Method and jig for packing bars

Abstract

The present application belongs to the field of automatic assembly, and discloses a kind of rod piece boxing method and clamp, and the rod piece boxing method includes: providing the jaw assembly for boxing;Move the jaw assembly to the rod piece grabbing position, so that the first clamp finger and the second clamp finger clamp and grab the rod piece to be boxed;Move the jaw assembly to drive the grabbed rod piece to be boxed to move to the position of horizontal and side-by-side with the boxed rod piece in the storage box, after the first clamp finger moves to the avoiding position, the second clamp finger is used to push the rod piece to be boxed to the position of side-by-side and abutting with the boxed rod piece.By using the rod piece boxing method of the present application, the rod pieces can be placed compactly in the storage box, and the work intensity of the rod piece boxing is effectively reduced, and the efficiency of the boxing is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic assembly, in particular to a rod packing method and a clamp. BACKGROUND

[0002] In production and life, there are some scenarios that require multiple rods to be packed side by side, for example, packing large bolts side by side, that is, packing multiple large bolts side by side into a storage box. Since the use scene of large bolts may have a lot of iron filings, the way of using a magnet to attract and grab the bolt for bolt packing is easy to cause the magnetization of the bolt, the bolt attracts iron filings, and the bolt is easy to be damaged when installed. In addition, due to the heavy weight and small adsorption area of the large bolt, the way of using a suction cup to attract and grab the bolt for bolt packing is easy to cause the bolt to fall, and the practicability is poor. Therefore, at present, the arrangement and packing of large bolts are mostly packed by manual grabbing, which has the problems of low efficiency and high working strength. Of course, not only the arrangement and packing of large bolts, but also the arrangement and packing of other similar rods may have similar situations, that is, it is impossible to realize automatic packing, and the way of manual packing has the problems of low efficiency and high working strength. SUMMARY

[0003] In view of at least one of the above defects or deficiencies of the prior art, the present application provides a rod packing method and a clamp, aiming to solve the technical problems of low efficiency and high working strength caused by packing rods by manual means.

[0004] To achieve the above-mentioned purpose, the present application provides a rod packing method, which comprises:

[0005] A clamping jaw assembly for packing is provided, the clamping jaw assembly comprises a first clamping finger and a second clamping finger which are arranged at intervals in the width direction, the first clamping finger can move along the length direction of the clamping jaw assembly to switch between a clamping position and a avoiding position, in the clamping position, the first clamping finger is arranged opposite to the second clamping finger, in the avoiding position, the first clamping finger is staggered with the second clamping finger, and the second clamping finger can move along the width direction of the clamping jaw assembly;

[0006] The clamping jaw assembly is moved to a rod grabbing position, so that the first clamping finger and the second clamping finger clamp and grab the rod to be packed;

[0007] The clamping jaw assembly is moved to drive the grabbed rod to be packed to move to a position horizontally and side by side with the packed rod in the storage box, after the first clamping finger moves to the avoiding position, the second clamping finger pushes the rod to be packed to a position side by side and abutting against the packed rod.

[0008] Optionally, the step of moving the gripper assembly to a bar member grabbing position, so that the first gripper finger and the second gripper finger clamp and grab the bar member to be boxed, further comprises:

[0009] moving the first gripper finger to a clamping position, while moving the second gripper finger away from the first gripper finger along the width direction of the gripper assembly to a limit position, and adjusting the initial distance between the first gripper finger and the second gripper finger by moving the first gripper finger and the second gripper finger towards or away from each other according to the diameter of the bar member to be boxed.

[0010] Optionally, the step of moving the gripper assembly to a bar member grabbing position, so that the first gripper finger and the second gripper finger clamp and grab the bar member to be boxed, comprises:

[0011] In the bar member grabbing position, the first gripper finger and the second gripper finger are respectively located on two sides of the bar member to be boxed, moving the gripper assembly to the bar member grabbing position so that the first gripper finger abuts against one side of the bar member to be boxed, and then moving the second gripper finger towards the first gripper finger along the width direction of the gripper assembly until the second gripper finger abuts against the other side of the bar member to be boxed, at which time the first gripper finger and the second gripper finger clamp and grab the bar member to be boxed.

