Positioning and clamping device

Abstract

The invention relates to a positioning and clamping device which comprises a clamping jaw and a detection assembly installed on the clamping jaw, and a through groove is formed in the clamping jaw and penetrates through the clamping face of the clamping jaw. The detection assembly comprises a positioning element and a triggering element, the positioning element is movably installed in the through groove, the positioning element is provided with a positioning end and a triggering end which are opposite, the positioning end extends out of the clamping face of the clamping jaw, and the triggering end is opposite to the triggering element; after the positioning end is pushed and pressed, the positioning element moves along the through groove, so that the trigger end is in contact with the trigger element to generate an electric signal. Therefore, the position of the goods can be accurately positioned so as to ensure that the goods are clamped in place.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a positioning and clamping device. Background Art

[0002] The robotic arm is a complex system with high precision, multiple input and output, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields.

[0003] Due to the complexity of the robotic arm system, there are uncertainties such as parameter perturbations, external interference and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the end posture.

[0004] At present, if the robot arm fails to clamp the goods in place when clamping, it may lead to loose clamping, causing the goods to fall off, resulting in unnecessary damage and affecting safety. In addition, due to the inaccurate clamping position, the subsequent release of materials cannot be guaranteed to be in place, and workers are often required to rearrange them, which is time-consuming and labor-intensive, affecting work efficiency. Summary of the invention

[0005] The object of the present invention is to provide a positioning and clamping device which can accurately locate the position of goods to ensure that the goods are clamped in place.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0007] A positioning and clamping device comprises a clamping jaw and a detection assembly mounted on the clamping jaw, wherein the clamping jaw has a through slot, and the through slot passes through a clamping surface of the clamping jaw;

[0008] The detection assembly includes a positioning element and a triggering element, the positioning element is movably installed in the through slot, and the positioning element has a positioning end and a triggering end opposite to each other, the positioning end extends out of the clamping surface of the clamping claw, and the triggering end is opposite to the triggering element;

[0009] After the positioning end is pushed, the positioning element moves along the through slot, so that the trigger end contacts the trigger element to generate an electrical signal.

[0010] With the positioning and clamping device of the present invention, when the clamping claw clamps the goods, since the positioning end of the positioning element extends out of the clamping surface of the clamping claw (i.e., the surface in contact with the goods), if the clamping claw has clamped into place, the goods will push the positioning end of the positioning element, causing the positioning element to move along the through groove on the clamping claw, and then the triggering end of the positioning element contacts the triggering element to generate an electrical signal. The background system receives the electrical signal and can determine that the goods have been clamped into place, thereby completing the clamping of the goods.

[0011] As a preferred solution, a detection box is further included, the detection box is mounted on the clamping claw, the trigger element is fixed inside the detection box, and the trigger end of the positioning element extends into the detection box and faces the trigger element. This solution can store and protect the detection component by setting the detection box.

[0012] As a preferred solution, the detection box includes a frame, and a front plate and a rear plate enclosed on the frame; the trigger element is fixed to the rear plate, the front plate has a through hole, and the trigger end of the positioning element passes through the through hole into the detection box. Using this solution, the detection component and the detection box can be integrated into one, and the two can be installed on the clamp as a whole, or removed from the clamp as a whole.

[0013] As a preferred solution, the detection component further includes a first spring, the trigger end of the positioning element has a contact block, one end of the first spring is fixedly connected to the contact block, and the other end of the first spring is fixedly connected to the front plate / the rear plate, so that the positioning element can elastically move along the through groove; the trigger element has a contact piece, and the contact block is used to contact the contact piece to generate an electrical signal. Using this solution, when the pressure of the cargo on the positioning end is eliminated, the positioning element can automatically reset.

[0014] As a preferred solution, the positioning end of the positioning element has a detachable positioning head. This solution can be used to easily replace the positioning head. In addition, a plurality of positioning elements are usually required to be installed on the clamping jaw. However, depending on the size of the goods, not all positioning elements need to be tested every time the goods are clamped. Therefore, the positioning head on the positioning element that does not need to be tested this time can be removed and installed on the positioning element that needs to be tested.

