Hinge type sorting fixture and plate clamping method

Abstract

The present invention provides a hinged sorting fixture and a plate clamping method, wherein the hinged sorting fixture includes a clamping device, the clamping device includes a fixed plate and two relatively arranged clamping jaws, and a linear drive assembly, a transmission assembly and a limit assembly respectively mounted on the fixed plate, the transmission assembly includes a drive connecting rod and a transmission member, 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 transmission member to rotate relative to the fixed plate through the drive connecting rod, thereby driving the clamping jaw to move in a direction close to or away from the other clamping jaw through the transmission member; after the two clamping jaws are fully closed, the two drive connecting rods move to a straight line. The hinged sorting fixture provided by the present invention does not need to rely on the power of the linear drive assembly to maintain the clamping force between the two clamping jaws after the two clamping jaws are closed, and can realize the self-locking function of the clamping jaws, improve stability, and the self-locking structure is simple and efficient, effectively reducing equipment costs.

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] As a fundamental material, sheet metal is increasingly used in daily life and industry. Through various processing techniques, sheet metal can be transformed into a wide variety of products, such as furniture, building decoration materials, artwork, and daily necessities. However, the increasing diversity of sheet metal applications has placed higher demands on the efficiency, precision, and stability of sheet metal processing and automated sorting operations. In particular, the sorting fixtures used to grip sheet metal must adapt to different sheet materials and maintain a constant grip to prevent them from loosening or 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 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 external threads lock the two grippers so that they are also self-locked in the current state, and the gripping force of the grippers can be maintained without external force. However, this self-locking robot clamp requires a servo motor to achieve high-precision rotation control of the first shaft. Not only is the cost high and the gripping force is insufficient, but 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 with low cost, high structural strength and 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:

[0007] 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 configured to be connected to a robotic arm;

[0008] The clamping device includes 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 including a drive connecting rod connected to the linear drive assembly and a transmission member connected to the clamping jaw, the limit assembly being connected to the clamping jaw and used to limit the clamping jaw to remain parallel to the other clamping jaw, the linear drive assembly being used to drive the drive connecting rod to move and drive the transmission member to rotate relative to the fixed plate via the drive connecting rod, thereby driving the clamping jaw to move in a direction close to or away from the other clamping jaw via the transmission member;

[0009] There are two corresponding drive links and two corresponding transmission members, and the two transmission members are hinged to the two clamping jaws one by one. The angle between the two drive links gradually increases with the closing action of the two clamping jaws, and after the two clamping jaws are completely closed, the two drive links move to a straight line.

[0010] Preferably, the fixed plate is provided with a guide slot along the driving direction of the linear drive assembly, the first end of the drive link 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 drive link, and 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 drive link to slide along the guide slot, and drive the transmission member to rotate relative to the fixed plate through the second end of the drive link;

[0011] 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.

[0012] Preferably, the limiting assembly includes two limiting links, the first ends of the two limiting links are hinged relative to the fixing plate along the same axis, and the second ends of the two limiting links are connected to the two clamping claws in a one-to-one correspondence;

[0013] 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 link is hinged to one end of the connecting portion away from the clamping portion, so that the clamping portion remains parallel to the clamping portion of the other clamping jaw during movement through the cooperation of the limiting link and the transmission member.

[0014] Preferably, there are two fixed plates, which are arranged on opposite sides of the linear drive assembly. 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. The driving end of the linear drive assembly and the connecting part of the clamp are both arranged in the installation space.

[0015] Preferably, the clamping device also includes a rotating shaft that is sequentially passed through the two fixed plates, and 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.

[0016] Preferably, the transmission assembly further comprises a slider embedded in the guide slot and configured to slide along the guide slot, and the first ends of the two driving connecting rods in the transmission assembly are both hinged to the slider.

[0017] 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. The stroke adjustment assembly is used to drive the first link and the second link to move telescopically relative to each other to adjust the overall length of the driving link, thereby adjusting the moving stroke of the clamp.