[0012] Optionally, the step of moving the gripper assembly to move the grabbed bar member to be boxed to a position horizontally and side by side with the boxed bar member in the storage box after the first gripper finger moves to the avoiding position, comprises:

[0013] moving the grabbed bar member to be boxed to a position horizontally and side by side with the boxed bar member in the storage box, and abutting the outer side of the first gripper finger against the boxed bar member, then moving the second gripper finger away from the first gripper finger along the width direction of the gripper assembly to disengage from the bar member to be boxed, and then moving the first gripper finger to the avoiding position, and pushing the bar member to be boxed to the position abutting side by side with the boxed bar member by the second gripper finger.

[0014] The present application also provides a gripper, comprising a base and a gripper assembly arranged on the base, wherein the gripper assembly comprises:

[0015] a first gripper arm and a second gripper arm, the first gripper arm and the second gripper arm are arranged side by side and spaced apart in the width direction of the gripper assembly, and the distal ends of the first gripper arm and the second gripper arm are respectively provided with a first gripper finger and a second gripper finger;

[0016] The first clamping arm driving member is connected with the first clamping arm and is used to drive the first clamping arm to move along the length direction of the clamping jaw assembly to switch between a clamping position and a avoiding position, in the clamping position, the first clamping finger is arranged opposite to the second clamping finger to form a clamping space for clamping a rod, in the avoiding position, the first clamping finger is staggered with the second clamping finger to avoid the rod, the second clamping arm driving member is connected with the second clamping arm and is used to drive the second clamping arm to move along the width direction of the clamping jaw assembly to approach or move away from the first clamping arm.

[0017] Optionally, the clamping jaw assembly further comprises a first clamping arm seat and a second clamping arm seat which are arranged at intervals along the width direction, the first clamping arm is slidably mounted on the first clamping arm seat along the length direction of the clamping jaw assembly, and the second clamping arm is slidably mounted on the second clamping arm seat along the width direction of the clamping jaw assembly.

[0018] Optionally, the first clamping arm driving member and the second clamping arm driving member are both telescopic driving members, the first clamping arm driving member is arranged on the first clamping arm seat and a telescopic end of the first clamping arm driving member is connected with the first clamping arm, and the telescopic action of the first clamping arm driving member can drive the first clamping arm to slide along the length direction of the clamping jaw assembly, the second clamping arm driving member is arranged on the second clamping arm seat and a telescopic end of the second clamping arm driving member is connected with the second clamping arm, and the telescopic action of the second clamping arm driving member can drive the second clamping arm to slide along the width direction of the clamping jaw assembly.

[0019] Optionally, the interval between the first clamping arm seat and the second clamping arm seat is adjustable.

[0020] Optionally, the clamping jaw assembly further comprises a fixed seat which is fixedly connected to the base and a sliding seat which is slidably connected to the fixed seat or the base along the width direction, the first clamping arm seat is mounted on the sliding seat, and the second clamping arm seat is mounted on the fixed seat.

[0021] The clamping device further comprises an interval adjusting mechanism which is arranged on the base, is in transmission connection with the sliding seat, and is used to drive the sliding seat to slide.

[0022] Optionally, the sliding seat is provided with a rack which is arranged along the width direction of the clamping jaw assembly, and the interval adjusting mechanism comprises:

[0023] A driven gear which is rotatably mounted on the base and is in meshing connection with the rack;

[0024] A driving gear which is rotatably mounted on the base and is in meshing connection with the driven gear;

[0025] A rotating driving member is installed on the base and connected with the driving gear, and the rotating driving member is used to drive the driving gear to rotate.

[0026] Through the above technical scheme, the rod packing method of the application can clamp and grab the rod to be packed by the first clamping finger and the second clamping finger of the clamping jaw assembly, move the grabbed rod to be packed to a position horizontally and side by side with the packed rod in the storage box, move the first clamping finger to a avoiding position, and push the rod to be packed to a position side by side and abutting against the packed rod by the second clamping finger. In this way, the rod can be packed in the storage box more compactly. The rod packing method of the application can realize compact arrangement of the rod in the storage box, effectively reduce the working strength of rod packing, improve the efficiency of packing, and automatically grab and arrange the rod without manual operation, which meets the automation demand of packing.

