifting and lowering process of the connecting plate 11, the cam 15 of the clamping jaw can smoothly transition in the guide groove 121, and the horizontal moving stroke of the clamping jaw is more stable, thereby avoiding the problem of the cam 15 of the clamping jaw getting stuck when the connecting plate 11 moves.

[0048] Embodiment 2

[0049] This embodiment optimizes the clamping device on the basis of the above embodiment, and in particular provides a specific implementation method of a connecting plate:

[0050] The clamping device comprises a connecting plate 11 that moves vertically up and down, an adjusting member 12 that is rotatably arranged relative to the connecting plate 11, and a pair of clamping claws that move relatively horizontally.

[0051] like Figure 1-Figure 5 As shown, a pair of jaws includes a first jaw 13 and a second jaw 14, the first jaw 13 includes a first clamping block 131, the second jaw 14 includes a second clamping block 141, and the first clamping block 131 and the second clamping block 141 are spaced relative to each other. The end surface of the adjusting member 12 is provided with a guide groove 121 that runs through the rotation center thereof, the cam 15 of the first jaw 13 corresponds to the guide groove 121, and the cam 15 of the first jaw 13 is guided and slid in the guide groove 121. The adjusting member 12 rotates to adjust the included angle of the guide groove 121 relative to the vertical direction to change the movement stroke of the first jaw 13 in the horizontal direction.

[0052] The bottom of the connecting plate 11 is provided with an adjusting portion 24, which includes an adjusting slot 241, which is inclined relative to the vertical direction, and the cam 15 of the second clamping jaw 14 corresponds to the adjusting slot 241, and the cam 15 of the second clamping jaw 14 is guided to slide in the adjusting slot 241. The cam 15 of the first clamping jaw 13 and the cam 15 of the second clamping jaw 14 are located at the same horizontal position height.

[0053] During the lifting process of the connecting plate 11, when the included angle of the guide slot 121 along the vertical direction is equal to and symmetrical to the included angle of the adjustment slot 241 along the vertical direction, the first clamp 13 and the second clamp 14 are in a symmetrical moving stroke clamping operation along the horizontal direction; when the included angle of the guide slot 121 along the vertical direction is 0° or 180°, the first clamp 13 is in a stationary state, and the second clamp 14 moves relative to the first clamp 13, and the first clamp 13 and the second clamp 14 are in an asymmetrical moving stroke clamping operation along the horizontal direction. When the included angle of the guide slot 121 along the vertical direction gradually transitions to 0° or 180°, the first clamp 13 moves a certain distance in the horizontal direction and then becomes stationary, which can also achieve the asymmetrical moving stroke clamping operation of the first clamp 13 and the second clamp 14 along the horizontal direction.

[0054] Embodiment 3

[0055] This embodiment optimizes the clamping device on the basis of the above embodiment, and in particular provides a specific implementation method of a conveying line:

[0056] like Figure 1 , Figure 2 As shown, the transport conveyor line includes a transport device 1, and the transport device 1 includes the clamping device in the above embodiment.

[0057] The transport device 1 comprises a transport frame 31 and a transport module arranged to move horizontally along the transport frame 31 ; the transport module is connected to the clamping device in the above embodiment.

[0058] The transport module is driven to move along the longitudinal direction of the transport frame 31. The transport module includes a transport link plate 32 that moves horizontally along the transport frame 31 and a drive member module 33 that is arranged on the transport link plate 32; the drive member module 33 is specifically a first drive member, a second drive member and a third drive member, the body 71 of the first drive member is installed on the transport link plate 32, the driving end of the first drive member is connected to the body 71 of the second drive member to realize the lifting and moving of the second drive member; the driving end of the second drive member is connected to the body 71 of the third drive member to realize the rotation of the third drive member; the body 71 of the third drive member is also connected to the fixed plate 21, and the driving end of the third drive member is connected to the base plate 22. Among them, the lifting and lowering of the clamping device is realized by the first drive member, the rotation of the clamping device is realized by the second drive member, and the lifting and lowering of the connecting plate 11 and the base plate 22 is realized by the third drive member. In this embodiment, the first drive member, the second drive member and the third drive member are all cylinders.

[0059] The overall handling device 1 can be set at a suitable station on the handling conveyor line, and can adaptively clamp and carry different types of products 7 to flow in different stations.

