Variable pitch clamp mechanism

Abstract

The invention discloses a variable-distance clamp mechanism, including a clamp opening and closing mechanism and a clamp distance changing mechanism. The clamp opening and closing mechanism includes a base plate, an opening and closing cylinder, a driving plate, a left distance base plate, a right distance base plate, a first linear rail, a second linear rail, a left cam roller, a right cam roller, a left connecting block, and a right connecting block. The clamp distance changing mechanism includes a second connecting block, a clamp connecting block, a guide rod, a distance limiting rod, a driving slide block, a sliding pin, and a distance cylinder. The driving slide block is provided with a left-right symmetrical slide. The variable-distance clamp mechanism controls the opening and closing of each pair of clamp jaw connecting blocks, i.e., the opening and closing of the clamp jaws, through the clamp opening and closing mechanism. At the same time, the clamp distance changing mechanism controls the distance between several pairs of clamp jaw connecting blocks, i.e., adjusts the distance between each pair of clamp jaws, so as to meet the need to change the material spacing in different occasions during the handling process of the product to grasp the material. At the same time, a clamp elastic mechanism is provided to ensure that each product is grasped. The clamp mechanism has the advantages of simple structure, convenient operation, high degree of automation, and wide range of use.

Description

Technical Field

[0001] The invention belongs to the technical field of automated processing, and in particular relates to a variable-distance clamping jaw mechanism. Background Art

[0002] With the development of science and technology, industrial robots are increasingly used in automated production. How to efficiently and cost-effectively design an end-effector to achieve material placement is of great significance to actual production. In actual production, sometimes it is necessary to complete the material grabbing action and change the product spacing during the product handling process. For example, in the vibration plate loading often used in automated equipment, the materials are closely arranged in the direct vibration of the vibration plate, but in order to achieve the positioning of the materials in the process carrier, they are usually distributed in gaps. Therefore, it is necessary to change the object distance of the gripper, that is, a variable distance mechanism is required.

[0003] The end effector of a common variable-distance mechanism is generally a vacuum suction cup or a gripper cylinder. However, due to the large size of the gripper cylinder and the inconvenient arrangement of the air pipe, the limitations of the vacuum suction cup make it unsuitable for variable-distance grasping of products that are tightly arranged and suitable for clamping. Summary of the invention

[0004] In order to overcome the above defects, the present invention provides a variable-distance clamping jaw mechanism, which can not only grab materials during product transportation, but also adjust the distance between the clamping jaws according to the change of product spacing to meet different changing product spacing requirements.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a variable-pitch clamp mechanism, including a clamp opening and closing mechanism and a clamp variable-pitch mechanism, the clamp opening and closing mechanism includes a base plate, an opening and closing cylinder, a driving plate, a left spacing base plate, a right spacing base plate, a first linear rail, a second linear rail, a left cam roller, a right cam roller, a left connecting block and a right connecting block, with the length direction of the base plate as the X direction and the width direction of the base plate as the Y direction, the base plate has an upper side surface and a lower side surface opposite to each other, the first linear rail is installed at the center position of the lower side surface of the base plate along the X direction, and two second linear rails are installed at the front and rear end positions of the lower side surface of the base plate along the Y direction respectively; The first linear rail is provided with a first slider, and each of the second linear rails is provided with a left slider and a right slider at the same time; the left spacing base plate and the right spacing base plate are arranged parallel to the X direction and below the lower side surface of the substrate, and the two ends of the left spacing base plate in the X direction are respectively fixed to the left slider of the second linear rail through a left connecting block, and the two ends of the right spacing base plate in the X direction are respectively fixed to the right slider of the second linear rail through a right connecting block; the left cam roller and the right cam roller are respectively fixed to the left spacing base plate and the right spacing base plate, and the driving plate is provided with a left-right symmetrical and acute angled limiting groove, and the left cam roller and the right cam roller are respectively movable and limited in the The upper side of the driving plate is fixedly connected to the first slider of the first linear rail in the two limiting grooves of the driving plate; the opening and closing cylinder is installed on the base plate, and the opening and closing cylinder is fixedly connected to the driving plate through a first floating joint; the clamping jaw distance changing mechanism includes a second connecting block, a clamping jaw connecting block, a guide rod, a spacing limiting rod, a driving slide block, a sliding pin and a spacing cylinder, and the driving slide block is provided with a left-right symmetrical slide; two pairs of the second connecting blocks are respectively fixed to the front and rear ends of the lower side of the left spacing base plate and the right spacing base plate, and the two ends of the two pairs of guide rods are respectively fixed to the two pairs of second connecting blocks; the upper ends of several pairs of clamping jaw connecting blocks are respectively slidably sleeved on the corresponding The two pairs of guide rods are arranged on the upper ends of each pair of clamping jaw connecting blocks, and the upper ends of each pair of clamping jaw connecting blocks are slidably placed in the left and right slide grooves of the driving slide groove block through sliding pins, and the pair of clamping jaw connecting blocks at the rear end are respectively fixed to the two second connecting blocks at the rear end; the two front and rear adjacent clamping jaw connecting blocks are respectively connected through the spacing limit rod, and the clamping jaw connecting block at the front end is slidably sleeved on the front end portion of the corresponding spacing limit rod, and the clamping jaw connecting block at the rear end is fixed to the rear end portion of the corresponding spacing limit rod; the spacing cylinder is fixed on the base plate and fixedly connected to the driving slide groove block at the front end through the second floating joint; the lower ends of each pair of clamping jaw connecting blocks form a clamping jaw holding arm.

