Clamping jaw capable of adjusting clamping distance

Abstract

The invention provides a clamping jaw with an adjustable clamping distance, and relates to the field of clamping jaws. The clamping jaw capable of adjusting the clamping distance comprises a balance beam, a connecting frame is connected to the upper portion of the balance beam in a sliding and clamping mode, the top end of the connecting frame is connected with an existing carrying mechanism, two servo clamping jaws are connected into the balance beam in a sliding mode, and a distance sensor is arranged between the connecting frame and the balance beam. And a power mechanism for independently driving the servo clamping jaw to move is fixedly mounted in the balance beam. According to the clamping jaw capable of adjusting the clamping distance, the servo clamping jaw is moved from the center to the two sides, the position of the lifting lug is detected, after the servo clamping jaw and the lifting lug are fixed, the connecting frame and the balance beam are separated, the balance beam is driven to move through the power mechanism, and the balance beam moves to the state that the distances between the two ends are the same; and then the connecting frame and the balance beam are fixed, so that the stability of the hoisting process can be ensured.

Description

Technical Field

[0001] The invention relates to the field of clamping jaws, in particular to a clamping jaw with adjustable clamping distance. Background Art

[0002] With the development of science and technology, the functions of robots are becoming more and more perfect and diversified. Robots are gradually being put into industrial production. Through flexible grippers, they replace manual handling of objects, greatly improving safety and production efficiency. The objects to be handled are designed with symmetrical lifting ears at the beginning, and the grippers can clamp the objects by clamping the lifting ears.

[0003] The existing patent (CN116494215B) discloses a double-claw industrial robot with adjustable spacing, including a base, a mechanical arm, a mounting plate, a rotating shaft, a slide rail, a slider, and an electric clamp, etc. The top of the base is connected to the mechanical arm, the front end of the mechanical arm is connected to the mounting plate, and the middle of the front side of the mounting plate is rotatably connected to two rotating shafts, which are arranged opposite to each other on the left and right. The rotating shafts are connected to the slide rails, and the front side of the slide rails are slidably provided with sliders, and the front side of the sliders are rotatably connected to the electric clamps. The electric clamps of the present invention can clamp objects, and the mechanical arm can drive the electric clamps to move;

[0004] When the technical solution is used to carry items, the telescopic rod of the second electric push rod can drive the electric clamp to rotate, adjust the angle of the electric clamp, and clamp items with inclined edges, so that it can be suitable for items of different shapes. The double clamps in the technical solution are set up to clamp the objects at different positions. Since the objects are placed randomly, the two clamped objects and the clamps are not necessarily located on the same axis of symmetry. That is to say, after the two clamps clamp the objects, the two clamps are at different distances from the center of the device, which is prone to tilting during the transportation process. Therefore, the device needs to constantly adjust its position to ensure that the clamped object and the lifting device are located on the same axis of symmetry, which is relatively time-consuming. Therefore, a clamp that can adjust the clamping spacing to keep the device balanced is needed. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a clamping jaw with adjustable clamping distance, which solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a clamping jaw with adjustable clamping distance, including a balance beam, a connecting frame is slidably connected above the balance beam, the top of the connecting frame is connected to the existing conveying mechanism, two servo clamping jaws are slidably connected inside the balance beam, a distance sensor is arranged between the connecting frame and the balance beam, and a power mechanism for independently driving the servo clamping jaws to move is fixedly installed inside the balance beam.

[0007] Preferably, the power mechanism comprises a telescopic sleeve, a free end of the telescopic sleeve is fixedly connected to the servo clamp, and a fixed end of the telescopic sleeve is fixedly connected to the balance beam.

[0008] Preferably, the power mechanism includes a servo motor, which is fixedly mounted on both sides of the balance beam, and a lead shaft is fixedly mounted on the output end of the servo motor, the lead shaft is transmission-connected to the servo clamp, and the lead shaft is rotationally connected to the balance beam.

[0009] Preferably, a mounting block is fixedly mounted in the middle of the balance beam.

[0010] Preferably, the servo clamp includes a shell and a clamping part, a connecting block is fixedly installed on the top of the shell, limiting protrusions are arranged on both sides of the connecting block, a sliding groove adapted to the limiting protrusion is arranged in the middle of the balance beam, and the power mechanism is connected to the connecting block.