[0060] Embodiment 4

[0061] This embodiment optimizes the clamping device on the basis of the above embodiment, and in particular provides a specific implementation method of a conveying line:

[0062] like Figure 1 , Figure 7 As shown, the conveying conveyor line also includes a loading device 4, a conveying device 5 and a transfer device 6 arranged in sequence; the conveying device 1 in the above embodiment is arranged on the side of the conveying device 5 and the transfer device 6, and is used to transport the product 7 on the conveying device 5 to the transfer device 6.

[0063] The feeding device 4 includes a feeding plate 41 that is arranged to move in the transverse direction, and a shifting block 42 that is arranged above the feeding plate 41 and is arranged to move in the longitudinal direction; a plurality of feeding slots 411 that are arranged in the transverse direction and spaced apart are arranged in the feeding plate 41, and the shifting block 42 is arranged to move along the feeding slots 411. A plurality of products 7 arranged in sequence are arranged in the feeding slots 411, and the same products 7 or different products 7 can be arranged in each feeding slot 411, and the size of the product 7 is adapted to the size of the feeding slot 411.

[0064] Both ends of the feeding trough 411 are opened, so that the shifting block 42 can smoothly enter the feeding trough 411 through the opening at one end of the feeding trough 411, and the product 7 can smoothly leave the feeding trough 411 through the opening at the other end of the feeding trough 411.

[0065] The end of the feeding plate 41 is provided with a stopper 412 for limiting the position of the product 7, and the opening is provided on the stopper 412. Due to the function of the stopper 412, one end of the feeding trough 411 limits the position of the product 7 through the stopper 412, and the product 7 can only leave through the other end of the feeding trough 411; in this embodiment, the feeding trough 411 is a linear trough.

[0066] The feeding device 4 also includes a bottom plate 43 disposed below the feeding plate 41. The feeding plate 41 is driven to move in the lateral direction. In this embodiment, the feeding plate 41 is driven by a motor screw structure. In order to improve the movement stability of the feeding plate 41, a first feeding slide rail is disposed between the bottom plate 43 and the feeding plate 41.

[0067] The side of the bottom plate 43 is provided with a plurality of second sensors for detecting the position information of the loading plate 41, and the bottom of the loading plate 41 is provided with a sensor that senses with the second sensor. Specifically, the side of the bottom plate 43 is provided with a plurality of second sensors along the same moving direction of the loading plate 41, one end of the second sensor is connected to the bottom of the loading plate 41, and the other end of the second sensor extends to the sensing port of the second sensor. The second sensor can identify that the loading plate 41 moves to the specified position, so that the shift block 42 can accurately match with the loading slot 411 of the loading plate 41.

[0068] The side of the bottom plate 43 is provided with a retaining edge 44, which is arranged opposite to the stopper 412, and the retaining edge 44 is close to the end of the loading plate 41 away from the stopper 412. When the loading plate 41 is moved into position, at least one end of the retaining edge 44 is exposed outside the loading groove 411, so that the shifting block 42 can push the product 7 out of the loading groove 411. The retaining edge 44 can effectively prevent the product 7 from falling and being damaged due to the incorrect push of the shifting block 42.

[0069] The feeding device 4 also includes a feeding bracket 45 disposed above the feeding plate 41, and the shifting block 42 is mounted on the feeding bracket 45 and is driven to move in the longitudinal direction. In this embodiment, the shifting block 42 is driven by a motor pulley structure. In order to improve the stability of the shifting block 42 in the horizontal movement, a second feeding slide rail is provided between the shifting block 42 and the feeding bracket 45.

[0070] The end of the shift block 42 extends into the feeding trough 411, and the end of the shift block 42 avoids the trough wall of the feeding trough 411. The shift block 42 acts on the products 7 in the feeding trough 411, so that the products 7 arranged in the feeding trough 411 can be pushed and enter the conveying device 5 one by one.

[0071] Embodiment 5

[0072] This embodiment optimizes the transport conveyor line on the basis of the above embodiment, and in particular provides a specific implementation method of a conveying device:

[0073] like Figure 1 , Figure 7 , Figure 8 As shown, the conveying device 5 includes a feeding line 51 for cyclically conveying the product 7 , guide plates 52 arranged on both sides of the feeding line 51 , and a temporary retention component arranged at the end of the feeding line 51 for positioning the product 7 .

[0074] The conveying device 5 also includes a visual inspection module 53 arranged above the feeding line 51 for identifying the external dimensions of the product 7 and the position information of the protrusion 72, so that the clamping device can adaptively adjust the clamping stroke to accurately clamp the product 7.