[0006] As a further improvement of the present invention, each of the clamping arms of the clamp is provided with a clamp elastic mechanism, which includes a sliding pin, a floating clamp block and a spring. The sliding pin slides laterally through the lower end of the clamp connecting block and is fixedly connected to the floating clamp block through a thread. The spring is sleeved on the sliding pin and placed between the clamp connecting block and the floating clamp block.

[0007] As a further improvement of the present invention, a limiting bolt is respectively provided on the outer side of each clamping jaw connecting block.

[0008] As a further improvement of the present invention, the floating clamping blocks on each pair of clamping jaw connecting blocks are arranged opposite to each other, and clamping block grooves are provided on the outer side surfaces of the floating clamping blocks.

[0009] As a further improvement of the present invention, the spring is a butterfly spring.

[0010] As a further improvement of the present invention, the opening and closing cylinder is mounted on the base plate via a mounting seat.

[0011] As a further improvement of the present invention, the left and right sides of the base plate are respectively provided with limit blocks for limiting the maximum opening angles of the left spacing bottom plate and the right spacing bottom plate.

[0012] As a further improvement of the present invention, two limit blocks are respectively provided on the left and right sides of the substrate.

[0013] As a further improvement of the present invention, the number of the clamping jaw connecting blocks is four pairs.

[0014] As a further improvement of the present invention, a bushing is provided between the clamping jaw connecting block and the guide rod.

[0015] The beneficial effects of the present invention are as follows: the variable-distance clamping mechanism controls the opening and closing of each pair of clamping jaws, that is, the opening and closing of the clamping jaw connecting blocks, through the clamping jaw opening and closing mechanism, and at the same time controls the distance between several pairs of clamping jaw connecting blocks through the clamping jaw variable-distance mechanism, that is, adjusts the distance between each pair of clamping jaws to meet the need to change the material spacing in different occasions during the product transportation process to grasp the material. At the same time, a clamping jaw elastic mechanism is set to ensure that each product is grasped. It has the advantages of simple structure, convenient operation, high degree of automation, wide range of use, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the clamping jaw opening and closing mechanism of the present invention;

[0018] Figure 3 for Figure 2 Schematic diagram of the structure after removing the substrate;

[0019] Figure 4 It is a partial structural schematic diagram of the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the clamping jaw spacing mechanism of the present invention;

[0021] Figure 6 for Figure 5 Schematic diagram of some structures;

[0022] Figure 7 It is a schematic diagram of the local structure of the clamping jaw elastic mechanism of the present invention;

[0023] Figure 8 This is a schematic diagram of a pair of clamping jaws in an open state of the present invention;

[0024] Fig. 9 This is a schematic diagram of a pair of clamping jaws in a closed state of the present invention;

[0025] Fig.10 This is a schematic diagram of the clamping jaw connecting block of the present invention in a separated state;

[0026] Fig.11 This is a schematic diagram of the tightly arranged state of the clamping jaw connecting blocks of the present invention.