[0018] Preferably, the clamping claw includes 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 inclined toward the opening of the receiving groove in a direction away from the clamping portion;

[0019] The clamping device further includes a cleaning assembly disposed in the receiving groove, the cleaning assembly including a guide post, a nozzle, and a return spring, the guide post being disposed on the inner wall of the receiving groove parallel to the inclined surface structure, the nozzle being sleeved on the guide post and configured to slide along the guide post, the end of the nozzle away from the clamping portion abutting against the inclined surface structure and configured to slide along the inclined surface structure, the return spring being disposed between the inner wall of the receiving groove and the nozzle and configured to elastically pull the nozzle into the receiving groove;

[0020] 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, thereby cleaning the clamping part through the high-pressure gas sprayed by the nozzle.

[0021] 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.

[0022] Preferably, the clamping device is provided in plurality, and the plurality of clamping devices are arranged on the base at intervals along a straight line. The clamping device is also provided with a detection component, which is used to detect whether the product to be clamped is located at the clamping position of the clamping device.

[0023] As a second aspect, the present invention further provides a plate clamping method, using the above-mentioned hinged sorting fixture, the plate clamping method comprising the following steps:

[0024] S100: The mechanical arm drives the hinged sorting fixture to move to the position where the plate is to be clamped;

[0025] S200: The linear drive assembly drives the driving link to move and the driving link drives the transmission member to rotate relative to the fixed plate, thereby driving the clamping jaw to move in a direction close to the other clamping jaw through the transmission member, and the two clamping jaws approach each other to clamp the plate.

[0026] Compared with the prior art, the solution of the present invention has the following advantages:

[0027] 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 claw to move through the transmission member to realize the tensioning and clamping action. Since the clamping claw is provided with a limit component to 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, 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, and the jaws cannot drive the drive links to rotate in the opposite direction. There is no need to rely on the power of the linear drive component to maintain the clamping force between the two jaws. Even if the linear drive component loses power, it will not cause the clamped product to 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. In addition, the self-locking structure is simple and efficient. The linear drive component 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] Additional aspects and advantages of the present invention will be set forth in part in the following description, will become apparent from the following description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0030] Figure 1 A schematic structural diagram of a hinged sorting fixture provided in an embodiment of the present invention;

[0031] Figure 2 for Figure 1 The schematic diagram of the structure of the hinged sorting fixture after removing the protective cover is shown;

[0032] Figure 3 for Figure 2 A schematic structural diagram of the clamping device in the hinged sorting fixture shown;

[0033] Figure 4 for Figure 3 A diagram showing a state change in which the clamping device is shown with the fixing plate removed;

[0034] Figure 5 for Figure 3 A partial cross-sectional view of the clamping jaws in the clamping device is shown.

[0035] Legend:

[0036] 1000. Hinged sorting fixture; 1. Base; 11. Flange; 12. Protective cover; 2. Clamping device; 21. Fixing 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. Nozzle; 3. Detection assembly; 4. Control box. DETAILED DESCRIPTION

[0037] The following describes embodiments of the present invention in detail, 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 intended only to explain the present invention and are not to be construed as limiting the present invention.

[0038] It will be understood by those skilled in the art that, unless otherwise stated, the term "comprising" as used in the description of the present invention refers to the presence of the features, integers, steps, operations, parts / components and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, parts / components, components and / or groups thereof. 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" as used herein includes all or any one of the associated listed items and all combinations thereof.

[0039] Figures 1 to 5The figures collectively show a hinged sorting clamp 1000 provided by an embodiment of the present invention, 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, low in cost, and has a self-locking function, which effectively prevents plates from loosening and falling, ensures the gripping strength and stability of the plates, and thus improves sorting efficiency and accuracy.

[0040] 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 provided on the other side of the base 1.

[0041] 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, and 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, 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.

[0042] Furthermore, the transmission assembly 24 includes two driving links 241 and two transmission members 242 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 fully closed, the two driving links 241 move to a straight line.

[0043] 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 and 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 at the same time by a linear drive component 23 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 the center, which is convenient for handling and sorting operations. More importantly, after the two jaws 22 are fully 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 component 23 to maintain the clamping force between the two jaws 22. Even if the linear drive component 23 loses power, it will not cause the clamped products to 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. In addition, the self-locking structure is simple and efficient. The linear drive component 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.

