Hinge type sorting clamp and plate clamping method

Abstract

The invention provides a hinge type sorting clamp and a plate clamping method.The hinge type sorting clamp comprises a clamping device, the clamping device comprises a fixing plate, two oppositely-arranged clamping jaws, a linear driving assembly, a transmission assembly and a limiting assembly, the linear driving assembly, the transmission assembly and the limiting assembly are installed on the fixing plate, and the transmission assembly comprises a driving connecting rod and a transmission part; the limiting assembly is connected with the clamping jaw and used for limiting the clamping jaw to keep parallel relative to the other clamping jaw, and the linear driving assembly is used for driving the transmission part to rotate relative to the fixing plate by driving the connecting rod, so that the transmission part drives the clamping jaw to move in the direction close to or away from the other clamping jaw. After the two clamping jaws are completely closed, the two driving connecting rods move to the same straight line. According to the hinge type sorting clamp, after the two clamping jaws are closed, the clamping force between the two clamping jaws does not need to be kept through power of the linear driving assembly, the self-locking function of the clamping jaws can be achieved, the stability is improved, the self-locking structure is simple and efficient, and the equipment cost is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of plate clamps, and in particular to a hinged sorting clamp and a plate clamping method using the hinged sorting clamp. Background Art

[0002] At present, as a basic material, sheet metal is increasingly used in life and industry. Through different processing techniques, sheet metal can be transformed into a variety of products, such as furniture, building decoration materials, artworks and daily necessities. With the development of the diversity of sheet metal uses, higher requirements are put forward for the efficiency, precision and stability of sheet metal processing and automatic sorting operations. In particular, the sorting fixtures used to clamp sheets need to adapt to different sheets to maintain a constant gripping force to avoid loosening and falling.

[0003] In this regard, Chinese utility model patent CN221912020U provides a self-locking robot clamp, which includes a base, a first shaft with external threads passing through the base, and two grippers with the same structure. The two grippers are symmetrically arranged, and both grippers are connected to the first shaft and the base. The rotation of the first shaft drives the two grippers to open and close, and the clamping force of the two grippers can be controlled by the rotation angle of the first shaft. When the first shaft stops rotating, the two grippers are locked in the current state by locking the external threads, and the gripping force of the grippers can be maintained without external force. However, the self-locking robot clamp needs to be equipped with a servo motor to achieve high-precision rotation control of the first shaft, which is not only costly and insufficient in gripping force, but also the distance between the driving end and the clamping end of the gripper is too long, the rigidity cannot be guaranteed, and the service life is limited. Summary of the invention

[0004] The primary purpose of the present invention is to provide a hinged sorting clamp which has low cost, high structural strength and can realize a self-locking function.

[0005] Another object of the present invention is to provide a plate clamping method using the above-mentioned hinged sorting fixture.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: As a first aspect, the present invention provides a hinged sorting fixture, comprising a base and at least one clamping device provided on the base, wherein the base is used to be connected to a mechanical arm; The clamping device comprises a fixed plate and two clamping jaws arranged opposite to each other, and a linear drive assembly, a transmission assembly and a limit assembly respectively mounted on the fixed plate, the transmission assembly comprises a driving connecting rod connected to the linear drive assembly and a transmission member connected to the clamping jaw, the limit assembly is connected to the clamping jaw and is used to limit the clamping jaw to remain parallel to the other clamping jaw, the linear drive assembly is used to drive the driving connecting rod to move and drive the transmission member to rotate relative to the fixed plate through the driving connecting rod, so as to drive the clamping jaw to move in a direction close to or away from the other clamping jaw through the transmission member; The driving links and the transmission members are provided with two corresponding ones, and the two transmission members are hinged with the two clamping jaws one by one. The angle between the two driving links gradually increases with the closing action of the two clamping jaws, and after the two clamping jaws are completely closed, the two driving links move to a straight line.

[0007] Preferably, the fixed plate is provided with a guide slot along the driving direction of the linear drive assembly, the first end of the driving connecting rod is hinged to the driving end of the linear drive assembly and is slidably arranged in the guide slot, the first end of the transmission member is hinged to the fixed plate, the second end of the transmission member is hinged to the second end of the driving connecting rod, the third end of the transmission member is hinged to the clamping claw, and the linear drive assembly is used to drive the first end of the driving connecting rod to slide along the guide slot, and drive the transmission member to rotate relative to the fixed plate through the second end of the driving connecting rod; The first ends of the two driving connecting rods are hinged relative to the linear driving assembly along the same axis, and the first ends of the two transmission members are hinged relative to the fixing plate along the same axis.