[0027] Combined with the accompanying drawings, the following description is given:

[0028] 100——grip opening and closing mechanism; 101——base plate;

[0029] 102——opening and closing cylinder; 103——driving plate;

[0030] 104——left dividing bottom plate; 105——right dividing bottom plate;

[0031] 106——first linear track; 107——second linear track;

[0032] 108——left cam roller; 109——right cam roller;

[0033] 110——left connection block; 111——right connection block;

[0034] 112——first floating joint; 113——mounting seat;

[0035] 114——limit block; 131——limit slot;

[0036] 200——grip jaw pitch-changing mechanism; 201——second connecting block;

[0037] 202——clamping claw connection block; 203——guide rod;

[0038] 204——distance limiting rod; 205——driving slide block;

[0039] 206——sliding pin; 207——split cylinder;

[0040] 208——second floating joint; 209——bushing;

[0041] 300——clamping claw elastic mechanism; 301——sliding pin;

[0042] 302——Floating clamp; 303——Spring;

[0043] 304——Limiting bolt; 305——Clamping block groove. DETAILED DESCRIPTION

[0044] A preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. However, the protection scope of the present invention is not limited to the following embodiments, that is, any simple equivalent changes and modifications made within the scope of the present invention's patent application and the contents of the specification are still within the scope of the present invention's patent.

[0045] See also Figure 1-11, is a variable pitch clamp mechanism of the present invention, comprising a clamp opening and closing mechanism 100 and a clamp pitch changing mechanism 200, wherein the clamp opening and closing mechanism comprises a base plate 101, an opening and closing cylinder 102, a driving plate 103, a left spacing base plate 104, a right spacing base plate 105, a first linear rail 106, a second linear rail 107, a left cam roller 108, a right cam roller 109, a left connecting block 110, and a right connecting block 111, wherein the length direction of the base plate is the X direction, and the width direction of the base plate is the Y direction, the base plate has an upper side surface and a lower side surface opposite to each other, the first linear rail is installed at the center position of the lower side surface of the base plate along the X direction, and the two second linear rails are installed at the front and rear end positions of the lower side surface of the base plate along the Y direction; the first linear rail is installed at the center position of the lower side surface of the base plate along the X direction, and the two second linear rails are installed at the front and rear end positions of the lower side surface of the base plate along the Y direction; the first linear rail is installed at the center position of the lower side surface of the base plate along the X direction, and the two second linear rails are installed at the front and rear end positions of the lower side surface of the base plate respectively along the Y direction; the first linear rail is installed at the center position of the lower side surface of the base plate along the X direction, and the ... The first slider is provided on the rail, and each of the second linear rails is provided with a left slider and a right slider at the same time; the left spacing bottom plate 104 and the right spacing bottom plate 105 are arranged in parallel along the X direction below the lower side of the substrate 101, and the two ends of the left spacing bottom plate 104 in the X direction are respectively fixed to the left slider of the second linear rail through a left connecting block 110, and the two ends of the right spacing bottom plate 105 in the X direction are respectively fixed to the right slider of the second linear rail through a right connecting block 111; the left cam roller 108 and the right cam roller 109 are respectively fixed to the left spacing bottom plate 104 and the right spacing bottom plate 105, and the driving plate 103 is provided with a left-right symmetrical and acute angled limiting groove 131, and the left cam roller 108 and the right cam roller 1 09 are respectively movable and limited in the two limit grooves 131 of the driving plate 103, and the upper side of the driving plate is fixedly connected to the first slider of the first linear rail; the opening and closing cylinder is installed on the base plate, and the opening and closing cylinder is fixedly connected to the driving plate through the first floating joint 112; the clamping jaw distance changing mechanism includes a second connecting block 201, a clamping jaw connecting block 202, a guide rod 203, a spacing limit rod 204, a driving slide block 205, a sliding pin 206 and a spacing cylinder 207, and the driving slide block 205 is provided with a left-right symmetrical slide; two pairs of the second connecting blocks are respectively fixed to the front and rear ends of the lower side surfaces of the left spacing base plate 104 and the right spacing base plate 105, and the two ends of the two pairs of guide rods are respectively fixed to the two pairs of second connecting blocks ; The upper ends of several pairs of jaw connection blocks are slidably mounted on the corresponding two pairs of guide rods, and the upper ends of each pair of jaw connection blocks are slidably placed in the left and right slide grooves of the driving slide block 205 through sliding pins, and the pair of jaw connection blocks at the rear end are respectively fixed on the two second connection blocks at the rear end; the two adjacent jaw connection blocks are connected by distance limiting rods, and the jaw connection block at the front end is slidably mounted on the front end of the corresponding distance limiting rod, and the jaw connection block at the rear end is fixed on the rear end of the corresponding distance limiting rod; the distance cylinder is fixed on the base plate and fixedly connected to the driving slide block 205 at the front end through the second floating joint 208; the lower ends of each pair of jaw connection blocks form a jaw clamping arm.