[0075] The head end of the feeding line 51 corresponds to any one of the feeding troughs 411 of the feeding device 4, and the head end of the feeding line 51 is adjacent to the side of the retaining edge 44. The loading plate 41 moves laterally so that one of its feeding troughs 411 is docked with the feeding line 51. Accordingly, the feeding trough 411 in the loading state is blocked by the retaining edge 44, and the feeding trough 411 in the empty state can expose the retaining edge 44.

[0076] In this embodiment, the feeding line 51 is a motor belt line, and the belt line is driven by a pulley to realize the function of circulating and conveying the product 7.

[0077] The conveying device 5 also includes a feeding bracket 54 for installing the feeding line 51. Guide plates 52 for guiding the products 7 are respectively arranged on both sides of the feeding line 51. The spacing between the guide plates 52 on both sides of the feeding line 51 is adjustable. The guide plates 52 are detachably connected to the feeding bracket 54. When the structural dimensions of the product 7 change, the corresponding guide plates 52 are adjusted to a suitable spacing.

[0078] The temporary retention component includes a first clamping member 55 that can be lifted and lowered, and a second clamping member 56 that is telescopically arranged and lifted and lowered along the conveying direction of the feeding line 51; the first clamping member 55 is arranged adjacent to the second clamping member 56, and the first clamping member 55 is located behind the second clamping member 56 along the conveying direction of the feeding line 51.

[0079] The first clamping member 55 clamps and positions the two sides of the product 7 that is transported to the end of the feeding line 51 and makes it separate from the feeding line 51. The second clamping member 56 clamps and positions the product 7 that is waiting to be transported to the end of the feeding line 51 and makes it temporarily stay on the feeding line 51. The second clamping member 56 can limit the position of all the remaining products 7 waiting to be transported to the end of the feeding line 51 without affecting the clamping action of the first clamping member 55, thereby realizing the transfer of products 7 from the feeding line 51 one by one.

[0080] The second clamping member 56 is driven to open and close relative to each other, and the first clamping member 55 is driven to open and close relative to each other. The bottom of the feeding bracket 54 is provided with a first base 541 and a second base 542, the first clamping member 55 is mounted on the first base 541, the second clamping member 56 is mounted on the second base 542, and the second clamping member 56 is driven to telescopically move relative to the second base 542. In this embodiment, the first clamping member 55 and the second clamping member 56 are driven by a cylinder to realize the opening and closing action, and the second clamping member 56 is driven by a cylinder to realize the telescopic action relative to the second base 542.

[0081] The second clamping member 56 and the first clamping member 55 are both clamped and positioned at the lower part of the side wall of the product 7, and avoid the protrusion 72 of the product 7. When the product 7 at the end of the feeding line 51 needs to be transferred, the first clamping member 55 clamps the product 7 to separate it from the feeding line 51, and the clamping claws of the clamping device clamp and position the upper part of the side wall of the product 7, and avoid the protrusion 72 of the product 7, so as to realize the transfer of the product 7 between the first clamping member 55 and the clamping claw; the second clamping member 56 blocks the remaining products 7 on the feeding line 51. When the product 7 at the end of the feeding line 51 is transferred, the second clamping member 56 can release the remaining products 7 on the feeding line 51 and transport them to the position of the first clamping member 55.

[0082] A third sensor for detecting the position information of the product 7 is respectively arranged on both sides of the end of the feeding line 51. When the third sensor detects that the product 7 on the feeding line 51 is at the end position, the second clamping member 56 and the first clamping member 55 are respectively actuated to achieve accurate positioning of the product 7 at the end of the feeding line 51 and the product 7 waiting to enter the end on the limiting feeding line 51.

[0083] The temporary retention component also includes an end plate 57 located at the end of the feeding line 51 for limiting the end of the product 7. The end plate 57 can be removably mounted on the guide plate 52 and is located behind the first clamping member 55. The end plate 57 is located between the guide plates 52 on both sides of the feeding line 51, thereby facilitating the first clamping member 55 to accurately position both sides of the product 7.

