An adaptive material clamping device

Abstract

The present invention relates to an adaptive material clamping device, which includes a first chuck and a second chuck arranged oppositely; the first chuck includes a first connecting portion and a first clamping portion rotatably connected to the first connecting portion through a rotating connecting member, the rotating connecting member is arranged at the bottom of the first connecting portion, and the first clamping portion rotates with the rotating connecting member as the rotation axis; the second chuck includes a second connecting portion and a second clamping portion fixedly connected to the second connecting portion; the first connecting portion and the second connecting portion are arranged corresponding to each other, and the first clamping portion and the second clamping portion are arranged corresponding to each other. The clamping device of the present invention improves the clamping efficiency of materials, avoids damage to the materials, eliminates the need for manual alignment of the skewed materials, improves the degree of automation of production, and saves human resources; moreover, the clamping device can also be used to clamp materials with irregular edge shapes, serving multiple purposes with one machine, and improving the applicability of the clamping device.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation equipment, and particularly relates to an adaptive material clamping device. Background Art

[0002] In automated production, the transfer of materials can be completed by an automatic clamping device. In actual production, the materials to be clamped need to be accurately placed at the clamping position. Once the materials are deflected, the clamping device cannot effectively clamp the materials, resulting in the termination of the clamping operation. After manual intervention to align the materials, the clamping device can continue to work normally; even if the clamping device can clamp the deflected materials, due to uneven force during the clamping process, the materials may be deformed, dropped midway or even scrapped, reducing the degree of production automation, increasing material loss and reducing production efficiency. Summary of the Invention

[0003] The object of the present invention is to solve the above problems and provide an adaptive material clamping device.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] An adaptive material clamping device includes a first clamping head and a second clamping head arranged oppositely; the first clamping head includes a first connecting portion and a first clamping portion rotatably connected to the first connecting portion through a rotating connecting member, the rotating connecting member is arranged at the bottom of the first connecting portion, and the first clamping portion rotates with the rotating connecting member as the rotation axis; the second clamping head includes a second connecting portion and a second clamping portion fixedly connected to the second connecting portion; the first connecting portion and the second connecting portion are correspondingly arranged, and the first clamping portion and the second clamping portion are correspondingly arranged.

[0006] Preferably, equal-height limit posts are symmetrically arranged at both ends of the first connecting portion, the tops of the equal-height limit posts are lapped on the upper surface of the first connecting portion, and the equal-height limit posts are connected to the first clamping portion after passing through the connecting holes; an elastic member perpendicular to the axial direction of the equal-height limit posts is arranged on the first connecting portion, and the free end of the elastic member in the relaxed state abuts against the outer wall of the equal-height limit post.

[0007] Preferably, a connecting hole for installing the equal-height limit post is arranged on the first connecting portion, and a gap is arranged between the corresponding areas of the equal-height limit post and the connecting hole.

[0008] Preferably, limit protrusions are respectively arranged at both ends of the first clamping portion and the second clamping portion, a flexible material film layer is arranged inside the limit protrusions, and uniformly distributed friction protrusions are arranged on the inner surface of the flexible material film layer.

[0009] Preferably, elastic positioning posts are respectively provided on the first clamping portion and the second clamping portion, and the lower end surfaces of the elastic positioning posts are flush.

[0010] Preferably, a receiving step is provided inside the limiting protrusion, and the plane of the receiving step is flush with the lower end surface of the elastic positioning post.

[0011] Preferably, an air flow channel is provided inside the second clamping portion. The air flow channel is communicated with an air inlet provided on the second clamping portion. The air flow channel extends to the outer wall surface of the second clamping portion, and an air outlet is formed at the lower part of the outer wall surface of the second clamping portion. A guide air plate is provided on the outer wall surface of the second clamping portion, and a sealing layer is provided between the guide air plate and the first clamping portion. The sealing layer is arranged corresponding to the upper part of the outer wall surface of the second clamping portion.