[0046] Each of the clamping arms of the clamping jaws is provided with a clamping jaw elastic mechanism 300, which includes a sliding pin shaft 301, a floating clamp block 302 and a spring 303. The sliding pin shaft slides transversely through the lower end of the clamping jaw connecting block and is fixedly connected to the floating clamp block through a thread. The spring is sleeved on the sliding pin shaft and placed between the clamping jaw connecting block and the floating clamp block. A limiting bolt 304 is provided on the outer side of each clamping jaw connecting block. The floating clamp blocks on each pair of clamping jaw connecting blocks are arranged opposite to each other, and a clamp block groove 305 is provided on the outer side surface of the floating clamp block. The spring is a butterfly spring.

[0047] The opening and closing cylinder is mounted on the base plate 101 through a mounting seat 113. The base plate is provided with limit blocks 114 on the left and right sides for limiting the maximum opening angle of the left and right separation base plates 104 and 105. Preferably, two limit blocks 114 are provided on the left and right sides of the base plate.

[0048] In the figure, there are four pairs of clamping jaw connecting blocks. As an embodiment, the number of pairs can also be changed. In order to reduce friction, a bushing 209 is provided between the clamping jaw connecting block and the guide rod.

[0049] When the variable-distance clamp mechanism is working, the clamp opening and closing mechanism 100 controls the opening and closing of each pair of clamp connection blocks, i.e., the opening and closing of the clamp, and the clamp variable-distance mechanism 200 controls the distance between several pairs of clamp connection blocks, i.e., adjusts the distance between each pair of clamps, so as to meet the need to change the material spacing in different occasions during the product handling process to grasp the material. The specific working process is as follows:

[0050] When the clamping jaws need to be opened and closed, the opening and closing cylinder 102 is actuated. When the opening and closing cylinder 102 is actuated, since its piston rod is connected to the driving plate 103 through the first floating joint 112, and the driving plate 103 is fixed to the first slider of the first linear rail, and the first linear rail is fixed in the middle of the base plate and is in the X direction, the action of the opening and closing cylinder 102 drives the driving plate 103 to move along the first linear rail in the length direction of the base plate, i.e., in the X direction, and the left separation base plate 104 and the right separation base plate 105 are respectively slidably connected to the driving plate 103 through the left cam roller 107 and the right cam roller 108. Therefore, when the two separation base plates need to be opened, i.e., the clamping jaws need to be opened, the piston rod of the opening and closing cylinder 103 is retracted, and the distance between the left and right cam rollers in the two eight-shaped limiting grooves 131 of the driving plate 103 is enlarged, driving the left separation base plate 104 and the right separation base plate 105 to separate, and driving the clamping jaws on the two separation base plates to open. When it is necessary to close the two spacing base plates, that is, to close the clamping jaws, the piston rod of the opening and closing cylinder 103 extends, and the distance between the left and right cam rollers in the two eight-shaped limit grooves 131 of the driving plate 103 is reduced, driving the left spacing base plate 104 and the right spacing base plate 105 to close, thereby realizing the closure of the clamping jaws on the two spacing base plates.