[0011] Preferably, the clamping part includes a fixed clamping part and a bending clamping part, the bending clamping part is located on the side where the two servo clamps are away from each other, the bending clamping part includes a connecting end, and a rotating end elastically rotatably connected below the connecting end, a torsion spring is arranged between the rotating end and the connecting end, a telescopic rod is embedded inside the bottom end of the connecting end, a plug hole for plugging with the telescopic rod is arranged above the rotating end, and rotation sensors are arranged at the connecting end and the rotating end.

[0012] Preferably, a friction guide rail is fixedly installed above the balance beam, a friction groove is opened in the middle of the friction guide rail, a friction disc is slidably connected inside the friction groove, an extrusion mechanism for driving the friction disc to approach the friction groove is provided inside the friction groove, the friction disc is slidably connected to the extrusion mechanism, a connecting part is fixedly installed in the middle of the extrusion mechanism, the connecting part extends to the outside of the friction groove and is fixedly connected to the connecting frame.

[0013] Preferably, the extrusion mechanism is an electromagnetic plate, a magnetic sheet is inlaid on the non-friction surface of the friction plate, and the friction plate and the electromagnetic plate are fixedly connected by a sliding sleeve.

[0014] Preferably, the extrusion mechanism is a hydraulic telescopic rod, which is fixedly mounted on both sides of the connecting part, and the friction disc is fixedly mounted on the free end of the hydraulic telescopic rod. The top and bottom ends of the friction disc are rollingly connected with balls, and the balls and the friction disc are clamped inside the friction groove.

[0015] Preferably, the clamping process of the clamping jaws is:

[0016] SA. The two servo grippers shrink and move closer to each other under the action of the power mechanism;

[0017] SB. The handling mechanism drives the balance beam to move between the two lifting ears;

[0018] SC. The clamping part of the servo gripper is adjusted to the maximum gripping range;

[0019] SD. The power mechanism drives the servo gripper to move alone until each rotating end rotates and resets, and then moves again to half of the maximum gripping range of the servo gripper;

[0020] SE. The servo gripper works to clamp the lifting lug, the squeezing mechanism contracts, the balance beam position is adjusted to the same distance on both sides, and the squeezing mechanism extends.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The clamping jaws with adjustable clamping spacing, the balance beam moves to above the object to be hoisted and ensures that the two servo clamps are close to each other, the power mechanism works to move the servo clamps outward until the two servo clamps are in contact with the lifting ears of the workpiece, and the pressure sensor that can be set at the servo clamps works to complete the positioning. At this time, the transport mechanism drives the balance beam to move back and forth, so that the servo clamps and the lifting ears are not in the same vertical plane. The power mechanism moves the servo clamps outward by half of the opening and closing range and the sum of the thickness of the clamping part, so that the servo clamps and the lifting ears are located on the same center line, the transport mechanism drives the balance beam to reset, and the servo clamps work and are fixed to the lifting ears. At this time, the extrusion mechanism contracts, which can separate the connecting frame from the balance beam. Under the action of the power mechanism, the detection value of the distance sensor remains the same on both sides, so that the connection between the balance beam and the hoisted object can be achieved relatively quickly and the movement process can be kept stable.

[0023] 2. The clamping jaws with adjustable clamping spacing have a clamping part including a fixed clamping part and a bending clamping part, the bending clamping part is located on the side where the two servo clamps are away from each other, the bending clamping part includes a connecting end, and a rotating end elastically rotatably connected below the connecting end, a torsion spring is arranged between the rotating end and the connecting end, a telescopic rod is embedded inside the bottom end of the connecting end, a plug hole for plugging with the telescopic rod is arranged above the rotating end, and rotation sensors are arranged at the connecting end and the rotating end. Through such an arrangement, the position of the lifting ear can be determined by active touch.

[0024] 3. The clamping jaws with adjustable clamping spacing have an extrusion mechanism of a hydraulic telescopic rod, which is fixedly mounted on both sides of the connecting portion, and a friction disc is fixedly mounted on the free end of the hydraulic telescopic rod. The top and bottom ends of the friction disc are rollingly connected with balls, and the balls and the friction disc are clamped in the friction groove. Hydraulic control is adopted, which can provide a large friction force to maintain the connection between the balance beam and the connecting frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the servo clamp of the present invention;

[0027] Figure 3 It is a schematic diagram of the bending clamping portion of the present invention;

[0028] Figure 4 This is a schematic diagram of the lead shaft connection of the present invention;

[0029] Figure 5 This is a schematic diagram of the connection of the telescopic sleeve of the present invention;

[0030] Figure 6 It is a connection schematic diagram of the transport mechanism of the present invention;

[0031] Figure 7 This is a schematic diagram of the connection of the electromagnetic plate of the present invention;

[0032] Figure 8 It is a schematic diagram of the connection of the hydraulic telescopic rod of the present invention.

