gripping device

Abstract

The application relates to the technical field of grabbing devices, and provides a clamping device which comprises a clamping jaw assembly, each set of the clamping jaw assembly comprises a mounting frame, a vacuum suction nozzle and a clamping mechanism. The vacuum suction nozzle is fixed with the mounting frame; the clamping mechanism comprises a swing arm, a mounting block and an elastic piece, the swing arm is hinged with the mounting frame and can rotate or be locked relative to the mounting frame, one end of the swing arm is fixed with the mounting block, and the outer circumferential side of the mounting block is sleeved with the elastic piece; the elastic piece is provided with a C-shaped groove, and the two ends of the C-shaped groove are provided with a connecting part and an abutting part; the mounting block comprises an abutting support, a rotating shaft and a supporting shaft, the abutting support is located in the C-shaped groove and can abut against the abutting part, the connecting part is rotationally connected with the rotating shaft, and the supporting shaft can abut against the connecting part and is used for limiting the rotation of the abutting part to the side where the abutting support is located; a plate piece is clamped between the vacuum suction nozzle and the mounting block, and the elastic piece can fill the gap between the mounting block and the plate piece, so that the clamping device can be suitable for grabbing plate pieces with various thicknesses.

Description

Technical Field

[0001] This invention relates to the field of gripping device technology, and more particularly to a clamping device. Background Technology

[0002] The existing automated PCB board removal methods in the industry include: 1. suction cup picking; 2. suction cup and pneumatic gripper picking; 3. pneumatic gripper picking.

[0003] All of the above board removal methods have drawbacks. For example, when using suction cups to pick up boards thicker than 3mm or with porous structures, the board drop rate is very high. The second and third methods, designed to accommodate thick and porous boards, incorporate pneumatic grippers. However, these grippers cannot adapt to boards of varying thicknesses due to their clamping angle. Furthermore, the clamping blocks do not fully conform to the PCB, resulting in insufficient clamping force and frequent board drops. This is especially true for boards thinner than 0.5mm; due to their insufficient rigidity, the middle portion sags when clamped axially, causing the board to become curved. This creates a lateral force and torque at the clamping point, further increasing the drop rate.

[0004] Therefore, there is an urgent need for a clamping device to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a clamping device that is suitable for gripping plates of various thicknesses.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] The clamping device includes two sets of gripper assemblies symmetrically arranged in a first direction, each set of the gripper assembly comprising:

[0008] Mounting rack;

[0009] Vacuum nozzle, which is fixed to the mounting bracket;

[0010] The clamping mechanism includes a swing arm, a mounting block, and an elastic element. The swing arm is hinged to the mounting frame and can rotate or lock relative to the mounting frame. One end of the swing arm is fixed to the mounting block, and the outer periphery of the mounting block is fitted with an elastic element. The elastic element has a C-shaped groove, and its two ends are provided with a connecting part and an abutting part. The mounting block includes an abutting support, a rotating shaft, and a supporting shaft. The abutting support is located in the C-shaped groove and can abut against the abutting part. The connecting part is rotatably connected to the rotating shaft, and the supporting shaft can abut against the connecting part to restrict the abutting part from rotating towards the side where the abutting support is located.

[0011] The plate is sandwiched between the vacuum nozzle and the mounting block, and the elastic element is used to fill the gap between the mounting block and the plate.

[0012] As a preferred technical solution of the above-mentioned clamping device, the clamping mechanism further includes a first driving member, which is used to drive the swing arm to rotate.

[0013] As a preferred technical solution of the above-mentioned clamping device, the first driving component is a cylinder, the middle part of the swing arm is hinged to the mounting bracket, and the output end of the cylinder can abut against the other end of the swing arm to drive the swing arm to rotate around the axis.

[0014] As a preferred technical solution of the above-mentioned clamping device, the clamping mechanism further includes a support block, which is fixed to the mounting frame and is arranged in a one-to-one correspondence with the mounting block.

[0015] As a preferred technical solution of the above-mentioned clamping device, the support block is made of urethane rubber.

[0016] As a preferred technical solution of the above-mentioned clamping device, each set of the above-mentioned gripper assembly includes multiple sets of the above-mentioned clamping mechanisms, and two sets of the above-mentioned clamping mechanisms are arranged at intervals along the second direction, and the first direction and the second direction intersect.

[0017] As a preferred embodiment of the clamping device, the gripper assembly is provided with a plurality of vacuum nozzles, and the plurality of vacuum nozzles are spaced apart along the second direction.