[0051] The maximum opening angle of the two spaced-apart bottom plates can be limited by two limit blocks 114 provided on the left and right sides of the base plate, respectively. The maximum opening angle of the spaced-apart bottom plates can be adjusted by adjusting the positions of the limit blocks 114 .

[0052] When the distance between the pair of jaws needs to be adjusted, the distance cylinder 207 in the jaw distance mechanism is started. The jaw distance mechanism can achieve two distances between the jaws. One is the state in which the distance cylinder piston rod is extended, and the jaw connecting blocks are all close to the proximal end of the limiting groove of the distance limiting rod, thereby achieving a close arrangement of the jaw connecting blocks. The other state is the state in which the distance piston rod is retracted, and the jaw connecting blocks are all close to the distal end of the limiting groove of the distance limiting rod, thereby achieving the distance between the jaw connecting blocks.

[0053] When the piston rod of the spacing cylinder extends out, the spacing cylinder 207 drives the driving slide block 205 to move away from the spacing cylinder through the second floating joint 208, first driving the pair of jaw connecting blocks at the front end to move backward along the guide rod 203, and when the jaw connecting block moves to the second pair of jaw connecting blocks, it drives the second pair of jaw connecting blocks to move backward at the same time, and in this way, all the jaw connecting blocks at the front end are driven to move to the position of the last pair of jaw connecting blocks in turn, so as to realize the close arrangement of all pairs of jaw connecting blocks.

[0054] When the piston rod of the spacing cylinder retracts, the spacing cylinder 207 drives the driving slide block 205 to move forward, that is, close to the spacing cylinder direction, through the second floating joint 208. First, the pair of jaw connecting blocks at the front end moves forward along the guide rod 203. The jaw connecting block moves to the front end of the spacing limit rod 204 and drives the second pair of jaw connecting blocks to move forward together. In this way, the following jaw connecting blocks are driven to move in turn until all the jaw connecting blocks are pulled apart to achieve the spacing of the jaw connecting blocks.

[0055] The elastic deformation of the butterfly spring is used to realize the floating of the floating clamp block in the clamping jaw elastic mechanism 300, and the two limit bolts on the outer side of each pair of clamping jaw connecting blocks are used to control the opening angle of the two clamping jaws. The floating of the floating clamp block can avoid the situation that the clamping jaws cannot clamp the product due to the dimensional tolerance of the product and the cumulative error of the mechanism caused by the rigid drive of the clamping jaws of the mechanism through the same driving mechanism, thereby ensuring that each product is reliably grasped.

[0056] It can be seen that the variable-distance jaw mechanism controls the opening and closing of each pair of jaws, that is, the opening and closing of the jaw connecting blocks, through the jaw opening and closing mechanism, and at the same time controls the distance between several pairs of jaw connecting blocks through the jaw variable distance mechanism, that is, adjusts the distance between each pair of jaws to meet the need to change the material spacing in different occasions during the product transportation process to grasp the material. At the same time, a jaw elastic mechanism is set to ensure that each product is grasped. It has the advantages of simple structure, convenient operation, high degree of automation, and wide range of use.