[0008] Preferably, the limiting assembly comprises two limiting connecting rods, the first ends of the two limiting connecting rods are hinged relative to the fixing plate along the same axis, and the second ends of the two limiting connecting rods are connected to the two clamping claws in a one-to-one correspondence; The clamping jaw includes a connecting portion and a clamping portion connected to the connecting portion, the transmission member is hinged to one end of the connecting portion close to the clamping portion, and the limiting connecting rod is hinged to one end of the connecting portion away from the clamping portion, so that the clamping portion can remain parallel to the clamping portion of the other clamping jaw during movement through the cooperation of the limiting connecting rod and the transmission member.

[0009] Preferably, there are two fixed plates, which are arranged on opposite sides of the linear drive assembly, and there are two groups of transmission assemblies, which are connected to the two fixed plates one by one. The two groups of transmission assemblies are arranged at intervals to form an installation space between the two groups of transmission assemblies, and the driving end of the linear drive assembly and the connecting part of the clamp are both arranged in the installation space.

[0010] Preferably, the clamping device also includes a rotating shaft sequentially passed through the two fixed plates, the rotating shaft is arranged at one end of the fixed plate away from the linear drive assembly to strengthen the fixation of the two fixed plates, and the first ends of the transmission members in the two sets of transmission assemblies are hinged relative to the rotating shaft.

[0011] Preferably, the transmission assembly further comprises a sliding block embedded in the guide slot and used for sliding along the guide slot, and the first ends of the two driving connecting rods in the transmission assembly are both hinged to the sliding block.

[0012] Preferably, the driving link includes a first link and a second link that are nested with each other, and a stroke adjustment assembly arranged between the first link and the second link, and the stroke adjustment assembly is used to drive the first link and the second link to move telescopically with each other to adjust the overall length of the driving link, thereby adjusting the moving stroke of the clamp.

[0013] Preferably, the clamping claw comprises a connecting portion and a clamping portion connected to the connecting portion, the transmission member is hinged to the connecting portion, a receiving groove is provided on the connecting portion, a side wall of the receiving groove away from the clamping portion is provided as an inclined surface structure, and the inclined surface structure is provided in an inclined direction away from the clamping portion toward the opening of the receiving groove; The clamping device also includes a cleaning component arranged in the receiving groove, the cleaning component includes a guide column, a nozzle and a return spring, the guide column is arranged on the inner wall of the receiving groove parallel to the inclined surface structure, the nozzle is sleeved on the guide column and is used to slide along the guide column, the end of the nozzle away from the clamping part abuts against the inclined surface structure and is used to slide along the inclined surface structure, and the return spring is arranged between the inner wall of the receiving groove and the nozzle and is used to elastically pull the nozzle into the receiving groove; The nozzle is provided with a nozzle at one end facing the clamping part, and the nozzle is used to spray high-pressure gas to generate reverse thrust and slide the nozzle as a whole along the guide column and the inclined structure out of the receiving groove, so that the clamping part is cleaned by the high-pressure gas sprayed by the nozzle.

[0014] Preferably, an air inlet hole connected to the nozzle and used for supplying air to the nozzle is provided inside the guide column, and the return spring is sleeved on the outer circumference of the guide column.

[0015] Preferably, the clamping devices are provided in plurality, and the plurality of clamping devices are arranged on the base at intervals along a straight line. The clamping devices are also provided with a detection component, and the detection component is used to detect whether the product to be clamped is located at the clamping position of the clamping device.

[0016] As a second aspect, the present invention further provides a plate clamping method, using the above-mentioned hinged sorting fixture, the plate clamping method comprises the following steps: S100: The mechanical arm drives the hinged sorting fixture to move to the position where the plate is to be clamped; S200: The driving connecting rod is driven to move by a linear driving assembly and the transmission member is driven to rotate relative to the fixed plate by the driving connecting rod, so that the clamping jaw is driven to move in a direction close to the other clamping jaw by the transmission member, and the two clamping jaws are brought close to each other to clamp the plate.