[0018] As a preferred technical solution of the above-mentioned clamping device, the mounting frame includes a first mounting part and a second mounting part. The vacuum nozzle and the clamping mechanism are both fixed to the first mounting part. The first mounting part and the second mounting part are connected by a second driving member. The output end of the second driving member can drive the first mounting part to reciprocate along a third direction. The first direction and the second direction are both perpendicular to the third direction.

[0019] As a preferred embodiment of the clamping device, it further includes an adjustment frame, wherein the two mounting frames are slidably connected to the adjustment frame along the first direction.

[0020] As a preferred technical solution of the above-mentioned clamping device, the adjustment frame is provided with a threaded rod and a guide rail. Both of the two sleeved gripper assemblies are threadedly connected to the threaded rod and slidably connected to the guide rail. The threads of the connecting parts of the two sets of gripper assemblies are opened in opposite directions.

[0021] Beneficial effects of this invention:

[0022] This application provides a clamping device, including a gripper assembly. Two sets of gripper assemblies are symmetrically arranged in a first direction. Each gripper assembly includes a mounting frame, a vacuum nozzle, and a clamping mechanism. The vacuum nozzle is fixed to the mounting frame. The clamping mechanism includes a swing arm, a mounting block, and an elastic element. The swing arm is hinged to the mounting frame and can rotate or lock relative to it. One end of the swing arm is fixed to the mounting block, and an elastic element is sleeved on the outer periphery of the mounting block. The elastic element has a C-shaped groove with a connecting portion and an abutting portion at both ends. The mounting block includes an abutting support, a rotating shaft, and a supporting shaft. The abutting support is located within the C-shaped groove and can abut against the abutting portion. The connecting portion is rotatably connected to the rotating shaft, and the supporting shaft abuts against the connecting portion, restricting the abutting portion from rotating towards the side where the abutting support is located. A plate is clamped between the vacuum nozzle and the mounting block, and the elastic element fills the gap between the mounting block and the plate.

[0023] With this setup, the plate is first adsorbed by the vacuum nozzle, and then clamped and fixed by the clamping mechanism. The elastic element can deform during the clamping process to fill the space between the mounting block and the plate, which makes the clamping process more accurate and stable, and also makes the gripper device suitable for plates of different thicknesses, especially plates with relatively small thicknesses. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the clamping device for clamping plates provided in an embodiment of the present invention. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the structure of the clamping device for clamping plates provided in an embodiment of the present invention. Figure 2 ;

[0027] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0028] Figure 4 This is a cross-sectional view of the clamping mechanism provided in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the clamping device provided in an embodiment of the present invention.

[0030] In the picture:

[0031] X, first direction; Y, second direction; Z, third direction;

[0032] 100. Clamping device; 200. Plate;

[0033] 10. Mounting bracket; 11. First mounting part; 12. Second mounting part; 13. Second driving component;

[0034] 20. Vacuum nozzle;

[0035] 30. Clamping mechanism; 31. Swing arm; 32. Mounting block; 321. Abutment support; 3211. First abutment surface; 3212. Second abutment surface; 322. Rotating shaft; 323. Support shaft; 33. Elastic element; 331. Deformation space; 332. Connecting part; 333. Abutment part; 34. First driving element; 35. Support block;

[0036] 40. Adjustment bracket; 41. Threaded rod; 42. Guide rail. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0038] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0041] like Figures 1 to 5 As shown, this application provides a clamping device 100, including a gripper assembly. Two sets of gripper assemblies are provided and symmetrically arranged in a first direction X. Each gripper assembly includes a mounting frame 10, a vacuum nozzle 20, and a clamping mechanism 30. The vacuum nozzle 20 is fixed to the mounting frame 10. The clamping mechanism 30 includes a swing arm 31, a mounting block 32, and an elastic element 33. The swing arm 31 is hinged to the mounting frame 10 and can rotate or lock relative to the mounting frame 10. One end of the swing arm 31 is fixed to the mounting block 32, and the elastic element 33 is sleeved on the outer periphery of the mounting block 32. The elastic element 33 has a C-shaped groove, and its two ends are provided with a connecting portion 332 and an abutment portion 333. The mounting block 32 includes an abutment support 32. 1. A rotating shaft 322 and a supporting shaft 323 are provided. The abutting support 321 is located in the C-shaped groove and can abut against the abutting part 333. The connecting part 332 is rotatably connected to the rotating shaft 322. The supporting shaft 323 can abut against the connecting part 332 and is used to restrict the abutting part 333 from rotating towards the side where the abutting support 321 is located. The plate 200 is sandwiched between the vacuum nozzle 20 and the mounting block 32. The elastic member 33 is used to fill the gap between the mounting block 32 and the plate 200.