[0033] In the figure: 1. balance beam; 2. connecting frame; 3. handling mechanism; 4. servo clamp; 5. power mechanism; 6. friction disk; 7. extrusion mechanism; 8. distance sensor; 501. telescopic sleeve; 502. servo motor; 503. lead shaft; 504. mounting block; 401. housing; 402. clamping part; 403. connecting block; 404. limiting protrusion; 405. slide groove; 406. fixed clamping part; 407. bending clamping part; 408. connecting end; 409. rotating end; 410. torsion spring; 411. telescopic rod; 412. plug-in hole; 413. rotation sensor; 101. friction guide rail; 102. friction groove; 701. electromagnetic plate; 702. sliding sleeve; 703. connecting part; 704. hydraulic telescopic rod; 705. ball bearing. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0036] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0038] like Figure 1-8 As shown, a clamping jaw with adjustable clamping distance includes a balance beam 1, a connecting frame 2 is slidably connected above the balance beam 1, the top of the connecting frame 2 is connected to an existing transport mechanism 3, two servo clamping jaws 4 are slidably connected inside the balance beam 1, a distance sensor 8 is provided between the connecting frame 2 and the balance beam 1, and a power mechanism 5 is fixedly installed inside the balance beam 1 for independently driving the servo clamping jaws 4 to move.

[0039] The power mechanism 5 includes a telescopic sleeve 501 , a free end of the telescopic sleeve 501 is fixedly connected to the servo clamp 4 , a fixed end of the telescopic sleeve 501 is fixedly connected to the balance beam 1 , and the fixed ends of the telescopic sleeve 501 are fixedly installed on both sides of the inside of the balance beam 1 .

[0040] The power mechanism 5 includes a servo motor 502, which is fixedly installed on both sides of the balance beam 1. A lead shaft 503 is fixedly installed at the output end of the servo motor 502. The lead shaft 503 is transmission-connected to the servo clamp 4, and the lead shaft 503 is rotationally connected to the balance beam 1. Through such an arrangement, the servo clamp 4 can be driven to move independently.

[0041] A mounting block 504 is fixedly installed in the middle of the balance beam 1. When the power mechanism 5 adopts the lead shaft 503, the lead shaft 503 is rotatably connected to the mounting block 504 to support the lead shaft 503. When the power mechanism 5 adopts the telescopic sleeve 501, the fixed end of the telescopic sleeve 501 can be installed on the outside of the mounting block 504, thereby ensuring that the two servo clamps 4 will not collide.

[0042] The servo clamp 4 includes a shell 401 and a clamping portion 402. A connecting block 403 is fixedly installed above the shell 401. Limiting protrusions 404 are arranged on both sides of the connecting block 403. A sliding groove 405 adapted to the limiting protrusion 404 is arranged in the middle of the balance beam 1. The power mechanism 5 is connected to the connecting block 403. Such an arrangement can facilitate the connection between the servo clamp 4 and the existing power mechanism 5.

[0043] The balance beam 1 moves to above the object to be hoisted and ensures that the two servo clamps 4 are close to each other. The power mechanism 5 works to move the servo clamps 4 outward until the two servo clamps 4 are in contact with the lifting ears of the workpiece. The pressure sensor that can be set at the servo clamps 4 works to complete the positioning. At this time, the conveying mechanism 3 drives the balance beam 1 to move forward and backward, so that the servo clamps 4 and the lifting ears are not in the same vertical plane. The power mechanism 5 moves the servo clamps 4 outward by half of the opening and closing range and the sum of the thickness of the clamping part 402, so that the servo clamps 4 and the lifting ears are located on the same center line. The conveying mechanism 3 drives the balance beam 1 to reset, and the servo clamps 4 work and are fixed to the lifting ears. At this time, the extrusion mechanism 7 contracts, which can separate the connecting frame 2 from the balance beam 1. Under the action of the power mechanism 5, the detection value of the distance sensor 8 remains the same on both sides.

