Clamping mechanism

Abstract

This invention proposes a clamping mechanism comprising: a connecting unit; a positioning unit, positionally connected to the connecting unit, and having a first positioning block and a second positioning block sequentially arranged along a first direction; a clamping unit, having a first clamping block and a second clamping block sequentially arranged along the first direction to correspond to the first positioning block and the second positioning block, respectively; and a driving unit, connected to the connecting unit and configured to move the clamping unit closer to or away from the positioning unit along a second direction intersecting the first direction. In the second direction, the first positioning block and the second positioning block have a fixed step difference, and the first clamping block and the second clamping block also have a fixed step difference. In the clamping mechanism, a clamping space is defined between the positioning unit and the clamping unit.

Claims

1. A clamping mechanism comprising: a connecting unit; a positioning unit positioned connected to the connecting unit, and having a first positioning block and a second positioning block sequentially arranged along a first direction; a clamping unit having a first clamping block and a second clamping block sequentially arranged along the first direction to correspond to the first positioning block and the second positioning block, respectively; and a driving unit connected to the connecting unit, configured to move the clamping unit closer to or away from the positioning unit along a second direction intersecting the first direction, wherein, in the second direction, the first positioning block and the second positioning block have a fixed step difference, and the first clamping block and the second clamping block have a fixed step difference, wherein... A clamping space is defined between the positioning unit and the clamping unit, and the connecting unit has a pair of support arms, and the support arms define a pre-positioning space near the positioning unit so that an object to be transported is set to correspond to the pre-positioning space before the clamping unit is moved.

2. The clamping mechanism as described in claim 1, wherein, In the clamping space, the first positioning block and the first clamping block jointly define a first clamping area, and the second positioning block and the second clamping block jointly define a second clamping area, wherein the length of the first clamping area in the second direction is different from the length of the second clamping area in the second direction.

3. The clamping mechanism as described in claim 2, wherein, The length of the first clamping area in the second direction is kept less than the length of the second clamping area in the second direction, and the first clamping block protrudes towards the positioning unit in the second direction relative to the second clamping block.

4. The clamping mechanism as described in claim 2, further comprising a clamping component for mounting on an object to be transported, wherein, The clamped component has a first engaging portion and a second engaging portion that are connected to each other, wherein when the clamped component is clamped by the positioning unit and the clamping unit, the first engaging portion is correspondingly disposed in the first clamping area, and the second engaging portion is correspondingly disposed in the second clamping area.

5. The clamping mechanism as described in claim 4, wherein, When the clamped component is clamped by the positioning unit and the clamping unit, at least one of the first engaging portion and the second engaging portion is clamped by the positioning unit and the clamping unit.

6. The clamping mechanism as described in claim 5, wherein, The clamped component has a first contact end and a second contact end respectively at the corresponding contact points with the first positioning block and the second positioning block, and the step difference between the first contact end and the second contact end in the second direction is equal to the fixed step difference between the first positioning block and the second positioning block in the second direction. The clamped component has a third contact end and a fourth contact end respectively at the corresponding contact points with the first clamping block and the second clamping block, and the step difference between the third contact end and the fourth contact end in the second direction is equal to the fixed step difference between the first clamping block and the second clamping block in the second direction.

7. The clamping mechanism as described in claim 4, wherein, In the second direction, the length of the second engaging portion is greater than the length of the first engaging portion, and wherein, when the clamped component is clamped by the positioning unit and the clamping unit together, at least a portion of the second engaging portion near the bottom of the first engaging portion abuts against the first positioning block and the first clamping block.

8. The clamping mechanism as described in claim 4, wherein, The first engaging portion and the second engaging portion of the clamped component respectively form a handle and a head that is thicker than the handle.

9. The clamping mechanism as described in claim 8, wherein, The head is symmetrical about the extended long axis of the handle.

10. The clamping mechanism as described in claim 9, wherein, The side edge of the head has at least one pair of openings that are symmetrically opened toward the axis, and wherein the second positioning block is a positioning protrusion and the second clamping block is a clamping protrusion, and wherein when the clamped component is clamped by the positioning unit and the clamping unit together, the positioning protrusion and the clamping protrusion are configured to be respectively embedded in one pair of the at least one pair of openings that are symmetrically opened.

11. The clamping mechanism as described in claim 1, wherein, The first positioning block has a positioning plane facing the first clamping block, and the first clamping block has a clamping plane facing the first positioning block.

12. The clamping mechanism as described in claim 1, wherein, The drive unit is located on the side of the clamping unit facing away from the positioning unit in the second direction.

13. The clamping mechanism as described in claim 1, wherein, A direction perpendicular to the first direction and the second direction is defined as a third direction. In this third direction, the width of the first clamping block is greater than the width of the second clamping block.

14. The clamping mechanism as described in claim 1, wherein, If a direction perpendicular to the first direction and the second direction is defined as a third direction, then when the projection is perpendicularly onto an imaginary plane jointly defined by the second direction and the third direction, the projection of the driving unit and the projection of the clamping space do not overlap.

15. The clamping mechanism as described in claim 1, wherein, The clamping mechanism is mounted on a robotic arm, wherein the direction perpendicular to the first direction and the second direction is defined as a third direction. When the perpendicular projection is onto an imaginary plane jointly defined by the second direction and the third direction, the projection of the connecting joint between the robotic arm and the clamping mechanism does not overlap with the projection of the clamping space.

16. The clamping mechanism as described in claim 1, wherein, The connecting unit extends along the second direction to directly or indirectly connect the positioning unit and the driving unit.

17. The clamping mechanism as described in claim 1, wherein, In the clamping space, the first positioning block and the first clamping block jointly define a first clamping area, and the second positioning block and the second clamping block jointly define a second clamping area. When the object to be transported is clamped only in the first clamping area, the object to be transported can be clamped without entering the prepositioning space.

18. The clamping mechanism as described in claim 1, wherein, The pair of support arms define a guide channel extending along the second direction relative to the prepositioning space and away from the positioning unit, wherein the guide channel connects to the prepositioning space, and wherein the width of the guide channel in a third direction perpendicular to either the first direction or the second direction is less than the width of the prepositioning space in that third direction.

19. The clamping mechanism as described in claim 18, wherein, When the drive unit moves the clamping unit, the second clamping block moves along the guide channel.

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