[0027] Other features and advantages of the application will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, and together with the following specific embodiments, serve to explain the application, but do not constitute a limitation on the application. In the drawings:

[0029] In the drawings:

[0030] Figure 1 It is a schematic view of the perspective structure of the clamp of the application;

[0031] Figure 2 It is a schematic view of the perspective structure of the clamp of the application; Figure 1

[0032] Figure 3 It is a schematic view of the perspective structure of the clamp of the application; Figure 1

[0033] Explanation of reference signs:

[0034] 1 base 2 flange connection part

[0035] 3 clamping jaw assembly 4 rack

[0036] 5 driven gear 6 driving gear

[0037] 7 rotating driving member

[0038] 31 first clamping arm 32 second clamping arm

[0039] 33 first clamping finger 34 second clamping finger

[0040] 35 first clamping arm driving member 36 second clamping arm driving member ​​

[0041] 37 first clamping arm seat 38 second clamping arm seat

[0042] 39 fixed seat 310 sliding seat DETAILED DESCRIPTION

[0043] The specific embodiments of the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the embodiments of the present application, and are not intended to limit the embodiments of the present application.

[0044] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0045] In the embodiments of the present application, the orientation words such as "upper", "lower", "top", "bottom" used without the opposite description are generally used for the direction shown in the drawings or the position relationship description words of the components in the vertical, perpendicular or gravity direction.

[0046] The present application will be described in detail below with reference to the accompanying drawings and in combination with exemplary embodiments.

[0047] The present application provides a rod packing method, the rod packing method comprising:

[0048] A clamping jaw assembly 3 for packing is provided, the clamping jaw assembly 3 comprises a first clamping finger 33 and a second clamping finger 34 arranged in a width direction, the first clamping finger 33 is movable along the length direction of the clamping jaw assembly 3 to switch between a clamping position and a avoiding position, in the clamping position, the first clamping finger 33 is arranged opposite to the second clamping finger 34, in the avoiding position, the first clamping finger 33 is staggered with the second clamping finger 34, the second clamping finger 34 is movable along the width direction of the clamping jaw assembly 3;

[0049] The clamping jaw assembly 3 is moved to a rod grabbing position, so that the first clamping finger 33 and the second clamping finger 34 clamp and grab the rod to be packed;

[0050] The clamping jaw assembly 3 is moved to drive the grabbed rod to be packed to move to a position horizontally and side by side with the packed rod in the storage box, after the first clamping finger 33 moves to the avoiding position, the second clamping finger 34 pushes the rod to be packed to the position side by side and abutting with the packed rod.

[0051] In the embodiment, the first clamping finger 33 and the second clamping finger 34 of the clamping jaw assembly 3 are used to clamp and grab the bar to be boxed, the clamped and grabbed bar to be boxed is moved to a position horizontally and side by side with the boxed bar in the storage box, then the first clamping finger 33 is moved to the avoiding position, and the second clamping finger 34 is used to push the bar to be boxed to abut against the boxed bar, so that the bar can be more compactly boxed in the storage box. The bar boxing method can realize compact arrangement of the bar in the storage box, effectively reduce the working strength of the bar boxing, improve the boxing efficiency, and automatically grab and arrange the bar without manual operation, thereby meeting the automatic boxing demand.

[0052] In an embodiment, before the step of moving the clamping jaw assembly 3 to the bar grabbing position and clamping and grabbing the bar to be boxed by the first clamping finger 33 and the second clamping finger 34, the method further comprises:

[0053] The first clamping finger 33 is moved to the clamping position, and the second clamping finger 34 is moved to the limit position away from the first clamping finger 33 along the width direction of the clamping jaw assembly 3, and the first clamping finger 33 and the second clamping finger 34 are moved towards or away from each other to adjust the initial distance between the first clamping finger 33 and the second clamping finger 34 according to the diameter of the bar to be boxed.

[0054] It can be understood that, before the clamping jaw assembly 3 grabs the bar to be boxed, the initial distance between the first clamping finger 33 and the second clamping finger 34 is adjusted, so that the initial distance between the first clamping finger 33 and the second clamping finger 34 cannot be too small to normally grab the bar to be boxed, and the reliability of grabbing the bar to be boxed is effectively improved.

[0055] Specifically, the first clamping finger 33 and the second clamping finger 34 can be moved towards or away from each other by a distance adjusting mechanism arranged on the clamping jaw assembly 3 to adjust the initial distance between the first clamping finger 33 and the second clamping finger 34. For details, refer to subsequent embodiments.

[0056] In an embodiment, the step of moving the clamping jaw assembly 3 to the bar grabbing position and clamping and grabbing the bar to be boxed by the first clamping finger 33 and the second clamping finger 34 comprises:

[0057] In the bar grabbing position, the first clamping finger 33 and the second clamping finger 34 are respectively located on two sides of the bar to be boxed, the clamping jaw assembly 3 is moved to the bar grabbing position, the first clamping finger 33 abuts against one side of the bar to be boxed, and then the second clamping finger 34 is moved towards the first clamping finger 33 along the width direction of the clamping jaw assembly 3 until the second clamping finger 34 abuts against the other side of the bar to be boxed, so that the first clamping finger 33 and the second clamping finger 34 clamp and grab the bar to be boxed.