[0017] Compared with the prior art, the solution of the present invention has the following advantages: In the hinged sorting clamp provided by the present invention, the clamping device drives the driving connecting rod to move through the linear drive component, which can drive the transmission member to rotate relative to the fixed plate, thereby driving the clamping claws to move through the transmission member to realize the tensioning clamping action. Since the clamping claws are provided with a limit assembly that can limit the two clamping claws to remain parallel during the movement, the two driving connecting rods can be driven to rotate by a linear drive component at the same time to realize the synchronous translational action of the two clamping claws. Compared with the method of driving the clamping claws to rotate and clamp, the contact area of ​​the clamping claws relative to the clamped product is effectively increased, the clamping strength and stability are improved, and the clamped product can always be kept in a centered state, which is convenient for handling and sorting operations. More importantly, after the two jaws are fully closed, the two drive links move to a straight line. At this time, the forces between the two drive links can offset each other, the jaws cannot drive the drive links to rotate in the opposite direction, and there is no need to rely on the power of the linear drive assembly to maintain the clamping force between the two jaws. Even if the linear drive assembly loses power, the clamped product will not loosen and fall, thereby achieving the self-locking effect of the jaws, which can better realize high-speed transfer actions and effectively improve product sorting and caching efficiency. The self-locking structure is simple and efficient. The linear drive assembly can use conventional drive parts such as cylinders and hydraulic cylinders, and does not need to be configured with high-precision servo motors, which effectively reduces equipment costs and is conducive to later repair and maintenance.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description, which will become obvious from the following description, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the structure of a hinged sorting fixture provided in an embodiment of the present invention; Figure 2 for Figure 1 The schematic diagram of the structure of the hinged sorting fixture after removing the protective cover is shown; Figure 3 for Figure 2 A schematic structural diagram of a clamping device in a hinged sorting fixture shown; Figure 4 for Figure 3 A state diagram showing a state where the clamping device is shown with the fixing plate removed; Figure 5 for Figure 3 A partial cross-sectional view of the clamping jaws in the clamping device is shown.

[0020] Legend: 1000. Hinged sorting fixture; 1. Base; 11. Flange; 12. Protective cover; 2. Clamping device; 21. Fixed plate; 211. Guide slide; 22. Clamping claw; 221. Connecting part; 222. Clamping part; 2221. Flexible pad; 223. Receiving groove; 2231. Inclined structure; 23. Linear drive assembly; 24. Transmission assembly; 241. Drive connecting rod; 242. Transmission member; 243. Slider; 25. Limiting assembly; 251. Limiting connecting rod; 26 Rotating shaft; 27. Cleaning assembly; 271. Guide column; 271. Nozzle; 2721. Spray head; 3. Detection assembly; 4. Control box. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0022] It will be understood by those skilled in the art that, unless specifically stated, the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, parts / components and / or assemblies, but does not exclude the presence or addition of one or more other features, integers, steps, operations, parts / components, assemblies and / or their groups. It should be understood that when we say a part / component is "connected" to another part / component, it can be directly connected to the other part / component, or there can be intermediate parts / components. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0023] Figures 1 to 5 The hinged sorting clamp 1000 provided by an embodiment of the present invention is shown together, which is used to be installed on a robotic arm and driven by the robotic arm to move and clamp and sort plates. The overall structure is simple and efficient, the cost is low, and it has a self-locking function, which can effectively prevent the plates from loosening and falling, ensure the gripping strength and stability of the plates, and thus improve the sorting efficiency and accuracy.

[0024] Please combine Figure 1 and Figure 2 The hinged sorting fixture 1000 includes a base 1 and at least one clamping device 2 arranged on the base 1. The base 1 adopts a flat plate structure. One side of the base 1 is provided with a flange 11 for connecting to a robotic arm, and the clamping device 2 is arranged on the other side of the base 1.

[0025] Please combine Figure 3 and Figure 4 The clamping device 2 includes a fixed plate 21 and two relatively arranged clamping jaws 22, as well as a linear drive component 23, a transmission component 24 and a limit component 25 respectively installed on the fixed plate 21. The linear drive component 23 adopts a cylinder or a hydraulic cylinder. The transmission component 24 includes a driving connecting rod 241 and a transmission member 242. The driving connecting rod 241 is connected to the linear drive component 23, and the transmission member 242 is connected to the clamping jaw 22. The limit component 25 is connected to the clamping jaw 22 and is used to limit the clamping jaw 22 to remain parallel to the other clamping jaw 22. The linear drive component 23 is used to drive the driving connecting rod 241 to move and drive the transmission member 242 to rotate relative to the fixed plate 21 through the driving connecting rod 241, so that the clamping jaw 22 is driven by the transmission member 242 to move in a direction close to or away from the other clamping jaw 22, thereby realizing the clamping and tightening action between the two clamping jaws 22.

[0026] Furthermore, the transmission assembly 24 includes two driving links 241 and two transmission members 242 which are arranged in a one-to-one correspondence. The two transmission members 242 are hinged to the two clamping jaws 22 in a one-to-one correspondence. The angle between the two driving links 241 gradually increases with the closing action of the two clamping jaws 22, and after the two clamping jaws 22 are completely closed, the two driving links 241 move to a straight line.