[0042] Specifically, the clamping mechanism 30 includes an idle state and a clamping state, which are switched by the swing arm 31 rotating around an axis. In the idle state, the swing arm 31 carries the mounting block 32 away from the vacuum nozzle 20, avoiding interference between the mounting block 32 and the suction process between the vacuum nozzle 20 and the plate 200. In the clamping state, the swing arm 31 carries the mounting block 32 and rotates around an axis toward the side where the vacuum nozzle 20 is located, fixing the plate 200 between the mounting block 32 and the vacuum nozzle 20. Furthermore, an elastic element 33 is fitted around the outer periphery of the mounting block 32. The elastic element 33 has a C-shaped groove. The abutment support 321 of the mounting block 32 is located in the C-shaped groove. The abutment support 321 includes a first abutment surface 3211 and a second abutment surface 3212 arranged opposite to each other. When in the clamping state, the first abutment surface 3211 faces the vacuum nozzle 20. The abutment portion 333 of the elastic element 33 covers the first abutment surface 3211 of the abutment support 321. Since the abutment portion 333 is arc-shaped, a deformation space 331 is formed between it and the first abutment surface 3211. The connecting portion 332 of the elastic element 33 is rotatably connected to the rotation shaft 322 of the mounting block 32. When the clamping mechanism 30 is in an idle state, the connecting portion 332 of the elastic element 33 abuts against the second abutment surface 3212 of the mounting block 32, and the deformation space 331 between the abutment portion 333 of the elastic element 33 and the second abutment surface 3212 of the mounting block 32 is formed. 1. As the clamping mechanism 30 switches to the clamping state, the abutment portion 333 of the elastic member 33 abuts against the plate 200 before the mounting block 32. With the further rotation of the swing arm 31, the abutment support 321 of the mounting block 32 moves closer to the abutment portion 333 of the elastic member 33 around the rotation axis 322, compressing the deformation space 331. At this time, the connecting portion 332 of the elastic member 33 separates from the second abutment surface 3212 of the mounting block 32. As the mounting block 32 moves closer to the plate 200, the first abutment surface 3211 of the mounting block 32 is squeezed against the abutment portion 333 of the elastic member 33. The support shaft 323 of the mounting block 32 abuts against the connecting portion 332 of the elastic member 33, restricting the relative rotation between the abutment portion 333 of the elastic member 33 and the abutment support 321 of the mounting block 32. This allows the abutment portion 333 of the elastic member 33 to adapt to the gap between the mounting block 32 and the plate 200 and undergo elastic deformation. After the clamping mechanism 30 completes clamping the plate 200, the suction force of the vacuum nozzle 20 on the plate 200 can be removed. When the plate 200 needs to be placed in a designated location, the clamping mechanism 30 switches from its clamping state to an idle state, and the plate 200 can then be released from the clamping device 100.

[0043] Furthermore, in order to keep the plate 200 stable during the placement process, the vacuum nozzle 20 is turned on before placement and continuously adsorbs the plate 200. When the clamping mechanism 30 switches to the idle state, the plate 200 is still adsorbed by the vacuum nozzle 20. When the plate 200 is placed in the preset position, the vacuum nozzle 20 stops working.

[0044] In other embodiments, the vacuum nozzle 20 operates continuously throughout the clamping process without stopping.

[0045] With this configuration, the vacuum nozzle 20 first adsorbs the plate 200, and then the clamping mechanism 30 clamps and fixes the plate 200. The elastic element 33 can deform during the clamping process to fill the space between the mounting block 32 and the plate 200. This makes the clamping process more accurate and stable, and also allows the clamping device 100 to be applicable to plates 200 of different thicknesses, especially plates 200 with relatively small thicknesses.

[0046] Optionally, the clamping mechanism 30 further includes a first driving member 34, which is used to drive the swing arm 31 to rotate. With this configuration, the rotation of the swing arm 31 can be controlled by the first driving member 34, allowing for more precise and timely adjustment of the angle and timing of the swing arm 31's rotation, and enabling the swing arm 31 to be locked to the mounting bracket 10 in the clamping state.