[0084] The temporary retention component also includes a pressure plate 58 located in front of the end plate 57 along the direction of the feeding line 51. The pressure plate 58 is detachably mounted on the guide plate 52 and is located in front of the second clamping member 56. The pressure plate 58 is located between the guide plates 52 on both sides of the feeding line 51. When the second clamping member 56 clamps and positions the product 7 on the feeding line 51 waiting to be transported to the end, the products 7 arranged on the feeding line 51 will be in a temporary retention state. In order to avoid stacking, squeezing and misalignment of the products 7 arranged on the feeding line 51, the pressure plate 58 is used to limit the top of the product 7, so that the products 7 arranged on the feeding line 51 can be arranged in an orderly manner, ensuring the accuracy of the feeding line 51 in transporting the products 7 to the end position one by one, and avoiding the problem of squeezing damage to the products 7.

[0085] Embodiment 6

[0086] This embodiment optimizes the transport conveyor line on the basis of the above embodiment, and in particular provides a specific implementation method of a transfer device:

[0087] like Figure 1 , Fig. 9 As shown, the transfer device 6 includes a transfer support 61 with adjustable spacing, a transfer line 62 arranged on the transfer support 61 and arranged in a longitudinal cycle, and a side push assembly 63 arranged on the side of the transfer support 61;

[0088] The transfer bracket 61 includes a fixed frame 611 and a movable frame 612 . The distance between the movable frame 612 and the fixed frame 611 is adjustable, and the movable frame 612 is arranged parallel to the fixed frame 611 .

[0089] The mobile frame 612 is driven to move in the lateral direction. Specifically, the mobile frame 612 is translated by a motor screw structure. In order to achieve the mobile balance of the transfer bracket 61, screws are respectively provided at both ends of the bottom of the transfer bracket 61. One end of the screw is provided at the bottom of the fixed frame 611, and the other end of the screw is connected to the motor. The mobile frame 612 moves horizontally along the screw. The two screws located at both ends of the bottom of the transfer bracket 61 are driven by a motor to drive a synchronous belt to achieve synchronous rotation. In order to further improve the mobile stability of the mobile frame 612, a transfer slide is provided at the bottom of the mobile frame 612. The transfer slide is arranged in the lateral direction, and the transmission direction of the transfer slide is consistent with that of the screw.

[0090] The fixed frame 611 and the mobile frame 612 are respectively provided with a transfer line 62, and carriers 64 of different sizes can be adaptively positioned between the fixed frame 611 and the mobile frame 612. The transfer line 62 is used to cyclically convey the carrier 64, and the conveying direction of the transfer line 62 is consistent with the conveying direction of the feeding line 51. In this embodiment, the transfer line 62 is a motor belt line, and the belt line realizes a cyclic conveying operation through a pulley.

[0091] A workpiece (not shown) can be positioned on the carrier plate 64 , and the product 7 transferred by the clamping device can be placed on the corresponding workpiece, or the product 7 can be placed directly on the carrier plate 64 .

[0092] The side push assembly 63 is used to side push the shaped product 7 to move it to a specified position, which may be a specified position on the workpiece or a specified position on the carrier plate 64, thereby facilitating subsequent production operations.

[0093] The side push assembly 63 includes a side push seat 631 that is lifted and lowered, a side push plate 632 that is disposed on the side of the side push seat 631 and is telescopically movable, and a plurality of elastic push members 633 disposed on the side push plate 632 .

[0094] The side push seat 631 is driven to move up and down, and the side push seat 631 is set on the outside of the mobile frame 612; the side push plate 632 is driven to move horizontally, and the side push plate 632 is set above the mobile frame 612; the elastic push member 633 extends to the space between the mobile frame 612 and the fixed frame 611, and is located above the transfer line 62.

[0095] In this embodiment, the elastic push member 633 may be a spring, and the elastic push member 633 is installed on the edge of the side push plate 632 through a push member seat. The elastic push member 633 acts on the product 7 or the workpiece, which can effectively reduce the probability of contact damage and achieve the function of guiding and regularizing. The extension lengths of several elastic push members 633 may be different, and different positions of the product 7 or the workpiece can be adaptively positioned.

[0096] Embodiment 7

[0097] This embodiment provides a clamping method, which is applied to the clamping device in the above embodiment, such as Figure 1-Figure 10 As shown, the method includes:

[0098] S11, obtaining the shape parameter information of the product 7, and determining whether the clamping stroke of the clamping device is suitable for the product 7. The product 7 includes a body 71 and a protrusion 72 arranged on the side wall of the body 71, and the shape parameter information includes the structural parameters of the body 71 and the structural parameters of the protrusion 72, and the shape parameter information can be obtained by the visual inspection module 53; a first clamping area 73 is formed between the bottom of the protrusion 72 and the bottom of the body 71, and a second clamping area 74 is formed on the side wall of the body 71 opposite to the first clamping area 73, and the clamping device includes a first clamping block 131 and a second clamping block 132.