[0027] Specifically, in the hinged sorting clamp 1000, the clamping device 2 drives the driving link 241 to move through the linear drive component 23, which can drive the transmission member 242 to rotate relative to the fixed plate 21, thereby driving the clamping jaws 22 to move through the transmission member 242 to realize the tensioning clamping action. Since the clamping jaws 22 are provided with the limit component 25, which can limit the two clamping jaws 22 to remain parallel during the movement, the two driving links 241 can be driven to rotate by a linear drive component 23 at the same time to realize the synchronous translational action of the two clamping jaws 22. Compared with the method of driving the clamping jaws to rotate and clamp, the contact area of ​​the clamping jaws 22 relative to the clamped product is effectively increased, the clamping strength and stability are improved, and the clamped product can always be kept in a centered state, which is convenient for carrying and sorting operations. More importantly, after the two jaws 22 are completely closed, the two drive links 241 move to a straight line. At this time, the forces between the two drive links 241 can offset each other, and the jaws 22 cannot drive the drive links 241 to rotate in the opposite direction. There is no need to rely on the power of the linear drive assembly 23 to maintain the clamping force between the two jaws 22. Even if the linear drive assembly 23 loses power, the clamped product will not loosen and fall, thereby achieving the self-locking effect of the jaws 22, which can better realize high-speed transfer actions and effectively improve product sorting and caching efficiency. The self-locking structure is simple and efficient. The linear drive assembly 23 can use conventional drive parts such as cylinders and hydraulic cylinders, and does not need to be configured with high-precision servo motors, which effectively reduces equipment costs and is conducive to later repair and maintenance.

[0028] Furthermore, the driving link 241 is set to a straight rod structure, the transmission member 242 is set to a triangular structure so that it has three corner ends, the fixed plate 21 is provided with a guide groove 211 along the driving direction of the linear drive component 23, the first end of the driving link 241 is hinged to the piston rod of the linear drive component 23 and is slidably arranged in the guide groove 211, the first end of the transmission member 242 is hinged to the fixed plate 21, the second end of the transmission member 242 is hinged to the second end of the driving link 241, and the third end of the transmission member 242 is hinged to the clamp 22; and the first ends of the two driving links 241 are hinged relative to the linear drive component 23 along the same axis, and the first ends of the two transmission members 242 are hinged relative to the fixed plate 21 along the same axis.

[0029] The linear drive assembly 23 is used to drive the first end of the driving connecting rod 241 to slide along the guide groove 211 and drive the transmission member 242 to rotate relative to the fixed plate 21, thereby driving the clamping jaw 22 to move in a direction close to or away from the other clamping jaw 22 through the transmission member 242, thereby realizing the clamping and tightening action between the two clamping jaws 22.

[0030] like Figure 4 As shown, when the two clamping jaws 22 are in the maximum closing stroke, the two driving links 241 move to a straight line, and at this time, the connection direction AA of the two driving links 241 is parallel to the clamping direction BB of the clamping jaws 22. Not only can the clamping force between the two clamping jaws 22 be maintained by the mutual abutment and limiting action between the two driving links 241, but the reverse force of the clamping jaws 22 opposite to the clamping direction can also be offset by the two driving links 241, thereby preventing the clamping jaws 22 from loosening by themselves and achieving the self-locking effect of the clamping jaws 22.

[0031] Preferably, the limiting assembly 25 includes two limiting links 251 , the first ends of the two limiting links 251 are hinged relative to the fixing plate 21 along the same axis, and the second ends of the two limiting links 251 are connected to the two clamping claws 22 in a one-to-one correspondence.

[0032] Further, the clamping jaw 22 includes a connecting portion 221 and a clamping portion 222 connected to the connecting portion 221, the transmission member 242 is hinged to one end of the connecting portion 221 close to the clamping portion 222, and the limiting connecting rod 251 is hinged to one end of the connecting portion 221 away from the clamping portion 222, so that the clamping portion 222 can be kept parallel to the clamping portion 222 of another clamping jaw 22 during the movement through the cooperation of the limiting connecting rod 251 and the transmission member 242. The transmission member 242, the limiting connecting rod 251, the clamping jaw 22 and the piston rod of the linear drive assembly 23 are combined to form a parallelogram-shaped four-bar structure, so that the clamping jaw 22 can be kept parallel to the piston rod of the linear drive assembly 23, allowing the clamping jaw 22 to move loosely and tightly while achieving the parallel limiting effect of the clamping jaw 22. The limiting structure is simple, efficient and has strong stability.