[0012] Preferably, a positioning pin is vertically provided on the side surface of the second clamping portion close to the first clamping portion, and a jack is provided in the area of the first clamping portion corresponding to the positioning pin. The jack extends towards both ends of the first clamping portion.

[0013] Preferably, the clamping device further includes a driving member for driving the first clamping head and the second clamping head to move towards each other; the driving member includes a main body portion, a first connecting claw and a second connecting claw respectively connected to the first connecting portion and the second connecting portion. The first connecting claw and the second connecting claw are respectively slidably connected to the bottom surface of the main body portion.

[0014] Preferably, the clamping device further includes a material sensor, and the material sensor is provided on the first clamping portion.

[0015] The beneficial effects of the present invention at least include:

[0016] The self - adaptive material clamping device of the present invention includes a first clamping head and a second clamping head arranged oppositely. The first clamping head includes a first connecting portion and a first clamping portion. The first clamping portion can rotate around the first connecting portion, and the second clamping head is relatively fixedly arranged; when the material is deflected, the first clamping portion can rotate adaptively according to the actual situation of the material. The deflected material is aligned and clamped with the second clamping head as a reference, ensuring stable clamping of the deflected material, improving the material clamping efficiency, avoiding damage to the material, eliminating the need for manual alignment of the deflected material, improving the degree of production automation, and saving human resources. The clamping device of the present invention can also be used to clamp materials with irregular edge shapes, serving multiple purposes with one machine, and improving the applicability of the clamping device. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the self - adaptive material clamping device of the present invention;

[0018] Figure 2 Schematic diagram of the first structure of the first chuck;

[0019] Figure 3 is Figure 2 Schematic diagram of the second structure of the first chuck shown;

[0020] Figure 4 Assembly diagram of the equal-height limit post and the elastic member;

[0021] Figure 5 Explosion diagram of the second chuck;

[0022] Figure 6 Schematic diagram of the driving member;

[0023] Figure 7 Schematic diagram of the clamping device of the present invention when clamping materials.

[0024] Among them, 1 is the first chuck, 11 is the first connecting portion, 111 is the connecting hole, 12 is the rotating connecting member, 13 is the first clamping portion, 131 is the limiting protrusion, 132 is the insertion hole, 14 is the equal-height limit post, 15 is the elastic member, 16 is the elastic positioning post, 2 is the second chuck, 21 is the second connecting portion, 22 is the second clamping portion, 221 is the air inlet, 222 is the air outlet, 223 is the air guide plate, 224 is the sealing layer, 225 is the positioning pin, 3 is the driving member, 31 is the main body portion, 32 is the first connecting claw, 33 is the second connecting claw, 4 is the material sensor, and 5 is the material. Detailed implementation manners

[0025] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0026] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0027] In the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features.

[0028] Embodiment 1

[0029] As Figures 1 to 3As shown in the figure, the self-adaptive material clamping device of the present invention includes a first chuck 1 and a second chuck 2 arranged oppositely; the first chuck 1 includes a first connecting portion 11 and a first clamping portion 13 rotatably connected to the first connecting portion 11 through a rotating connecting member 12. The rotating connecting member 12 is provided at the bottom of the first connecting portion 11, and the first clamping portion 13 rotates with the rotating connecting member 12 as the rotation axis; the second chuck 2 includes a second connecting portion 21 and a second clamping portion 22 fixedly connected to the second connecting portion 21; the first connecting portion 11 and the second connecting portion 21 are correspondingly arranged, and the first clamping portion 13 and the second clamping portion 22 are correspondingly arranged.