[0044] 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 clamping claw 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.

[0045] 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.

[0046] like Figure 4 As shown, when the two clamping jaws 22 are at 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 relative 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.

[0047] 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.

[0048] Furthermore, 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 link 251 is hinged to one end of the connecting portion 221 away from the clamping portion 222. The limiting link 251 and the transmission member 242 cooperate to keep the clamping portion 222 parallel to the clamping portion 222 of the other clamping jaw 22 during movement. The transmission member 242, the limiting link 251, the clamping jaw 22, and the piston rod of the linear drive assembly 23 form a parallelogram-shaped four-bar linkage structure, which allows the clamping jaw 22 to remain parallel to the piston rod of the linear drive assembly 23, allowing the clamping jaw 22 to move loosely or loosely while achieving a parallel limiting effect of the clamping jaw 22. The limiting structure is simple, efficient, and highly stable.

[0049] 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.

[0050] 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.

[0051] Preferably, two fixing plates 21 are provided, and the two fixing plates 21 are respectively arranged on opposite sides of the linear drive assembly 23 and are respectively fixedly connected to the cylinder body of the linear drive assembly 23. The transmission assembly 24, two sets of transmission assemblies 24 are connected to the two fixing plates 21 in a one-to-one correspondence. The two sets of transmission assemblies 24 are arranged at intervals to form an installation space between the two sets of transmission assemblies 24. 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 two sets of transmission assemblies 24 clamp and fix the clamping jaw 22, they respectively transmit power to the opposite sides of the clamping jaw 22, effectively improving the movement stability of the clamping jaw 22 and preventing the clamping jaw 22 from being offset or misaligned.

[0052] 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 in a one-to-one correspondence. The two groups of limiting components 25 are respectively provided 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.

[0053] Preferably, the clamping device 2 further includes a rotating shaft 26 sequentially provided on the two fixed plates 21. The rotating shaft 26 is provided 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. The first ends of the transmission members 242 in the two transmission assemblies 24 are both hinged relative to the rotating shaft 26. By connecting the ends of the fixed plates 21 away from the linear drive assembly 23 via the rotating shaft 26, both opposite ends of the fixed plates 21 can be connected and fixed, thereby ensuring that the two fixed plates 21 remain parallel. In addition, the rotating shaft 26 can simultaneously hinge the four transmission members 242, making the rotation axes of the four transmission members 242 coaxial, further improving the driving accuracy of the clamping jaws 22.

[0054] Preferably, the transmission assembly 24 further includes a slider 243 embedded in the guide slot 211 and configured to slide along the guide slot 211. The first ends of the two driving links 241 in the transmission assembly 24 are both hinged to the slider 243. The slider 243 simultaneously mounts the two driving links 241, ensuring synchronization and smoothness of movement of the two driving links 241.

[0055] Preferably, the driving link 241 adopts a telescopic structure (not shown). In this embodiment, the driving link 241 includes a first link and a second link that are nested with each other, and a stroke adjustment component arranged between the first link and the second link. The stroke adjustment component 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 2412, thereby adjusting the moving stroke of the clamping jaw 22.

[0056] Specifically, when the two drive links 241 are aligned, the two clamping jaws 22 are at their maximum closed travel. At this point, the longer the drive links 241 are, the smaller the closed opening of the clamping jaws 22 becomes. Correspondingly, the shorter the drive links 241 are, the larger the closed opening of the clamping jaws 22 becomes. By adjusting the relative telescopic length of the first and second links via the travel adjustment assembly, the overall length of the drive link 241 can be adjusted, thereby adjusting the travel of the clamping jaws 22. This allows for adaptability to clamp products of varying thicknesses, providing increased applicability.