[0047] Specifically, the first driving component 34 is a cylinder, and the middle part of the swing arm 31 is hinged to the mounting bracket 10. The output end of the cylinder can abut against the other end of the swing arm 31, driving the swing arm 31 to rotate around the axis. The hinge point between the swing arm 31 and the mounting bracket 10 forms a fulcrum. When the output end of the cylinder acts on one end of the swing arm 31, the other end swings in the opposite direction.

[0048] Furthermore, the other end of the swing arm 31 is hinged to the output end of the cylinder. When in an idle state, the output end of the cylinder moves toward the side where the vacuum nozzle 20 is located, causing the end of the swing arm 31 with the mounting block 32 fixed thereto to move away from the vacuum nozzle 20, thus avoiding the vacuum nozzle 20. When in a clamping state, the output end of the cylinder moves away from the side where the vacuum nozzle 20 is located, causing the mounting block 32 to move toward the side where the vacuum nozzle 20 is located, clamping the plate 200 between the mounting block 32 and the vacuum nozzle 20.

[0049] In other embodiments, a spring is provided between the swing arm 31 and the mounting bracket 10. The spring causes the mounting block 32 to have a tendency to move away from the vacuum nozzle 20. When the output end of the cylinder acts on the swing arm 31, the spring undergoes elastic deformation.

[0050] Optionally, the clamping mechanism 30 also includes a support block 35, which is fixed to the mounting bracket 10 and corresponds one-to-one with the mounting block 32. By setting the support block 35, the plate 200 is clamped between the support block 35 and the mounting block 32 to prevent the vacuum nozzle 20 from being damaged by the abutment force of the elastic member 33.

[0051] Preferably, the support block 35 is made of urethane. Urethane, also known as polyurethane elastomer, has relatively high strength and small compression deformation, and has good wear resistance. Thus, when the support block 35 is squeezed by the elastic element 33, it can form a soft contact with the plate 200 while still maintaining continuous contact with the plate 200.

[0052] Optionally, each gripper assembly includes multiple sets of gripping mechanisms 30, and the multiple sets of gripping mechanisms 30 are spaced apart along the second direction Y, where the first direction X and the second direction Y intersect. In this way, by setting multiple sets of gripping mechanisms 30, the gripping of the plate 200 can be more stable.

[0053] Preferably, the first direction X is perpendicular to the second direction Y.

[0054] Optionally, the gripper assembly is provided with multiple vacuum nozzles 20, and the multiple vacuum nozzles 20 are distributed at intervals along the second direction Y. With this configuration, when the plate 200 has a porous structure, some of the multiple vacuum nozzles 20 can still adsorb the plate 200.

[0055] Optionally, the mounting bracket 10 includes a first mounting part 11 and a second mounting part 12. The vacuum nozzle 20 and the clamping mechanism 30 are both fixed to the first mounting part 11. The first mounting part 11 and the second mounting part 12 are connected by a second driving member 13. The output end of the second driving member 13 can drive the first mounting part 11 to reciprocate along the third direction Z. The first direction X and the second direction Y are both perpendicular to the third direction Z.

[0056] Optionally, the clamping device 100 further includes an adjusting bracket 40, with two mounting brackets 10 slidably connected to the adjusting bracket 40 along a first direction X. This arrangement allows the gap between the two mounting brackets 10 to be adjusted in the first direction X.

[0057] Optionally, the adjusting frame 40 is provided with a threaded rod 41 and a guide rail 42. Both gripper assemblies are threadedly connected to the threaded rod 41 and slidably connected to the guide rail 42. The threads of the connecting parts 332 of the two gripper assemblies are opened in opposite directions.

[0058] Specifically, the adjusting frame 40 is provided with a threaded rod 41 and a guide rail 42 along the first direction X. The adjusting frame 40 is provided with a drive motor and a support at both ends of the first direction X. One end of the threaded rod 41 is fixed to the output end of the drive motor, and the other end is rotatably connected to the support through a bearing. The second connecting part 332 of the gripper assembly is provided with a threaded structure. The second connecting part 332 is threadedly connected to the threaded rod 41 and slidably connected to the guide rail 42. This prevents the second connecting part 332 from rotating around the axis with the threaded rod 41. When the drive motor drives the threaded rod 41 to rotate, the second connecting part 332 moves along the guide rail 42. The thread directions of the two gripper assemblies are opposite. Thus, when the threaded rod 41 rotates, the two gripper assemblies can synchronously move closer to each other or further away from each other.