Claims

1. A variable-pitch clamping mechanism, characterized in that: The invention comprises a clamping jaw opening and closing mechanism (100) and a clamping jaw pitch changing mechanism (200), wherein the clamping jaw opening and closing mechanism comprises a base plate (101), an opening and closing cylinder (102), a driving plate (103), a left pitch base plate (104), a right pitch base plate (105), a first linear rail (106), a second linear rail (107), a left cam roller (108), a right cam roller (109), a left connecting block (110) and a right connecting block (111), wherein the length direction of the base plate is the X direction and the width direction of the base plate is the Y direction, the base plate has an upper side surface and a lower side surface opposite to each other, the first linear rail is installed at the center position of the lower side surface of the base plate along the X direction, and the two second linear rails are installed at the front and rear ends of the lower side surface of the base plate along the Y direction. The first linear rail is provided with a first slider, and each of the second linear rails is provided with a left slider and a right slider; the left spacing base plate (104) and the right spacing base plate (105) are arranged parallel to each other in the X direction below the lower side surface of the substrate (101); the two ends of the left spacing base plate (104) in the X direction are respectively fixed to the left slider of the second linear rail through a left connecting block (110), and the two ends of the right spacing base plate (105) in the X direction are respectively fixed to the right slider of the second linear rail through a right connecting block (111); the left cam roller (108) and the right cam roller (109) are respectively fixed to the left spacing base plate (104) and the right spacing base plate (105); the driving plate (103) is provided with a left The left cam roller (108) and the right cam roller (109) are respectively movably limited in the two limit grooves (131) of the driving plate (103), and the upper side of the driving plate is fixedly connected to the first slider of the first linear rail; the opening and closing cylinder is installed on the base plate, and the opening and closing cylinder is fixedly connected to the driving plate through a first floating joint (112); the clamping jaw distance changing mechanism comprises a second connecting block (201), a clamping jaw connecting block (202), a guide rod (203), a distance limiting rod (204), a driving slide block (205), a sliding pin (206) and a distance cylinder (207), and the driving slide block (205) is provided with left-right symmetrical slides; two The second connecting blocks are respectively fixed to the front and rear ends of the lower side surfaces of the left spacing base plate (104) and the right spacing base plate (105), and the two ends of the two pairs of guide rods are respectively fixed to the two pairs of second connecting blocks; the upper ends of the plurality of pairs of clamping jaw connecting blocks are respectively slidably sleeved on the corresponding two pairs of guide rods, and the upper ends of each pair of clamping jaw connecting blocks are respectively slidably placed in the left and right slide grooves of the driving slide groove block (205) through sliding pins, and the rearmost pair of clamping jaw connecting blocks are respectively fixed to the two rear second connecting blocks; the front and rear adjacent clamping jaw connecting blocks are respectively connected through spacing limit rods, and the clamping jaw connecting block at the front end is slidably sleeved on the front end portion of the corresponding spacing limit rod, and the clamping jaw connecting block at the rear end is fixed to the rear end portion of the corresponding spacing limit rod;The spacing cylinder is fixed on the base plate and fixedly connected to the driving slide block (205) located at the front end through the second floating joint (208); the lower end of each pair of clamping claw connection blocks respectively forms a clamping claw clamping arm. ; 2. The variable pitch clamp mechanism according to claim 1, characterized in that: Each of the clamping arms of the clamping jaws is provided with a clamping jaw elastic mechanism (300), which comprises a sliding pin shaft (301), a floating clamp block (302) and a spring (303). The sliding pin shaft slides transversely through the lower end of the clamping jaw connecting block and is fixedly connected to the floating clamp block via a thread. The spring is sleeved on the sliding pin shaft and placed between the clamping jaw connecting block and the floating clamp block.

3. The variable pitch clamping jaw mechanism according to claim 2, characterized in that: A limiting bolt (304) is respectively arranged on the outer side of each clamping jaw connecting block.

4. The variable pitch clamp mechanism according to claim 2, characterized in that: The floating clamping blocks on each pair of clamping jaw connecting blocks are arranged opposite to each other, and clamping block grooves (305) are arranged on the outer sides of the floating clamping blocks.

5. The variable pitch clamp mechanism according to claim 2, characterized in that: The spring is a butterfly spring.

6. The variable-pitch clamp mechanism according to claim 1, characterized in that: The opening and closing cylinder is mounted on the base plate (101) via a mounting seat (113).

7. The variable-pitch clamp mechanism according to claim 1, characterized in that: Limit blocks (114) for limiting the maximum opening angles of the left spacing bottom plate (104) and the right spacing bottom plate (105) are respectively provided on the left and right sides of the base plate.

8. The variable-pitch clamp mechanism according to claim 7, characterized in that: Two limit blocks (114) are respectively arranged on the left and right sides of the base plate.

9. The variable-pitch clamp mechanism according to claim 1, characterized in that: There are four pairs of clamping jaw connecting blocks.

10. The variable-pitch clamp mechanism according to claim 1, characterized in that: A bushing (209) is provided between the clamping jaw connecting block and the guide rod.

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