[0044] The clamping portion 402 includes a fixed clamping portion 406 and a bending clamping portion 407. The bending clamping portion 407 is located on the side where the two servo clamps 4 are away from each other. The bending clamping portion 407 includes a connecting end 408 and a rotating end 409 elastically rotatably connected below the connecting end 408. A torsion spring 410 is arranged between the rotating end 409 and the connecting end 408. A telescopic rod 411 is embedded in the bottom end of the connecting end 408. A plug hole 412 for plugging with the telescopic rod 411 is arranged above the rotating end 409. Rotation sensors 413 are arranged on the connecting end 408 and the rotating end 409. Through such an arrangement, the position of the lifting ear can be determined by active touch.

[0045] A friction guide rail 101 is fixedly installed above the balance beam 1, and a friction groove 102 is opened in the middle of the friction guide rail 101. A friction disc 6 is slidably connected inside the friction groove 102. An extrusion mechanism 7 for driving the friction disc 6 to approach the friction groove 102 is arranged inside the friction groove 102. The friction disc 6 is slidably connected to the extrusion mechanism 7. A connecting portion 703 is fixedly installed in the middle of the extrusion mechanism 7. The connecting portion 703 extends to the outside of the friction groove 102 and is fixedly connected to the connecting frame 2. Such an arrangement can be used to fix and separate the balance beam 1 and the connecting frame 2.

[0046] The extrusion mechanism 7 is an electromagnetic plate 701, and a magnetic sheet is embedded on the non-friction surface of the friction disc 6. The friction disc 6 and the electromagnetic plate 701 are fixedly connected by a sliding sleeve 702. The electromagnetic control response data is faster.

[0047] The extrusion mechanism 7 is a hydraulic telescopic rod 704, which is fixedly mounted on both sides of the connecting portion 703. The friction disc 6 is fixedly mounted on the free end of the hydraulic telescopic rod 704. The top and bottom ends of the friction disc 6 are rollingly connected with balls 705. The balls 705 and the friction disc 6 are clamped in the friction groove 102. Hydraulic control is adopted to provide a large friction force to maintain the connection between the balance beam 1 and the connecting frame 2.

[0048] In the case of the bent clamping portion 407, the clamping process of the clamping jaws is:

[0049] SA. The two servo grippers 4 are retracted to be close to each other under the action of the power mechanism 5;

[0050] SB. The transport mechanism 3 drives the balance beam 1 to move between the two lifting ears;

[0051] SC. The clamping portion 402 of the servo clamp 4 is adjusted to the maximum clamping range;

[0052] SD. The power mechanism 5 drives the servo clamp 4 to move alone, until each rotating end 409 rotates and resets, and then moves the servo clamp 4 to half of the maximum gripping range;

[0053] SE. The servo clamp 4 works to clamp the lifting lug, the squeezing mechanism 7 contracts, the position of the balance beam 1 is adjusted to the same distance on both sides, and the squeezing mechanism 7 extends.

[0054] When in use, the balance beam 1 moves to above the object to be hoisted and ensures that the two servo clamps 4 are close to each other. The power mechanism 5 works to move the servo clamps 4 outward until the two servo clamps 4 are in contact with the lifting ears of the workpiece. The pressure sensor that can be set at the servo clamps 4 works to complete the positioning. At this time, the conveying mechanism 3 drives the balance beam 1 to move forward and backward, so that the servo clamps 4 and the lifting ears are not in the same vertical plane. The power mechanism 5 moves the servo clamps 4 outward by half of the opening and closing range and the sum of the thickness of the clamping part 402, so that the servo clamps 4 and the lifting ears are located on the same center line. The conveying mechanism 3 drives the balance beam 1 to reset, and the servo clamps 4 work and are fixed to the lifting ears. At this time, the extrusion mechanism 7 contracts, which can separate the connecting frame 2 from the balance beam 1. Under the action of the power mechanism 5, the detection value of the distance sensor 8 remains the same on both sides.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0056] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A clamping jaw with adjustable clamping distance, comprising a balance beam (1), characterized in that: A connecting frame (2) is slidably connected to the top of the balancing beam (1), the top of the connecting frame (2) is connected to an existing transport mechanism (3), two servo clamps (4) are slidably connected inside the balancing beam (1), a distance sensor (8) is provided between the connecting frame (2) and the balancing beam (1), and a power mechanism (5) for independently driving the servo clamps (4) to move is fixedly installed inside the balancing beam (1).