[0099] Wherein, determining whether the clamping stroke of the clamping device is suitable for product 7 specifically includes:

[0100] S111, the minimum relative distance between the first clamping block 131 and the second clamping block 141 along the horizontal direction is not less than the sum of the length of the body 71 along the horizontal direction and the length of at least two protrusions 72 along the horizontal direction; and

[0101] The sum of the length of the first clamping block 131 along the vertical direction and the length of the first clamping member 55 along the vertical direction is smaller than the distance between the bottom of the protruding member 72 and the bottom of the product 7 .

[0102] S12. If the clamping stroke of the clamping device is suitable for product 7, in response to identifying that product 7 is delivered to the specified position, the first clamping member 55 is controlled to clamp the first clamping area 73 and the second clamping area 74, and the first clamping member 55 avoids the protrusion 72 during the moving stroke; specifically, the first clamping member 55 is clamped and positioned at the lower part of the first clamping area 73 and the lower part of the second clamping area 74, respectively.

[0103] S13. In response to the first clamping member 55 clamping the product 7 in place, the displacement parameters of the clamping device are determined according to the appearance parameter information of the product 7, and the clamping device is controlled to approach the product 7 according to the displacement parameters, so that the top of the first clamping block 131 and the top of the second clamping block 141 are respectively located below the bottom of the protrusion 72 in the horizontal direction, and the inner side of the first clamping block 131 is flush with the end face of the protrusion 72 in the vertical direction.

[0104] Exemplarily, the displacement parameters of the clamping device are determined, so that the clamping device can be lowered and / or rotated to approach the product 7, the guide groove 121 of the adjusting member 12 has an angle in the vertical direction, and the connecting plate 11 is away from the product 7 in the vertical direction, so that the top of the first clamping block 131 and the top of the second clamping block 141 are respectively located below the bottom of the protruding member 72 in the horizontal direction, and the inner side of the first clamping block 131 is flush with the end surface of the protruding member 72 in the vertical direction. The first clamping block 131 and the second clamping block 141 can have a symmetrical moving stroke or an asymmetrical moving stroke.

[0105] S14. Determine the distance between the inner side of the second clamping block 141 and the second clamping area 74. If the distance between the inner side of the second clamping block 141 and the second clamping area 74 is not less than the length of the protrusion 72 along the horizontal direction, then control the angle of the guide groove 121 relative to the vertical direction, and control the connecting plate 11 to move in the vertical direction, so that the first clamping block 131 and the second clamping block 141 move relative to each other in the horizontal direction and are clamped in the first clamping area 73 and the second clamping area 74.

[0106] If the distance between the inner side of the second clamping block 141 and the second clamping area 74 is not less than the length of the protrusion 72 in the horizontal direction, the angle of the guide groove 121 relative to the vertical direction is controlled to control the connecting plate 11 to move in the vertical direction, so that the first clamping block 131 and the second clamping block 141 move relatively in the horizontal direction and are clamped in the first clamping area 73 and the second clamping area 74, specifically including:

[0107] S141, if the distance between the inner side of the second clamping block 141 and the second clamping area 74 is greater than the length of the protrusion 72 in the horizontal direction, the angle of the guide groove 121 relative to the vertical direction is controlled to control the connecting plate 11 to move in the vertical direction, so that the first clamping block 131 is in a stationary state, and the second clamping block 141 moves relative to the first clamping block 131 until the distance between the inner side of the second clamping block 141 and the second clamping area 74 is equal to the length of the protrusion 72 in the horizontal direction;

[0108] The included angle of the guide groove 121 relative to the vertical direction is controlled again to control the connecting plate 11 to move in the vertical direction, so that the first clamping block 131 and the second clamping block 141 move relatively in the horizontal direction and are clamped in the first clamping area 73 and the second clamping area 74; or

[0109] If the distance between the inner side of the second clamping block 141 and the second clamping area 74 is greater than the horizontal length of the protrusion 72, the angle of the guide groove 121 relative to the vertical direction is controlled to control the connecting plate 11 to move in the vertical direction, so that the first clamping block 131 and the second clamping block 141 move relative to each other in the horizontal direction and are clamped in the first clamping area 73 and the second clamping area 74.