[0057] like Figure 5 As shown, a receiving groove 223 is provided on the connecting portion 221 of the clamping jaw 22. The side wall of the receiving groove 223 away from the clamping portion 222 is provided with an inclined surface structure 2231. The inclined surface structure 2231 is inclined toward the opening of the receiving groove 223 in a direction away from the clamping portion 222. The clamping device 2 also includes a cleaning assembly 27 provided in the receiving groove 223. The cleaning assembly 27 includes a guide post 271, a nozzle 272 and a return spring (not shown, the same below). The guide post 271 is provided 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 post 271 and is used to slide along the guide post 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. The return spring The spring is set as a tension spring, and the return spring is arranged 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 part 222, and the nozzle 2721 is used to spray high-pressure gas to generate 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, so that the clamping part 222 is cleaned by the high-pressure gas sprayed by the nozzle 2721.

[0058] During 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, which can push the nozzle 272 to slide along the guide column 271 and the inclined structure 2231 and 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 dust and debris on the clamping portion 222. The high-pressure gas sprayed by the nozzle 2721 can realize the movement, extension and purging cleaning operations of the nozzle 272 respectively. 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 automatically retract into the receiving groove 223 under the pulling force of the reset elastic force to be hidden.

[0059] Preferably, an air inlet hole connected to the nozzle 2721 and used to supply 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 to 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 guides and limits 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 a solution with an additional air pipe, this solution can prevent the nozzle 272 from moving back and forth relative to the receiving groove 223 and getting stuck in the air pipe, thereby preventing the air pipe from being blocked and even causing the entire nozzle 272 to be stuck 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.

[0060] 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.

[0061] like Figure 2As shown, 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, 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 covering the clamping devices 2 varies. When the detection components 3 on each clamping device 2 detect a plate, all the clamping devices 2 can be activated simultaneously to grab the plate together, ensuring gripping strength and stability. When the detection components 3 on some clamping devices 2 do not detect a plate, only the clamping devices 2 that have detected a plate can be activated to grab the plate, thereby achieving efficient utilization of the clamping devices 2.

[0062] 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 in 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.

[0063] 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.

[0064] As a second aspect, the present invention further provides a plate clamping method, using the hinged sorting fixture 1000, the plate clamping method comprising the following steps:

[0065] S100: The hinged sorting fixture 1000 is driven by the robotic arm to move to the position where the plate is to be clamped;

[0066] 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, thereby driving the clamping jaw 22 to move in a direction close to the other clamping jaw 22 through the transmission member 242, and the two clamping jaws 22 are close to each other to clamp the plate.

[0067] 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.

[0068] The above descriptions are only partial embodiments of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as within 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) provided on the base (1), wherein the base (1) is used to be connected to a robotic arm; The clamping device (2) includes 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), wherein the transmission assembly (24) includes a driving connecting rod (241) connected to the linear drive assembly (23) and a transmission member (242) connected to the clamping jaw (22), and 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), and 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 hinged to the two clamping jaws (22) in a one-to-one correspondence. The angle between the two driving links (241) gradually increases as the two clamping jaws (22) close, 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 assembly (23); the first end of the driving link (241) is hinged to the driving end of the linear drive assembly (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 assembly (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 fixed plate (21) along the same axis.

3. The hinged sorting fixture according to claim 2, characterized in that: The limiting assembly (25) includes 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) 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) remains parallel to the clamping portion (222) of the other clamping jaw (22) during 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: There are two fixed plates (21), which are respectively arranged on opposite sides of the linear drive assembly (23). There are two groups of transmission assemblies (24), which are connected to the two fixed 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). The driving end of the linear drive assembly (23) and the connecting portion (221) of the clamping claw (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) 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). 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 link (241) comprises a first link and a second link nested with each other, and a stroke adjustment component provided between the first link and the second link, wherein the stroke adjustment component is used to drive the first link and the second link to telescopically move relative to each other to adjust the overall length of the driving link (241), thereby adjusting the movement 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 hinged 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 provided in an inclined direction away from the clamping portion (222) toward the opening of the receiving groove (223); The clamping device (2) further comprises a cleaning assembly (27) disposed in the receiving groove (223), the cleaning assembly (27) comprising a guide post (271), a nozzle (272) and a return spring, the guide post (271) being disposed 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 post (271) and being used for sliding along the guide post (271), the 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), the return spring being disposed 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 eject high-pressure gas to generate 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 ejected by 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 periphery 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 according to 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 link (241) to move, and the driving link (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 close to 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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