2. The clamping jaw with adjustable clamping distance according to claim 1, characterized in that: The power mechanism (5) comprises a telescopic sleeve (501), the free end of the telescopic sleeve (501) is fixedly connected to the servo clamp (4), and the fixed end of the telescopic sleeve (501) is fixedly connected to the balance beam (1).

3. The clamping jaw with adjustable clamping distance according to claim 1, characterized in that: The power mechanism (5) comprises a servo motor (502), the servo motor (502) being fixedly mounted on both sides of the balance beam (1), a lead shaft (503) being fixedly mounted on the output end of the servo motor (502), the lead shaft (503) being transmission-connected to the servo clamp (4), and the lead shaft (503) being rotationally connected to the balance beam (1).

4. A clamping jaw with adjustable clamping distance according to claim 2 or 3, characterized in that: A mounting block (504) is fixedly mounted in the middle of the balance beam (1).

5. The clamping jaw with adjustable clamping distance according to claim 4, characterized in that: The servo clamp (4) comprises a housing (401) and a clamping portion (402); a connecting block (403) is fixedly mounted above the housing (401); limiting protrusions (404) are arranged on both sides of the connecting block (403); a sliding groove (405) adapted to the limiting protrusion (404) is arranged in the middle of the balance beam (1); and a power mechanism (5) is connected to the connecting block (403).

6. The clamping jaw with adjustable clamping distance according to claim 5, characterized in that: The clamping portion (402) comprises a fixed clamping portion (406) and a bending clamping portion (407), wherein the bending clamping portion (407) is located on a side of the two servo clamping jaws (4) that are away from each other, and the bending clamping portion (407) comprises a connecting end (408) and a rotating end (409) elastically rotatably connected below the connecting end (408), a torsion spring (410) is arranged between the rotating end (409) and the connecting end (408), a telescopic rod (411) is embedded inside the bottom end of the connecting end (408), a plug hole (412) plugged into the telescopic rod (411) is arranged above the rotating end (409), and a rotation sensor (413) is arranged between the connecting end (408) and the rotating end (409).

7. A clamping jaw with adjustable clamping distance according to claim 1 or 6, characterized in that: A friction guide rail (101) is fixedly installed above the balance beam (1), a friction groove (102) is provided in the middle of the friction guide rail (101), a friction disc (6) is slidably connected inside the friction groove (102), an extrusion mechanism (7) is provided inside the friction groove (102) for driving the friction disc (6) to approach the friction groove (102), the friction disc (6) is slidably connected to the extrusion mechanism (7), a connecting portion (703) is fixedly installed in the middle of the extrusion mechanism (7), the connecting portion (703) extends to the outside of the friction groove (102) and is fixedly connected to the connecting frame (2).

8. The clamping jaw with adjustable clamping distance according to claim 7, characterized in that: The squeezing mechanism (7) is an electromagnetic plate (701), a magnetic sheet is embedded on the non-friction surface of the friction disc (6), and the friction disc (6) and the electromagnetic plate (701) are fixedly connected via a sliding sleeve (702).

9. The clamping jaw with adjustable clamping distance according to claim 7, characterized in that: The squeezing mechanism (7) is a hydraulic telescopic rod (704), which is fixedly mounted on both sides of the connecting portion (703). The friction disc (6) is fixedly mounted on the free end of the hydraulic telescopic rod (704). The top and bottom ends of the friction disc (6) are rollingly connected with balls (705), and the balls (705) and the friction disc (6) are clamped inside the friction groove (102).

10. The clamping jaw with adjustable clamping distance according to claim 9, characterized in that: The clamping process of the clamping jaws is as follows: SA. The two servo clamps (4) are retracted to be close to each other under the action of the power mechanism (5); SB. The transport mechanism (3) drives the balance beam (1) to move between the two lifting ears; SC. The clamping portion (402) of the servo clamp (4) is adjusted to a maximum clamping range; SD. The power mechanism (5) drives the servo clamp (4) to move alone, until each rotating end (409) rotates and resets, and then moves the servo clamp (4) to half of the maximum gripping range; SE. The servo clamp (4) works to clamp the lifting lug, the squeezing mechanism (7) contracts, the position of the balance beam (1) is adjusted to the same distance on both sides, and the squeezing mechanism (7) extends.

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