[0058] In this way, the first clamping finger 33 and the second clamping finger 34 can efficiently, accurately and stably grab the bar to be boxed.

[0059] In one embodiment, the mobile gripper assembly 3 is used to move the grabbed-to-be-boxed rod member to a position horizontally and side by side with the boxed rod member in the storage box, and the step of moving the grabbed-to-be-boxed rod member to the position horizontally and side by side with the boxed rod member in the storage box by the second gripper finger 34 after the first gripper finger 33 is moved to the avoiding position includes:

[0060] In one embodiment, the mobile gripper assembly 3 is used to move the grabbed-to-be-boxed rod member to a position horizontally and side by side with the boxed rod member in the storage box, and the step of moving the grabbed-to-be-boxed rod member to the position horizontally and side by side with the boxed rod member in the storage box by the second gripper finger 34 after the first gripper finger 33 is moved to the avoiding position includes:

[0061] It can be understood that, after the second gripper finger 34 is moved away from the grabbed-to-be-boxed rod member, the first gripper finger 33 is moved to the avoiding position, which can avoid the situation that the first gripper finger 33 rubs against the grabbed-to-be-boxed rod member when moving, causing the rod member to be worn. In addition, the outer side of the first gripper finger 33 is abutted against the boxed rod member, which can ensure that the second gripper finger 34 can move the grabbed-to-be-boxed rod member to the position horizontally and side by side with the boxed rod member, improving the reliability of the compact boxing.

[0062] The present application also provides a clamp.

[0063] In one embodiment, referring to the accompanying drawings Figure 1 to the accompanying drawings Figure 3 As shown in the accompanying drawings, the clamp includes a base 1 and a gripper assembly 3 arranged on the base 1, and the gripper assembly 3 includes:

[0064] The first gripper arm 31 and the second gripper arm 32 are arranged side by side and spaced apart in the width direction of the gripper assembly 3, and the distal ends are respectively provided with the first gripper finger 33 and the second gripper finger 34;

[0065] The first gripper arm driving member 35 is connected with the first gripper arm 31 and is used to drive the first gripper arm 31 to move along the length direction of the gripper assembly 3 to switch between the clamping position and the avoiding position. In the clamping position, the first gripper finger 33 is arranged opposite to the second gripper finger 34 to form a clamping space for clamping the rod member. In the avoiding position, the first gripper finger 33 is staggered with the second gripper finger 34 to avoid the rod member. The second gripper arm driving member 36 is connected with the second gripper arm 32 and is used to drive the second gripper arm 32 to move along the width direction of the gripper assembly 3 to approach or move away from the first gripper arm 31.

[0066] In the clamp of the embodiment, the first clamping finger 33 on the first clamping arm 31 and the second clamping finger 34 on the second clamping arm 32 can be reliably and stably clamped to the grabbed rod member by driving the first clamping arm 31 and the second clamping arm 32 to move respectively by the first clamping arm driving member 35 and the second clamping arm driving member 36. After the grabbed rod member is moved to the storage box, the first clamping arm 31 can be driven to the avoiding position by the first clamping arm driving member 35, at this time, the first clamping finger 33 and the second clamping finger 34 are staggered to avoid the rod member, and then the second clamping arm 32 can be driven to move by the second clamping arm driving member 36, so that the rod member can be pushed to abut against the rod members already stored in the storage box in parallel, and thus the rod member can be more compactly stored in the storage box. The clamp of the application can realize compact storage of the rod member in the storage box, effectively reduce the work intensity of the rod member storage, improve the efficiency of the storage, and does not need manual rod member grabbing, which is beneficial to meet the automation demand of the storage.

[0067] In actual application, the clamp can be applied to grabbing of large bolts. The base 1 can be provided with a flange connecting portion 2 for connecting with the mechanical arm of a robot, and the clamp can be flange-connected with the mechanical arm of the robot through the flange connecting portion 2, so that the clamp can be driven to move by the mechanical arm, and after the clamp grabs the large bolt, the large bolt can be moved and stored in the storage box.