[0033] Secondly, by using the transmission component 24 and the limit component 25 to cooperate in transmission, the transmission member 242 can also be arranged at one end of the connecting part 221 close to the clamping part 222, so that the transmission member 242 is closer to the clamping force position on the clamping jaw 22, shortening the torque, effectively improving the load capacity of the clamping jaw 22, and avoiding elastic deformation of the clamping jaw 22.

[0034] It should be understood that in other embodiments, the limiting assembly 25 can also adopt a limiting groove opened on the fixed plate 21, and the limiting groove is arranged along the moving trajectory of the clamping jaw 22. The position on the clamping jaw 22 with a spacing relative to the transmission member 242 is arranged in the limiting groove and is used to guide the sliding along the limiting groove. The limiting effect of the clamping jaw 22 can also be achieved through the limiting groove, so that the clamping jaw 22 remains parallel to the other clamping jaw 22 during the movement.

[0035] Preferably, the fixing plates 21 are provided with two, and the two fixing plates 21 are respectively arranged at opposite sides of the linear drive assembly 23 and fixedly connected to the cylinder body of the linear drive assembly 23. The transmission assembly 24, two groups of transmission assemblies 24 are connected to the two fixing plates 21 in a one-to-one correspondence, and the two groups of transmission assemblies 24 are arranged at intervals to form an installation space between the two groups of transmission assemblies 24, and the driving end of the linear drive assembly 23 and the connecting portion 221 of the clamping jaw 22 are both arranged in the installation space. While the clamping jaw 22 is clamped and fixed by the two groups of transmission assemblies 24, the opposite sides of the clamping jaw 22 are respectively transmitted, which effectively improves the movement stability of the clamping jaw 22 and avoids the displacement and dislocation of the clamping jaw 22.

[0036] Furthermore, the limiting components 25 are also provided with two groups, and the two groups of limiting components 25 are connected to the two fixing plates 21 one by one. The two groups of limiting components 25 are respectively arranged on the opposite sides of the clamping jaw 22 to limit the opposite sides of the clamping jaw 22 respectively, thereby further improving the stability of the clamping jaw 22.

[0037] Preferably, the clamping device 2 further comprises a rotating shaft 26 which is sequentially passed through the two fixed plates 21, and the rotating shaft 26 is arranged at one end of the fixed plate 21 away from the linear drive assembly 23 to strengthen the fixation of the two fixed plates 21, and the first ends of the transmission members 242 in the two sets of transmission assemblies 24 are both hinged relative to the rotating shaft 26. By connecting the end of the fixed plate 21 away from the linear drive assembly 23 through the rotating shaft 26, both opposite ends of the fixed plate 21 can be connected and fixed, thereby ensuring that the two fixed plates 21 remain parallel, and the four transmission members 242 can be hinged at the same time through the rotating shaft 26, so that the rotation axes of the four transmission members 242 are coaxial, further improving the driving accuracy of the clamp 22.

[0038] Preferably, the transmission assembly 24 further includes a slider 243 embedded in the guide slot 211 and used to slide along the guide slot 211, and the first ends of the two driving connecting rods 241 in the transmission assembly 24 are both hinged to the slider 243. The two driving connecting rods 241 are simultaneously mounted through the slider 243, ensuring the synchronization and smoothness of the movement of the two driving connecting rods 241.

[0039] Preferably, the driving link 241 adopts a telescopic structure (not shown). In the present embodiment, the driving link 241 comprises a first link and a second link which are nested with each other, and a stroke adjustment assembly arranged between the first link and the second link. The stroke adjustment assembly is used to drive the first link and the second link to telescopically move with each other to adjust the overall length of the driving link 2412, thereby adjusting the moving stroke of the clamp 22.

[0040] Specifically, when the two driving links 241 move to a straight line, the two clamping jaws 22 are at the maximum closing stroke. At this time, when the length of the driving link 241 is longer, the closing opening of the clamping jaw 22 is smaller; correspondingly, when the length of the driving link 241 is shorter, the closing opening of the clamping jaw 22 is larger. By adjusting the mutual telescopic length of the first link and the second link through the stroke adjustment component, the overall length of the driving link 2412 can be adjusted, thereby adjusting the moving stroke of the clamping jaw 22, so as to adapt to clamping products of different thicknesses, and the applicability is strong.