[0030] The rotating connecting member 12 is arranged corresponding to the central axes of the first connecting portion 11 and the first clamping portion 13. As an alternative embodiment of the present invention, the rotating connecting member 12 is preferably a connecting column or a pin. A hole for inserting the rotating connecting member 12 is provided at the corresponding position of the first clamping portion 13 and the rotating connecting member 12, and the hole is a through hole or a blind hole. When the hole is a through hole, the rotating connecting member 12 penetrates through the first clamping portion 13, and the bottom diameter of the rotating connecting member 12 is larger than the diameter of the hole; when the hole is a blind hole, the hole is in an inverted T shape, and correspondingly, the bottom of the rotating connecting member 12 is in a T shape that fits the hole. It should be noted that in the embodiments of the present invention, both the directions "bottom" and "down" refer to the direction close to the material placement.

[0031] As Figure 3 and Figure 4 As shown in the figure, equal-height limit posts 14 are symmetrically provided at both ends of the first connecting portion 11. The tops of the equal-height limit posts 14 overlap on the upper surface of the first connecting portion 11, that is, the cross-sectional area of the protruding portion of the equal-height limit posts 14 is larger than the cross-sectional area of the connecting hole 111. The equal-height limit posts 14 pass through the connecting hole 111 and are connected to the first clamping portion 13. Preferably, in the embodiments of the present invention, the bottom of the equal-height limit posts 14 is fixedly connected to the first clamping portion 13; an elastic member 15 perpendicular to the axial direction of the equal-height limit posts 14 is provided on the first connecting portion 11, and the free end of the elastic member 15 in the relaxed state abuts against the outer wall of the equal-height limit posts 14.

[0032] To ensure the relative stability between the first connecting portion 11 and the first clamping portion 13, prevent both ends of the first clamping portion 13 from shaking, and enable the first clamping portion 13 to rotate in a direction parallel to the horizontal plane, an equal-height limiting post 14 is provided. Meanwhile, the elastic member 15 abuts against the outer wall of the equal-height limiting post 14. When the first clamping portion 13 drives the equal-height limiting post 14 to rotate, the equal-height limiting post 14 exerts a force on the elastic member 15, and the elastic member 15 exerts a reaction force on the equal-height limiting post 14, providing a driving force for driving the first clamping portion 13 to rotate back. During use, when the first clamping portion 13 deflects around the rotating connecting member 12, the equal-height limiting post 14 rotates with the first clamping portion 13. Then, the equal-height limiting post 14 exerts a force on the elastic member 15, and the elastic member 15 also exerts a reaction force on the equal-height limiting post 14, causing the first clamping portion 13 to generate a force to return to a state parallel to the second clamping portion 22, thereby driving the first clamping portion 13 to push the material towards the direction close to the second clamping portion 22, and the four limiting protrusions 131 clamp it. The elastic member 15 is preferably a ball plunger screw, and the first connecting portion 11 is provided with an installation hole for installing the ball plunger screw. Alternatively, in other embodiments, the elastic member 15 can be a spring. One end of the spring is connected to the outer wall of the equal-height limiting post 14, and the other end is connected to the hole wall of the connecting hole 111. Further, a spring hole for setting the spring is provided on the hole wall of the connecting hole 111. As a further preference, in other embodiments, to ensure that the equal-height limiting post 14 can stably contact the elastic member 15 and prevent the free end of the elastic member 15 from deviating from the contact point with the equal-height limiting post 14, corresponding annular grooves can be provided on the corresponding outer walls of the equal-height limiting post 14 and the elastic member 15.

[0033] Such as Figure 4As shown, a connection hole 111 for installing the equal-height limit post 14 is provided on the first connection part 11. A gap is provided between the corresponding areas of the equal-height limit post 14 and the connection hole 111, that is, the top of the equal-height limit post 14 protrudes from the connection hole 111, and the diameter of the corresponding area of the equal-height limit post 14 and the connection hole 111 is smaller than the inner diameter of the connection hole 111. The gap enables the equal-height limit post 14 to be movably connected to the connection hole 111, avoiding interference of the connection hole 111 with the movement of the equal-height limit post 14, and further enabling the first clamping part 13 to rotate smoothly. Preferably, the cross-section of the connection hole 111 is in an arc shape matching the movement track of the equal-height limit post 14. The overall shape of the equal-height limit post 14 is in a T shape, the diameter of its corresponding area with the connection hole 111 is smaller than the diameter of its top, and the diameter of its top is larger than the diameter of the connection hole 111; a threaded hole for connecting with the bottom of the equal-height limit post 14 is provided at the corresponding position of the first clamping part 13 and the equal-height limit post 14, and an external thread matching the threaded hole is provided at the bottom of the equal-height limit post 14.