[0068] In one embodiment, referring to the accompanying drawings, Figure 1 to the accompanying drawings, Figure 3 As shown in the drawings, the clamping jaw assembly 3 further comprises a first clamping arm seat 37 and a second clamping arm seat 38 which are arranged in the width direction, the first clamping arm 31 is slidably mounted on the first clamping arm seat 37 in the length direction of the clamping jaw assembly 3, and the second clamping arm 32 is slidably mounted on the second clamping arm seat 38 in the width direction of the clamping jaw assembly 3.

[0069] Specifically, a first sliding rail extending in the length direction of the clamping jaw assembly 3 can be arranged on the first clamping arm seat 37, and a first sliding block is arranged on the first clamping arm 31 and slidably matched with the first sliding rail, so as to achieve the first clamping arm 31 slidably mounted on the first clamping arm seat 37 in the length direction of the clamping jaw assembly 3. Similarly, a second sliding rail extending in the width direction of the clamping jaw assembly 3 can be arranged on the second clamping arm seat 38, and a second sliding block is arranged on the second clamping arm 32 and slidably matched with the second sliding rail, so as to achieve the second clamping arm 32 slidably mounted on the second clamping arm seat 38 in the width direction of the clamping jaw assembly 3.

[0070] In one embodiment, referring to the accompanying drawings, Figure 1 to the accompanying drawings, Figure 3As shown, the first clamping arm driving member 35 and the second clamping arm driving member 36 are both telescopic driving members, the first clamping arm driving member 35 is arranged on the first clamping arm base 37 and the telescopic end is connected with the first clamping arm 31, the telescopic action of the first clamping arm driving member 35 can drive the first clamping arm 31 to slide along the length direction of the clamping jaw assembly 3, the second clamping arm driving member 36 is arranged on the second clamping arm base 38 and the telescopic end is connected with the second clamping arm 32, the telescopic action of the second clamping arm driving member 36 can drive the second clamping arm 32 to slide along the width direction of the clamping jaw assembly 3.

[0071] Specifically, the first clamping arm driving member 35 and the second clamping arm driving member 36 can be air cylinders, electric cylinders or other telescopic driving members. The body of the first clamping arm driving member 35 is fixedly installed on the first clamping arm base 37, and the piston rod is arranged along the length direction of the clamping jaw assembly 3 and is hinged to the front end of the first clamping arm 31. The body of the second clamping arm driving member 36 is fixedly installed on the second clamping arm base 38, and the piston rod is arranged along the width direction of the clamping jaw assembly 3 and is hinged to the front end of the second clamping arm 32.

[0072] Of course, in other embodiments, the first clamping arm driving member 35 and the second clamping arm driving member 36 can also be servo motors or other power elements, and are respectively drivingly connected with the first clamping arm 31 and the second clamping arm 32 through a screw transmission mechanism or other transmission mechanism.

[0073] In an embodiment, the spacing between the first clamping arm base 37 and the second clamping arm base 38 is adjustable. In this way, the spacing between the first clamping arm 31 and the second clamping arm 32 is adjustable, and further the spacing between the first clamping finger 33 and the second clamping finger 34 when they are oppositely arranged is adjustable. In this way, the clamp can be suitable for gripping more different diameter specifications of rod members.

[0074] In an embodiment, referring to the accompanying drawings Figure 1 to the accompanying drawings Figure 3 As shown, the clamping jaw assembly 3 further includes a fixed base 39 fixedly connected to the base 1 and a sliding base 310 slidably connected to the fixed base 39 or the base 1 along the width direction, the first clamping arm base 37 is installed on the sliding base 310, and the second clamping arm base 38 is installed on the fixed base 39; the clamp further includes a spacing adjustment mechanism arranged on the base 1, the spacing adjustment mechanism is drivingly connected with the sliding base 310 and is used to drive the sliding base 310 to slide.

[0075] As can be understood, by driving the sliding base 310 to slide through the spacing adjustment mechanism, the first clamping arm base 37 installed on the sliding base 310 can be driven to move relative to the second clamping arm base 38 along the width direction of the clamping jaw assembly 3, and in this way, the spacing between the first clamping arm base 37 and the second clamping arm base 38 can be adjusted.

[0076] In an embodiment, referring to the accompanying drawings Figure 1 to the accompanying drawings Figure 3As shown, the sliding seat 310 is provided with a rack 4 arranged along the width direction of the jaw assembly 3, the spacing adjustment mechanism comprises a driven gear 5, a driving gear 6 and a rotary driving member 7, the driven gear 5 is rotatably installed on the base 1 and engaged with the rack 4, the driving gear 6 is rotatably installed on the base 1 and engaged with the driven gear 5, the rotary driving member 7 is installed on the base 1 and connected with the driving gear 6, and the rotary driving member 7 is used to drive the driving gear 6 to rotate.