[0041] like Figure 5 As shown, a receiving groove 223 is provided on the connecting portion 221 of the clamping jaw 22, and a side wall of the receiving groove 223 away from the clamping portion 222 is provided as an inclined surface structure 2231, and the inclined surface structure 2231 is inclinedly arranged in a direction away from the clamping portion 222 toward the opening of the receiving groove 223. The clamping device 2 also includes a cleaning component 27 arranged in the receiving groove 223, and the cleaning component 27 includes a guide column 271, a nozzle 272 and a reset spring (not shown, the same below), the guide column 271 is arranged on the inner wall of the receiving groove 223 in parallel with the inclined surface structure 2231, the nozzle 272 is sleeved on the guide column 271 and is used to slide along the guide column 271, the end of the nozzle 272 away from the clamping portion 222 abuts against the inclined surface structure 2231 and is used to slide along the inclined surface structure 2231, and the reset spring The spring is configured as a tension spring, and the return spring is disposed between the inner wall of the receiving groove 223 and the nozzle 272 and is used to elastically pull the nozzle 272 into the receiving groove 223; the nozzle 272 is provided with a nozzle 2721 at one end facing the clamping portion 222, and the nozzle 2721 is used to spray high-pressure gas to generate a reverse thrust and slide the nozzle 272 as a whole along the guide column 271 and the inclined structure 2231 out of the receiving groove 223, thereby cleaning the clamping portion 222 through the high-pressure gas sprayed by the nozzle 2721.

[0042] When in use, the nozzle 272 is elastically pulled into the receiving groove 223 by the pulling force of the reset elastic force, so as to prevent the cleaning component 27 from protruding from the outer surface of the connecting portion 221 and interfering with the clamped product, thereby ensuring the clamping effect of the clamping claw 22. When the clamping jaws 22 are used up and are ready to clamp the next product, high-pressure gas can be sprayed in the direction toward the clamping portion 222 through the nozzle 2721. At this time, a thrust can be generated on the nozzle 272 in the direction away from the clamping portion 222, and the nozzle 272 can be pushed to slide along the guide column 271 and the inclined structure 2231 to protrude out of the receiving groove 223. At this time, the high-pressure gas sprayed by the nozzle 2721 can automatically purge the clamping portion 222, and blow away foreign matter such as floating dust and debris on the clamping portion 222. The high-pressure gas sprayed by the nozzle 2721 can respectively realize the movement, extension and purging and cleaning operations of the nozzle 272. One structure realizes multiple functions, and the structure is simple and efficient. It can ensure that the clamping portion 222 is in a clean and dust-free state before the next grasping action, thereby improving the clamping effect and avoiding scratching the surface of the plate. Finally, after the clamping portion 222 is cleaned, the nozzle 2721 stops spraying, and the nozzle 272 can also automatically retract into the receiving groove 223 under the pulling force of the reset elastic force to be hidden.

[0043] Preferably, an air inlet hole connected to the nozzle 2721 and used for supplying air to the nozzle 2721 is provided inside the guide column 271, and the return spring is sleeved on the outer circumference of the guide column 271. Specifically, a gas channel for connecting an external gas source is provided inside the clamping portion 222, a first end of the air inlet hole is connected to the gas channel, and a second end of the air inlet hole is connected to the nozzle 2721. While the guide column 271 is used to guide and limit the nozzle 272, the air inlet hole inside the guide column 271 can also be used to supply air to the nozzle 2721. Compared with the solution of additionally configuring an air pipe, it can prevent the nozzle 272 from moving back and forth relative to the receiving groove 223 to block the air pipe, and prevent the air pipe from being blocked or even causing the nozzle 272 to be stuck as a whole and unable to move. Secondly, since the return spring is sleeved on the outer periphery of the guide column 271, the elastic tension on the nozzle 272 is arranged around the guide column 271, avoiding the force direction from tilting relative to the guide column 271, which is more conducive to the return spring to smoothly pull the nozzle 272 and avoid jamming.

[0044] Furthermore, a flexible pad 2221 is provided on the clamping portion 222. The flexible pad 2221 is made of flexible materials such as rubber, silicone, leather, etc., so as to have better elastic buffering effect and anti-slip effect to protect the plate.

[0045] like Figure 2As shown, the clamping device 2 is provided with a plurality of clamping devices 2, which are arranged on the base 1 at intervals along a straight line direction, and the clamping device 2 is also provided with a detection component 3, which is used to detect whether the product to be clamped is located at the clamping position of the clamping device 2. Specifically, due to the different lengths of different plates, the number of clamping devices 2 covered is different. When the detection components 3 on each clamping device 2 detect the plate, all the clamping devices 2 can be started at the same time to grab the plate together to ensure the grabbing strength and stability; and when the detection components 3 on some clamping devices 2 do not detect the plate, only the clamping device 2 that detects the plate can be started to grab the plate, so as to achieve efficient use of the clamping device 2.