[0034] Limit protrusions 131 are respectively provided at both ends of the first clamping part 13 and the second clamping part 22. A flexible material film layer is provided on the inner side of the limit protrusions 131, and uniformly distributed friction protrusions for increasing the friction between the limit protrusions 131 and the material are provided on the inner surface of the flexible material film layer. During use, the limit protrusions 131 are in contact with the side surface of the material, applying a force to the side surface of the material, so that the first chuck 1 and the second chuck 2 cooperate to clamp the material. The lower part refers to the direction towards the material. That is, the limit protrusions 131 form four acting points. Preferably, the limit protrusions 131 are provided on the outer sides of both ends of the first clamping part 13 and the second clamping part 22. In other embodiments, extension parts extending outward and used for arranging the limit protrusions 131 are respectively provided at the end parts of the first clamping part 13 and the second clamping part 22, so that the projections of the first chuck 1 and the second chuck 2 in the vertical direction are in an I shape. Such a setting saves the material between the extension parts, and reduces the weight of the first clamping part 13 and the second clamping part 22, improving the operation flexibility of the first clamping part 13 and the second clamping part 22. A chamfer is provided at the bottom of the limit protrusions 131. The flexible material film layer includes a rubber layer.

[0035] The first clamping part 13 and the second clamping part 22 are respectively provided with elastic positioning columns 16, and the lower end surfaces of the elastic positioning columns 16 are flush. This is used to keep the material placed horizontally, ensuring the stable clamping of the sides of the material by the first clamping part 13 and the second clamping part 22, avoiding the offset of the material during the clamping process, so that the limiting protrusion 131 cannot apply a uniform force to the material, which may lead to the dropping of the material or structural damage. Preferably, the distance between the plane formed by the lower end surfaces of the elastic positioning columns 16 and the plane formed by the lower end surfaces of the limiting protrusions 131 is equal to the thickness of the material or 0.1 - 1 cm larger than the thickness of the material. The number of the elastic positioning columns 16 is at least 2, and the specific number can be set according to the actual size of the material. Preferably, the elastic positioning columns 16 are arranged close to the limiting protrusion 131.

[0036] A receiving step is provided inside the limiting protrusion 131, and the plane of the receiving step is flush with the lower end surface of the elastic positioning column 16. The receiving step is flush with the lower end surface of the elastic positioning column 16, ensuring that the material can be kept horizontally arranged when clamping the material.

[0037] As Figure 5 As shown, an air flow channel is provided inside the second clamping part 22. The air flow channel is communicated with an air inlet 221 provided on the second clamping part 22. The air flow channel extends to the outer wall surface of the second clamping part 22, and an air outlet 222 is formed at the lower part of the outer wall surface of the second clamping part 22. A guide air plate 223 is provided on the outer wall surface of the second clamping part 22. A sealing layer 224 is provided between the guide air plate 223 and the first clamping part 22. The sealing layer 224 is arranged corresponding to the upper part of the outer wall surface of the second clamping part 22, that is, the sealing layer 224 is arranged to avoid the air outlet 222. It should be noted that in the embodiments of the present invention, the direction "inward" refers to the direction towards the relative direction of the first chuck 1 and the second chuck 2, and the direction "outward" refers to the direction away from the relative direction of the first chuck 1 and the second chuck 2. The air flow channel is a closed air flow channel. The air outlet 222 is provided in the area of the outer wall of the second clamping part 22 that is not connected to the sealing layer 224, so that the gas is blown downward below the second clamping part 22 under the guidance of the guide air plate 223 after being discharged from the air outlet 222. The gas is introduced into the air flow channel from the air inlet 221, flows to the outer wall surface of the second clamping part 22 and is guided by the guide air plate 223, and then is discharged from the air outlet 222 and blown downward below the second clamping part 22. The air inlet 221 is externally connected to a blower device. The sealing layer 224 includes a sealing layer made of rubber material.