[0077] Understandably, the driving gear 6 is driven to rotate by the rotary driving member 7, which can drive the driven gear 5 to rotate, and the driven gear 5 rotating can drive the rack 4 to move along the width direction of the jaw assembly 3, thereby driving the sliding seat 310 to move along the width direction of the jaw assembly 3 relative to the fixed seat 39, and achieving the spacing adjustment between the first clamping arm seat 37 and the second clamping arm seat 38.

[0078] Of course, in other embodiments, the spacing adjustment mechanism can comprise a telescopic driving member such as a pneumatic cylinder or an electric cylinder, which is in transmission connection with the sliding seat 310, and drives the sliding seat 310 to move along the width direction of the jaw assembly 3 relative to the fixed seat 39 through the telescopic action.

[0079] In an embodiment, the rotary driving member 7 is a servo motor. In this way, the accurate adjustment of the spacing between the first clamping arm seat 37 and the second clamping arm seat 38 can be achieved, thereby achieving the accurate adjustment of the relative spacing between the first clamping finger 33 and the second clamping finger 34.

[0080] Specifically, in the embodiment, the spacing adjustment mechanism can further comprise a speed reducer, and the rotary driving member 7 is connected with the driving gear 6 through the speed reducer.

[0081] In an embodiment, referring to the accompanying drawings Figure 1 to the accompanying drawings Figure 3 As shown, the first clamping finger 33 is a flat finger, and the second clamping finger 34 is a V-shaped clamping finger. In this way, the first clamping finger 33 and the second clamping finger 34 can adopt a three-point positioning mode to position and stably clamp the rod member, thereby effectively improving the stability of the first clamping finger 33 and the second clamping finger 34 clamping the rod member and improving the reliability of the clamp clamping the rod member.

[0082] In an embodiment, referring to the accompanying drawings Figure 1 to the accompanying drawings Figure 3 As shown, the clamp comprises a plurality of jaw assemblies 3, the plurality of jaw assemblies 3 are spaced apart along the circumferential direction of the base 1, and the length directions thereof are respectively arranged along the radial direction of the base 1. In this way, the clamp can simultaneously clamp a plurality of rod members, thereby further improving the efficiency of the rod member boxing.

[0083] It can be understood that the plurality of jaw assemblies 3 are respectively arranged along the radial direction of the base 1, so that the plurality of jaw assemblies 3 can avoid interfering with each other when grabbing the rod.

[0084] In the embodiment, the spacing adjustment mechanism can be arranged in transmission connection with the sliding seats 310 of the plurality of jaw assemblies 3. Specifically, the spacing adjustment mechanism includes a plurality of driven gears 5, a driving gear 6, and a rotating driving member 7. The plurality of driven gears 5 are respectively and correspondingly engaged with the racks 4 of the plurality of jaw assemblies 3. The driving gear 6 is engaged with the plurality of driven gears 5. The rotating driving member 7 is connected with the driving gear 6. Thus, when the rotating driving member 7 drives the driving gear 6 to rotate, the plurality of driven gears 5 are driven to rotate synchronously, so as to synchronously adjust the spacing between the first clamping arm seat 37 and the second clamping arm seat 38 of the plurality of jaw assemblies 3.

[0085] In an embodiment, the clamp can be applied to a boxing robot. The clamp is connected with a mechanical arm of the boxing robot through the flange connection part 2. The clamp can be driven by the mechanical arm to move in multiple directions, flexibly grab and transfer the rod, so as to realize the full automation of the rod boxing.

[0086] Next, taking large bolt boxing as an example, the specific application of the rod boxing method is described in combination with the above structure of the clamp.

[0087] The first clamping arm 31 is driven to the clamping position by the first clamping arm driving member 35. The second clamping arm 32 is driven to move to the limit position away from the first clamping arm 31 by the second clamping arm driving member 36. The initial spacing between the first clamping finger 33 and the second clamping finger 34 is adjusted by the spacing adjustment mechanism, so that the initial spacing between the first clamping finger 33 and the second clamping finger 34 is equal to the sum of the bolt straight rod diameter, the reserved spacing (generally 3 mm), and the stroke of the second clamping arm driving member 36. Then, the clamp is moved to the bolt grabbing position by the mechanical arm. In the bolt grabbing position, the first clamping finger 33 and the second clamping finger 34 are respectively located on both sides of the bolt to be boxed, and the first clamping finger 33 abuts against one side of the bolt. Finally, the second clamping arm 32 is driven to move by the second clamping arm driving member 36, so that the second clamping finger 34 abuts against the other side of the bolt. Thus, the bolt to be boxed is clamped and grabbed by the first clamping finger 33 and the second clamping finger 34.