[0046] Furthermore, the hinged sorting fixture 1000 also includes a control box 4, which specifically includes a terminal box and a solenoid valve assembly. The control box 4 is arranged at the center of the base 1 and is located between two adjacent clamping devices 2. The control box 4 is installed by utilizing the space between two adjacent clamping devices 2 to improve space utilization, so that the overall structural layout of the hinged sorting fixture 1000 is more reasonable and compact, and the center of gravity is more stable.

[0047] like Figure 1 As shown, a protective cover 12 is further provided on the base 1, and part of the structure of the clamping device 2 and the control box 4 are arranged in the protective cover 12, so as to be shielded and protected by the protective cover 12 to achieve dustproof and waterproof effects.

[0048] As a second aspect, the present invention further provides a plate clamping method, using the hinged sorting fixture 1000, the plate clamping method comprises the following steps: S100: driving the hinged sorting fixture 1000 to move to a position where the plate is to be clamped by the mechanical arm; S200: The linear drive assembly 23 drives the driving link 241 to move and the driving link 241 drives the transmission member 242 to rotate relative to the fixed plate 21, so that the transmission member 242 drives the clamping jaw 22 to move in a direction close to the other clamping jaw 22, and the two clamping jaws 22 are close to each other to clamp the plate.

[0049] The plate clamping method can improve the clamping strength and stability by grasping the plate through the hinged sorting fixture 1000, and has a self-locking effect, which can better realize high-speed transfer action and effectively improve product sorting and caching efficiency.

[0050] The above descriptions are only some embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hinged sorting fixture, characterized in that: It comprises a base (1) and at least one clamping device (2) arranged on the base (1), wherein the base (1) is used to be connected to a mechanical arm; The clamping device (2) comprises a fixed plate (21) and two clamping jaws (22) arranged opposite to each other, and a linear drive assembly (23), a transmission assembly (24) and a limit assembly (25) respectively mounted on the fixed plate (21); the transmission assembly (24) comprises a driving connecting rod (241) connected to the linear drive assembly (23) and a transmission member (242) connected to the clamping jaw (22); the limit assembly (25) is connected to the clamping jaw (22) and is used to limit the clamping jaw (22) to remain parallel to the other clamping jaw (22); the linear drive assembly (23) is used to drive the driving connecting rod (241) to move and drive the transmission member (242) to rotate relative to the fixed plate (21) through the driving connecting rod (241), thereby driving the clamping jaw (22) to move in a direction close to or away from the other clamping jaw (22) through the transmission member (242); Two driving links (241) and two transmission members (242) are provided correspondingly, and the two transmission members (242) are hingedly connected to the two clamping jaws (22) in a one-to-one correspondence. The angle between the two driving links (241) gradually increases with the closing action of the two clamping jaws (22), and after the two clamping jaws (22) are completely closed, the two driving links (241) move to a straight line.

2. The hinged sorting fixture according to claim 1, characterized in that: The fixed plate (21) is provided with a guide slot (211) along the driving direction of the linear drive component (23); the first end of the driving link (241) is hinged to the driving end of the linear drive component (23) and is slidably arranged in the guide slot (211); the first end of the transmission member (242) is hinged to the fixed plate (21); the second end of the transmission member (242) is hinged to the second end of the driving link (241); the third end of the transmission member (242) is hinged to the clamp (22); the linear drive component (23) is used to drive the first end of the driving link (241) to slide along the guide slot (211), and drive the transmission member (242) to rotate relative to the fixed plate (21) through the second end of the driving link (241); The first ends of the two driving connecting rods (241) are hinged relative to the linear driving assembly (23) along the same axis, and the first ends of the two transmission members (242) are hinged relative to the fixing plate (21) along the same axis.

3. The hinged sorting fixture according to claim 2, characterized in that: The limiting assembly (25) comprises two limiting connecting rods (251), the first ends of the two limiting connecting rods (251) are hinged relative to the fixing plate (21) along the same axis, and the second ends of the two limiting connecting rods (251) are connected to the two clamping claws (22) in a one-to-one correspondence; The clamping jaw (22) comprises a connecting portion (221) and a clamping portion (222) connected to the connecting portion (221); the transmission member (242) is hinged to one end of the connecting portion (221) close to the clamping portion (222); and the limiting connecting rod (251) is hinged to one end of the connecting portion (221) away from the clamping portion (222), so that the clamping portion (222) can be kept parallel to the clamping portion (222) of the other clamping jaw (22) during the movement through the cooperation of the limiting connecting rod (251) and the transmission member (242).