[0059] Furthermore, the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. Clamping device comprising a jaw assembly provided with two sets and arranged symmetrically in a first direction (X), characterized in that, Each set of the clamping jaw assembly comprises: a mounting frame (10); a vacuum nozzle (20) fixed with the mounting frame (10); a clamping mechanism (30) comprising a swing arm (31), a mounting block (32), an elastic member (33) and a first driving member (34), the swing arm (31) is hinged with the mounting frame (10) and can rotate or be locked relative to the mounting frame (10), one end of the swing arm (31) is fixed with the mounting block (32), the mounting block (32) is sleeved with the elastic member (33) on the outer circumferential side; the elastic member (33) is provided with a C-shaped groove, two ends of which are provided with a connecting portion (332) and an abutting portion (333), the abutting portion (333) is arc-shaped, the mounting block (32) comprises an abutting support (321), a rotating shaft (322) and a supporting shaft (323), the abutting support (321) comprises a first abutting surface (3211) and a second abutting surface (3212) arranged oppositely, the abutting support (321) is located in the C-shaped groove and can abut against the abutting portion (333), the abutting portion (333) covers the first abutting surface (3211) and forms a deformation space (331) with the first abutting surface (3211), the connecting portion (332) is rotationally connected with the rotating shaft (322); a plate member (200) is clamped between the vacuum nozzle (20) and the mounting block (32), the first driving member (34) is used for driving the swing arm (31) to rotate, so as to realize switching of the clamping mechanism (30) between an idle state and a clamping state; when the clamping mechanism (30) is in the idle state, the mounting block (32) is away from the vacuum nozzle (20), the connecting portion (332) abuts against the second abutting surface (3212); when the clamping mechanism (30) is switched to the clamping state, the first abutting surface (3211) is towards the side of the vacuum nozzle (20), the abutting portion (333) abuts against the plate member (200) earlier than the mounting block (32), with further rotation of the swing arm (31), the abutting support (321) approaches the abutting portion (333) around the rotating shaft (322), compressing the deformation space (331), at this time, the connecting portion (332) is separated from the second abutting surface (3212), with further approach of the mounting block (32) to the plate member (200), the first abutting surface (3211) is extruded with the abutting portion (333), the supporting shaft (323) can abut against the connecting portion (332), limiting rotation of the abutting portion (333) to the side where the abutting support (321) is located, so that the abutting portion (333) elastically deforms adaptively according to the gap between the mounting block (32) and the plate member (200).

2. The clamping device of claim 1, wherein The first driving member (34) is a cylinder, the middle part of the swing arm (31) is hinged to the mounting frame (10), and the output end of the cylinder can abut against the other end of the swing arm (31) to drive the swing arm (31) to rotate around the shaft.

3. The clamping device of claim 1, wherein The clamping mechanism (30) further comprises a support block (35) which is fixed to the mounting frame (10) and is arranged in one-to-one correspondence with the mounting block (32).

4. The clamping device of claim 3, wherein The support block (35) is made of rubber.

5. The clamping device of claim 1, wherein Each set of the clamping jaw assembly comprises a plurality of clamping mechanisms (30), and the plurality of clamping mechanisms (30) are arranged at intervals along a second direction (Y).

6. The clamping device of claim 5, wherein Each set of the clamping jaw assembly is provided with a plurality of vacuum nozzles (20), and the plurality of vacuum nozzles (20) are arranged at intervals along the second direction (Y).

7. The clamping device of claim 5, wherein The mounting frame (10) comprises a first mounting portion (11) and a second mounting portion (12), the vacuum nozzles (20) and the clamping mechanisms (30) are fixed to the first mounting portion (11), the first mounting portion (11) is connected to the second mounting portion (12) through a second driving member (13), the output end of the second driving member (13) can drive the first mounting portion (11) to reciprocate along a third direction (Z), and the first direction (X) and the second direction (Y) are perpendicular to the third direction (Z).

8. The holding device according to claim 1, characterized in that The clamping device further comprises an adjusting frame (40), and the two mounting frames (10) are slidingly connected to the adjusting frame (40) along the first direction (X).

9. The clamping device of claim 8, wherein The adjusting frame (40) is provided with a threaded rod (41) and a guide rail (42), and the two sets of clamping jaw assemblies are threadedly connected to the threaded rod (41) and slidingly connected to the guide rail (42), and the threaded opening directions of the connecting portions (332) of the two sets of clamping jaw assemblies are opposite.

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