[0110] Exemplarily, if the distance between the inner side of the second clamping block 141 and the second clamping area 74 is greater than the length of the protrusion 72 in the horizontal direction, based on the clamping device in the second embodiment, the included angle of the adjusting groove 241 in the vertical direction has been determined, and by changing the included angle of the guide groove 121 of the adjusting member 12 in the vertical direction to 0° or 180°, during the ascending process of the connecting plate 11, the first clamping block 131 is in a stationary state, and the second clamping block 141 is guided by the adjusting groove 241 to move in the horizontal direction until the distance between the inner side of the second clamping block 141 and the second clamping area 74 is equal to the length of the protrusion 72 in the horizontal direction;

[0111] The included angle of the guide groove 121 relative to the vertical direction is adjusted again. The included angle is not 0° or 180°, and is not 90°. The guide groove 121 is symmetrical with the adjustment groove 241 so that the first clamp 131 and the second clamp 141 are positioned to the product 7 along a symmetrical horizontal movement stroke.

[0112] In another embodiment, if the distance between the inner side of the second clamping block 141 and the second clamping area 74 is greater than the length of the protrusion 72 along the horizontal direction, based on the clamping device in Example 2, the angle of the guide groove 121 relative to the vertical direction is adjusted, and the angle of the guide groove 121 relative to the vertical direction is different from the angle of the adjustment groove 241 relative to the vertical direction. During the rising process of the connecting plate 11, the first clamping block 131 and the second clamping block 141 are positioned to the product 7 along an asymmetric horizontal movement stroke.

[0113] S142. If the distance between the inner side of the second clamping block 141 and the second clamping area 74 is equal to the length of the protrusion 72 along the horizontal direction, then in response to adjusting the angle of the guide groove 121 relative to the vertical direction, the connecting plate 11 is controlled to move along the vertical direction so that the first clamping block 131 and the second clamping block 141 move relative to each other in the horizontal direction and are clamped in the first clamping area 73 and the second clamping area 74.

[0114] Exemplarily, if the distance between the inner side of the second clamping block 141 and the second clamping area 74 is equal to the length of the protrusion 72 along the horizontal direction, based on the clamping device in Example 2, the angle of the guide groove 121 relative to the vertical direction is adjusted, and the angle is not 0° or 180°, and is not 90°, and the guide groove 121 is symmetrical with the adjustment groove 241, so that the first clamping block 131 and the second clamping block 141 are positioned to the product 7 along a symmetrical movement stroke in the horizontal direction.

[0115] S15, in response to the clamping device clamping the product 7 into place, the first clamping member 55 releases the product 7, and the clamping device transfers the product 7 to a designated station. The clamping device clamping the product 7 into place means that the product 7 can be clamped just enough to be transported, avoiding clamping too tight or too loose.

[0116] It should be noted that the terms "S11", "S12", etc. are only used for the purpose of describing the steps, and do not specifically refer to the order or sequence, nor are they used to limit the present application. They are only for the convenience of describing the method of the present application, and cannot be understood as indicating the order of the steps. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0117] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0118] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0119] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0120] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0121] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A clamping device, characterized in that: It comprises a connecting plate that moves up and down in a vertical direction, at least one adjusting member that is rotatably arranged relative to the connecting plate, and at least one pair of clamping jaws that move relatively in a horizontal direction; The end surface of the adjusting member is provided with a guide groove which runs through its rotation center, and the clamping jaw is provided with a cam corresponding to the guide groove. The adjusting member is rotated to adjust the angle of the guide groove relative to the vertical direction to change the movement stroke of the clamping jaw along the horizontal direction.

2. A clamping device according to claim 1, characterized in that: Two adjusting members are rotatably provided on the connecting plate, and the clamping device includes a pair of jaws that move relative to each other in the horizontal direction. The end faces of the two adjusting members are respectively provided with guide grooves, and each of the jaws is respectively provided with a cam corresponding to the guide groove. The two jaws have a symmetrical moving stroke and / or an asymmetrical moving stroke in the horizontal direction.

3. A clamping device according to claim 1, characterized in that: An adjusting member is rotatably arranged on the connecting plate, and the clamping device comprises a pair of clamping jaws which move relative to each other in the horizontal direction, a cam corresponding to the guide groove is arranged on one of the clamping jaws, and the other clamping jaw is in a stationary state, and the two clamping jaws have asymmetrical movement strokes in the horizontal direction respectively.