[0038] As Figure 2 and Figure 5As shown, a positioning pin 225 is vertically provided on the side of the second clamping portion 22 close to the first clamping portion 13. A jack 132 is provided in the corresponding area of the first clamping portion 13 and the positioning pin 225. The jack 132 is an elongated hole and extends towards both ends of the first clamping portion 13. After the first clamping portion 13 and the second clamping portion 22 clamp the material, the positioning pin 225 is inserted into the jack 132, so that the positions of the first clamping portion 13 and the second clamping portion 22 are kept synchronized during the clamping process, ensuring the stability of the operation of the clamping device. Since the jack 132 is an elongated hole, it is convenient for the positioning pin 225 to be inserted into the jack 132. The end of the positioning pin 225 facing the first clamping portion 13 is in a frustum shape or a hemispherical shape to further facilitate the insertion of the positioning pin 225. The number of the positioning pins 225 is at least 2, and the specific number can be adjusted according to the actual situation.

[0039] As Figure 1 shown, the clamping device further includes a driving member 3 for driving the first chuck 1 and the second chuck 2 to move towards each other; As Figure 6 shown, the driving member 3 includes a main body portion 31, a first connecting claw 32 and a second connecting claw 33 respectively connected to the first connecting portion 11 and the second connecting portion 21. The first connecting claw 32 and the second connecting claw 33 are respectively slidably connected to the bottom surface of the main body portion 31. The driving member 3 is preferably a finger cylinder including flat clamping fingers.

[0040] The clamping device further includes a material sensor 4, and the material sensor 4 is provided on the first clamping portion 13 for detecting whether there is material to be clamped.

[0041] It is easy for those skilled in the art to think that the present invention may further include a control device for transporting the clamping device to the position of clamping the material, and the control device may include a robotic arm or a four-axis robot.

[0042] The method for clamping materials by using the self-adaptive clamping device of the present invention includes the steps of:

[0043] In the initial state, the first chuck 1 and the second chuck 2 are arranged in parallel, that is, the first clamping portion 13 and the second clamping portion 22 are arranged in parallel.

[0044] When clamping materials: after the material sensor 4 senses the material, the first connecting claw 32 and the second connecting claw 33 of the driving member 3 open, and then drive the first chuck 1 and the second chuck 2 to move away from each other; Optionally, in other embodiments, the second connecting claw 33 of the driving member 3 can be kept fixed, and the first connecting claw 32 makes a movement away from or close to the second connecting claw 33;

[0045] When the material 5 deflects, the first clamping part 13 approaches and sticks to the side of the material 5, and then the first clamping part 13, driven by the first connecting claw 32, pushes the material 5 toward the second clamping part 22. During this process, the second connecting claw 33 remains stationary, so that the second clamping part 22 remains parallel to the X-axis to serve as a reference for straightening the material 5. During the pushing process, the first clamping part 13 makes an adaptive rotation according to the deflection angle of the material 5. When the material 5 moves close to the side of the second clamping part 22 until it contacts the limiting protrusion 131 provided on the second clamping part 22, the first clamping part 13 rotates in the direction parallel to the X-axis. During the process, the elastic member 15 exerts a force on the side wall of the equal height limiting column 14. Driven by the force, the first clamping portion 13 rotates to a position parallel to the second clamping portion 22; the material 5 is kept parallel to the horizontal plane under the coordinated action of the elastic positioning column 16, the receiving step and the limiting protrusion 131; after clamping the material 5, the material 5 is transferred to the next processing position. When the material 5 is located above the next processing position, gas is introduced from the air inlet 221. After the gas flows out through the air outlet 222, it is blown out under the action of the air guide plate 223 to purge the next processing position to complete the cleaning of the next processing position; after cleaning, the material 5 is placed in the next station;