[0088] In addition, for the clamp with a plurality of jaw assemblies 3, the above bolt grabbing steps can be repeated multiple times, so that the plurality of jaw assemblies 3 respectively clamp and grab one bolt to be boxed in turn.

[0089] The bolt packing step: the gripper is moved by the mechanical arm to drive the grabbed bolt to be packed to a position horizontally and side by side with the packed bolt in the storage box, at this time, the outer side of the first clamping finger 33 is attached to the packed bolt, then the second clamping arm driving part 36 drives the second clamping arm 32 to move away from the first clamping arm 31 to release the clamping of the bolt to be packed, then the first clamping arm driving part 35 drives the first clamping arm 31 to the avoiding position, finally, the second clamping arm driving part 36 drives the second clamping arm 32 to move towards the first clamping arm 31 to make the second clamping finger 34 push the bolt to be packed to the position of being attached side by side with the packed bolt, so that the bolt to be packed is compactly and side by side with the packed bolt on one side, and the packing is completed.

[0090] In addition, for the gripper with multiple clamping jaw assemblies 3, the above-mentioned bolt packing step can be repeated multiple times, so that the multiple clamping jaw assemblies 3 respectively clamp the grabbed bolts to be packed to be compactly and side by side in the storage box.

[0091] The above describes the optional embodiments of the embodiments of the application in detail in combination with the drawings, but the embodiments of the application are not limited to the specific details in the above-described embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the application within the technical concept of the embodiments of the application, and these simple modifications all belong to the protection scope of the embodiments of the application.

[0092] In addition, it should be noted that the various specific technical features described in the above-described specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the embodiments of the application will not be described again for various possible combination manners.

[0093] In addition, various different embodiments of the embodiments of the application can also be combined in any manner, as long as it does not deviate from the idea of the embodiments of the application, and it should be considered as the disclosed content of the embodiments of the application.

Claims

1. A method of boxing a rod member, characterized by, The rod packing method comprises: Providing a clamping jaw assembly (3) for packing, the clamping jaw assembly (3) comprising a first clamping finger (33) and a second clamping finger (34) arranged in a width direction, the first clamping finger (33) being movable along a length direction of the clamping jaw assembly (3) to switch between a clamping position and an avoiding position, in the clamping position, the first clamping finger (33) is arranged opposite to the second clamping finger (34), in the avoiding position, the first clamping finger (33) is staggered with the second clamping finger (34), the second clamping finger (34) being movable along a width direction of the clamping jaw assembly (3); Moving the clamping jaw assembly (3) to a rod grabbing position, so that the first clamping finger (33) and the second clamping finger (34) clamp and grab the rod to be packed; Moving the clamping jaw assembly (3) to drive the grabbed rod to be packed to a position horizontally and side by side with the packed rod in the storage box, after the first clamping finger (33) moves to the avoiding position, the second clamping finger (34) pushes the rod to be packed to a position abutting the packed rod side by side.

2. The rod boxing method of claim 1, wherein, The step of moving the clamping jaw assembly (3) to a rod grabbing position, so that the first clamping finger (33) and the second clamping finger (34) clamp and grab the rod to be packed, further comprises: Moving the first clamping finger (33) to the clamping position, at the same time, moving the second clamping finger (34) to an extreme position away from the first clamping finger (33) along the width direction of the clamping jaw assembly (3), according to the diameter of the rod to be packed, the first clamping finger (33) and the second clamping finger (34) are moved towards or away from each other to adjust the initial distance between the first clamping finger (33) and the second clamping finger (34).

3. The rod boxing method of claim 1, wherein, The step of moving the clamping jaw assembly (3) to a rod grabbing position, so that the first clamping finger (33) and the second clamping finger (34) clamp and grab the rod to be packed, comprises: In the rod grabbing position, the first clamping finger (33) and the second clamping finger (34) are respectively located on both sides of the rod to be packed, moving the clamping jaw assembly (3) to the rod grabbing position, so that the first clamping finger (33) abuts one side of the rod to be packed, then moving the second clamping finger (34) towards the first clamping finger (33) along the width direction of the clamping jaw assembly (3) until the second clamping finger (34) abuts the other side of the rod to be packed, at this time, the first clamping finger (33) and the second clamping finger (34) clamp and grab the rod to be packed.