4. The hinged sorting fixture according to any one of claims 1 to 3, characterized in that: Two fixing plates (21) are provided, and the two fixing plates (21) are arranged on opposite sides of the linear drive assembly (23). Two groups of transmission assemblies (24) are provided, and the two groups of transmission assemblies (24) are connected to the two fixing plates (21) in a one-to-one correspondence. The two groups of transmission assemblies (24) are arranged at intervals to form an installation space between the two groups of transmission assemblies (24), and the driving end of the linear drive assembly (23) and the connecting portion (221) of the clamping jaw (22) are both arranged in the installation space.

5. The hinged sorting fixture according to claim 4, characterized in that: The clamping device (2) further comprises a rotating shaft (26) which is sequentially passed through the two fixed plates (21); the rotating shaft (26) is arranged at one end of the fixed plate (21) away from the linear drive assembly (23) to strengthen the fixation of the two fixed plates (21); and the first ends of the transmission members (242) in the two sets of transmission assemblies (24) are both hinged relative to the rotating shaft (26).

6. The hinged sorting fixture according to claim 2, characterized in that: The driving connecting rod (241) comprises a first connecting rod and a second connecting rod which are nested with each other, and a stroke adjustment component arranged between the first connecting rod and the second connecting rod, wherein the stroke adjustment component is used to drive the first connecting rod and the second connecting rod to move telescopically relative to each other so as to adjust the overall length of the driving connecting rod (241), thereby adjusting the moving stroke of the clamping jaw (22).

7. The hinged sorting fixture according to claim 1, characterized in that: The clamping claw (22) comprises a connecting portion (221) and a clamping portion (222) connected to the connecting portion (221); the transmission member (242) is hingedly connected to the connecting portion (221); a receiving groove (223) is provided on the connecting portion (221); a side wall of the receiving groove (223) away from the clamping portion (222) is provided as an inclined surface structure (2231); and the inclined surface structure (2231) is arranged to be inclined in a direction away from the clamping portion (222) toward the opening of the receiving groove (223); The clamping device (2) further comprises a cleaning component (27) arranged in the receiving groove (223), the cleaning component (27) comprising a guide column (271), a nozzle (272) and a return spring, the guide column (271) being arranged on the inner wall of the receiving groove (223) in parallel with the inclined surface structure (2231), the nozzle (272) being sleeved on the guide column (271) and being used for sliding along the guide column (271), an end of the nozzle (272) away from the clamping portion (222) being in contact with the inclined surface structure (2231) and being used for sliding along the inclined surface structure (2231), and the return spring being arranged between the inner wall of the receiving groove (223) and the nozzle (272) and being used for elastically pulling the nozzle (272) into the receiving groove (223); A nozzle (2721) is provided at one end of the nozzle (272) facing the clamping portion (222), and the nozzle (2721) is used to spray high-pressure gas to generate a reverse thrust and slide the nozzle (272) as a whole along the guide column (271) and the inclined surface structure (2231) out of the receiving groove (223), thereby cleaning the clamping portion (222) through the high-pressure gas sprayed from the nozzle (2721).

8. The hinged sorting fixture according to claim 7, characterized in that: An air inlet hole connected to the nozzle (2721) and used for supplying air to the nozzle (2721) is provided inside the guide column (271), and the return spring is sleeved on the outer circumference of the guide column (271).

9. The hinged sorting fixture according to claim 1, characterized in that: The clamping devices (2) are provided in plurality, and the plurality of clamping devices (2) are arranged on the base (1) at intervals along a straight line. The clamping devices (2) are also provided with a detection component (3), and the detection component (3) is used to detect whether the product to be clamped is located at the clamping position of the clamping device (2).

10. A plate clamping method, characterized in that: Using the hinged sorting fixture as described in any one of claims 1 to 9, the plate clamping method comprises the following steps: S100: The mechanical arm drives the hinged sorting fixture to move to the position where the plate is to be clamped; S200: The linear drive assembly (23) drives the driving connecting rod (241) to move, and the driving connecting rod (241) drives the transmission member (242) to rotate relative to the fixed plate (21), thereby driving the clamping jaw (22) to move in a direction approaching the other clamping jaw (22) through the transmission member (242), and the two clamping jaws (22) are brought close to each other to clamp the plate.

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