[0046] like Figure 7 As shown, when the clamping device of the present invention is used to clamp materials with irregular edges, the first clamping portion 13 can be adaptively deflected according to the edge of the material 5 .

[0047] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An adaptive material clamping device, characterized in that: It includes a first chuck and a second chuck arranged oppositely; the first chuck includes a first connecting portion and a first clamping portion rotatably connected to the first connecting portion through a rotating connecting member, the rotating connecting member is arranged at the bottom of the first connecting portion, and the first clamping portion rotates with the rotating connecting member as the rotation axis; the second chuck includes a second connecting portion and a second clamping portion fixedly connected to the second connecting portion; the first connecting portion and the second connecting portion are arranged correspondingly, and the first clamping portion and the second clamping portion are arranged correspondingly; both ends of the first connecting portion are symmetrically provided with equal-height limiting columns, the tops of the equal-height limiting columns are lapped on the upper surface of the first connecting portion, the first connecting portion is provided with connecting holes for installing the equal-height limiting columns, there is a gap between the corresponding areas of the equal-height limiting columns and the connecting holes, the equal-height limiting columns pass through the connecting holes and are connected to the first clamping portion, and an elastic member perpendicular to the axial direction of the equal-height limiting columns is arranged on the first connecting portion, and the free end of the elastic member in the relaxed state abuts against the outer wall of the equal-height limiting column.

2. The self-adaptive material clamping device according to claim 1, characterized in that: Both ends of the first clamping portion and the second clamping portion are respectively provided with limiting protrusions, a flexible material film layer is arranged on the inner side of the limiting protrusions, and uniformly distributed friction protrusions are arranged on the inner surface of the flexible material film layer.

3. The self-adaptive material clamping device according to claim 2, characterized in that: Elastic positioning columns are respectively arranged on the first clamping portion and the second clamping portion, and the lower end surfaces of the elastic positioning columns are flush.

4. The self-adaptive material clamping device according to claim 3, wherein: A receiving step is arranged on the inner side of the limiting protrusion, and the plane of the receiving step is flush with the lower end surface of the elastic positioning column.

5. The self-adaptive material clamping device according to claim 1, wherein: An air flow channel is arranged in the second clamping portion, the air flow channel is communicated with an air inlet arranged on the second clamping portion, the air flow channel extends to the outer wall surface of the second clamping portion, and an air outlet is formed at the lower part of the outer wall surface of the second clamping portion. A guide air plate is arranged on the outer wall surface of the second clamping portion, and a sealing layer is arranged between the guide air plate and the first clamping portion, and the sealing layer is arranged corresponding to the upper part of the outer wall surface of the second clamping portion.

6. The self-adaptive material clamping device according to claim 1, wherein: A positioning pin is vertically arranged on the side surface of the second clamping portion close to the first clamping portion, and a jack is opened in the corresponding area of the first clamping portion and the positioning pin, and the jack extends towards both ends of the first clamping portion.

7. The self-adaptive material clamping device according to claim 1, characterized in that: The clamping device further includes a driving member for driving the first chuck and the second chuck to move oppositely; the driving member includes a main body portion, a first connecting claw and a second connecting claw respectively connected to the first connecting portion and the second connecting portion, and the first connecting claw and the second connecting claw are respectively slidably connected to the bottom surface of the main body portion.

8. The self-adaptive material clamping device according to claim 1, wherein: The clamping device further includes a material sensor, and the material sensor is arranged on the first clamping portion.

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