4. A clamping device according to claim 1, characterized in that: An adjusting piece is rotatably provided on the connecting plate, an adjusting portion is provided at the bottom of the connecting plate, the adjusting portion includes an adjusting slot, and the adjusting slot is inclined relative to the vertical direction. The clamping device includes a pair of jaws that move relative to each other in the horizontal direction, one of the jaws is provided with a cam corresponding to the guide slot, and the other jaw is provided with another cam corresponding to the adjusting slot, and the two jaws have a symmetrical moving stroke and / or an asymmetrical moving stroke in the horizontal direction respectively.

5. A clamping device according to claim 1, characterized in that: The adjusting member is provided with a fixing rod for mounting the adjusting member on the connecting plate, one end of the fixing rod is fixedly connected to the connecting plate, and the other end of the fixing rod is connected to the rotation center axis of the adjusting member.

6. A clamping device according to claim 5, characterized in that: A central roller is arranged at the rotation center of the adjusting member, and the central roller is sleeved on the end of the fixing rod. The central roller rotates synchronously with the adjusting member around the end of the fixing rod.

7. A clamping device according to claim 1, characterized in that: A steering groove is arranged on the adjusting member along its circumference, the steering groove is arranged concentrically with the adjusting member, and the steering groove penetrates the adjusting member axially. An adjusting roller corresponding to the steering groove is arranged at the bottom of the connecting plate, and the inner wall of the steering groove is relatively meshed with the outer wall of the adjusting roller.

8. A clamping device according to claim 1, characterized in that: The clamping device also includes a fixing plate spaced apart from the connecting plate, and the connecting plate is arranged to move up and down relative to the fixing plate; The connecting plate is mounted on the base plate, and the base plate is driven to be lifted and lowered together with the connecting plate. A vertical guide rail is arranged between the fixing plate and the base plate, and a pair of relatively movable clamping claws are arranged at the bottom of the fixing plate, and the clamping claws include a claw arm, a claw seat connected to the claw arm, and a clamping block arranged on the claw arm; the top of the claw seat is slidably mounted on the bottom of the fixing plate, and the end surface of the claw seat is provided with the cam, and the cam extends and is embedded in the guide groove, and the cam is slidably matched with the guide groove, and a clamping block is arranged on the inner side of the claw arm; The clamping device is installed on the transport frame through a transport module, and the transport module includes a transport link plate that moves horizontally along the transport frame and a driving member module arranged on the transport link plate; the main body of the driving member module is connected to the fixed plate, and the driving end of the driving member module is connected to the base plate to realize the lifting and / or rotation of the clamping device.

9. A conveying line, characterized in that: It includes a loading device, a conveying device and a transfer device arranged in sequence. The conveying conveyor line also includes a conveying device, which is arranged on the sides of the conveying device and the transfer device and is used to transport the product on the conveying device to the transfer device. The conveying device includes a clamping device as described in any one of claims 1 to 8.

10. A clamping method, applied to a clamping device as claimed in claim 1, wherein the clamping device is used to clamp a product, the product comprising a body and a convex piece arranged on a side wall of the body, a first clamping area is formed between the bottom of the convex piece and the bottom of the body, and a second clamping area is formed on the side wall of the body opposite to the first clamping area, the clamping device comprises a first clamping block and a second clamping block, characterized in that: Methods include: In response to recognizing that the product is delivered to a designated position, controlling the first clamping member to clamp the first clamping area and the second clamping area; In response to the first clamping member clamping the product in place, the displacement parameters of the clamping device are determined according to the appearance parameter information of the product, and the clamping device is controlled to approach the product according to the displacement parameters, so that the top of the first clamping block and the top of the second clamping block are respectively located below the bottom of the protruding member in the horizontal direction, and the inner side of the first clamping block is flush with the end surface of the protruding member in the vertical direction; the distance between the inner side of the second clamping block and the second clamping area is judged, and if the distance between the inner side of the second clamping block and the second clamping area is not less than the length of the protruding member in the horizontal direction, the angle of the guide groove relative to the vertical direction is controlled to control the connection plate to move in the vertical direction, so that the first clamping block and the second clamping block move relative to each other in the horizontal direction and are clamped in the first clamping area and the second clamping area; In response to the clamping device clamping the product in place, the first clamping member releases the product.

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