4. The rod boxing method of claim 1, wherein, Moving the clamping jaw assembly (3) to drive the grabbed rod to be packed to a position horizontally and side by side with the packed rod in the storage box, after the first clamping finger (33) moves to the avoiding position, the second clamping finger (34) pushes the rod to be packed to a position abutting the packed rod side by side. The gripped-to-be-boxed rod member is moved to a position horizontally and side by side with the boxed rod member in the storage box, and the outer side of the first clamping finger (33) is abutted against the boxed rod member, then the second clamping finger (34) is moved away from the first clamping finger (33) along the width direction of the clamping jaw assembly (3) to be separated from the gripped-to-be-boxed rod member, then the first clamping finger (33) is moved to the avoiding position, and the gripped-to-be-boxed rod member is pushed to the position abutting against the boxed rod member by the second clamping finger (34).

5. A clamp characterized in that, The clamp comprises a base (1) and a clamping jaw assembly (3) arranged on the base (1), and the clamping jaw assembly (3) comprises: a first clamping arm (31) and a second clamping arm (32), the first clamping arm (31) and the second clamping arm (32) are arranged side by side and spaced apart in the width direction of the clamping jaw assembly (3), and the distal ends are respectively provided with a first clamping finger (33) and a second clamping finger (34); a first clamping arm driving member (35) and a second clamping arm driving member (36), the first clamping arm driving member (35) is connected with the first clamping arm (31) and is used for driving the first clamping arm (31) to move along the length direction of the clamping jaw assembly (3) to switch between a clamping position and an avoiding position, at the clamping position, the first clamping finger (33) and the second clamping finger (34) are arranged opposite to each other to form a clamping space for clamping the rod member, at the avoiding position, the first clamping finger (33) and the second clamping finger (34) are staggered to avoid the rod member, the second clamping arm driving member (36) is connected with the second clamping arm (32) and is used for driving the second clamping arm (32) to move along the width direction of the clamping jaw assembly (3) to be close to or away from the first clamping arm (31); wherein, the clamping jaw assembly (3) further comprises a first clamping arm seat (37) and a second clamping arm seat (38) arranged spaced apart in the width direction, the first clamping arm (31) is slidably mounted on the first clamping arm seat (37) along the length direction of the clamping jaw assembly (3), the second clamping arm (32) is slidably mounted on the second clamping arm seat (38) along the width direction of the clamping jaw assembly (3), the first clamping arm driving member (35) and the second clamping arm driving member (36) are both telescopic driving members, and the spacing between the first clamping arm seat (37) and the second clamping arm seat (38) is adjustable.

6. The clamp of claim 5, wherein The first clamping arm driving member (35) is arranged on the first clamping arm seat (37) and the telescopic end is connected with the first clamping arm (31), the telescopic action of the first clamping arm driving member (35) can drive the first clamping arm (31) to slide along the length direction of the clamping jaw assembly (3), and the second clamping arm driving member (36) is arranged on the second clamping arm seat (38) and the telescopic end is connected with the second clamping arm (32), the telescopic action of the second clamping arm driving member (36) can drive the second clamping arm (32) to slide along the width direction of the clamping jaw assembly (3).

7. The clamp of claim 6, wherein The clamping jaw assembly (3) further comprises a fixed seat (39) fixedly connected to the base (1) and a sliding seat (310) slidably connected to the fixed seat (39) or the base (1) in the width direction, the first clamping arm seat (37) is mounted on the sliding seat (310), and the second clamping arm seat (38) is mounted on the fixed seat (39); The clamping device further comprises a spacing adjustment mechanism arranged on the base (1), the spacing adjustment mechanism is in transmission connection with the sliding seat (310), and is used for driving the sliding seat (310) to slide.

8. The clamp of claim 7, wherein The sliding seat (310) is provided with a rack (4) arranged in the width direction of the clamping jaw assembly (3), and the spacing adjustment mechanism comprises: A driven gear (5) is rotatably mounted on the base (1) and is in meshing connection with the rack (4); A driving gear (6) is rotatably mounted on the base (1) and is in meshing connection with the driven gear (5); A rotary driving member (7) is mounted on the base (1) and is connected with the driving gear (6), and the rotary driving member (7) is used for driving the driving gear (6) to rotate.

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