[0015] As a preferred solution, the positioning end of the positioning element has a screw groove, the positioning head has a stud matching the screw groove, and the positioning head is detachably mounted on the screw groove via the stud. This solution makes it easier to disassemble and assemble the positioning head.

[0016] As a preferred solution, the end surface of the positioning head is hemispherical. Using this solution can reduce damage to the goods.

[0017] As a preferred solution, the side of the positioning element is provided with a clip extending along its axial direction, at least one of the through hole and the through slot has a clip slot, and the clip strip is adapted to be embedded in the clip slot. With this solution, the positioning element can be guided and the stability can be enhanced through the cooperation of the clip strip and the clip slot.

[0018] As a preferred solution, the clamp has a socket, the detection box has a plug, and the plug is adapted to be plugged into the socket, so that the detection box can be detachably mounted on the clamp. With this solution, the detection box can be easily mounted on the clamp or removed from the clamp.

[0019] As a preferred solution, the socket is a U-shaped socket, which includes a socket bottom plate and a socket side plate connected to the socket bottom plate; the socket side plate has a limit groove; the insertion end of the plug has a cavity groove, at least one side wall of the cavity groove is an elastic baffle, the outer side of the elastic baffle has a limit platform, the limit platform can be matched and embedded with the limit groove, and the cavity groove is installed with a second spring that provides elastic thrust for the elastic baffle. With this solution, when the limit platform is subjected to an internal thrust, the elastic baffle can retreat toward the cavity groove, so that the limit platform can be separated from the limit groove; and when the internal thrust on the limit platform is eliminated, the second spring pushes the elastic baffle, so that the limit platform can be embedded in the limit groove, thereby conveniently realizing the installation of the plug column of the detection box and the socket on the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 A schematic structural diagram of a positioning and clamping device provided in an embodiment.

[0022] Figure 2 The figure is a schematic diagram of the structure of the clamping claws in the positioning and clamping device.

[0023] Figure 3 It is a schematic diagram of the exploded structure of the clamping jaws, detection components and detection box in the positioning and clamping device.

[0024] Figure 4 It is a schematic diagram of the assembly structure of the detection component and the detection box in the positioning and clamping device.

[0025] Figure 5 It is a schematic diagram of the assembly structure of the clamping jaws, detection components and detection box in the positioning clamping device.

[0026] Figure 6 for Figure 4 One of the cross-sectional structural diagrams.

[0027] Figure 7 for Figure 4 Schematic diagram of the structure after removing the back plate and trigger element of the detection box.

[0028] Figure 8 for Figure 4 The second schematic diagram of the cross-sectional structure.

[0029] Fig. 9 It is a schematic diagram of the exploded structure of the positioning element in the positioning clamping device.

[0030] Fig.10 It is a schematic diagram of the structure of the insertion column in the positioning clamping device.

[0031] In the figure: 100-clamping claw, 110-through groove, 111-card slot, 120-clamping surface, 130-anti-slip tooth pattern, 140-socket, 141-socket bottom plate, 142-socket side plate, 143-limiting groove; 200-detection component, 210-positioning element, 211-contact block, 212-positioning head, 213-screw groove, 214-stud, 215-card strip, 220-trigger element, 221-contact sheet, 230 first spring, 240-circuit board; 300-detection box, 310-frame, 320-front plate, 330-rear plate, 340-insertion column, 341-cavity groove, 342-elastic baffle, 343-limiting platform, 344-second spring. DETAILED DESCRIPTION

[0032] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "rear", "side", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0034] Unless otherwise clearly specified and limited, the terms "connection", "fixation" and "setting" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features, unless otherwise clearly and specifically defined.

[0036] Please also read Figures 1 to 10 The present embodiment provides a positioning and clamping device, including a clamping jaw 100 and a detection assembly 200 installed on the clamping jaw 100 . The clamping jaw 100 has a through slot 110 , and the through slot 110 passes through a clamping surface 120 of the clamping jaw 100 .

[0037] like Figure 3 As shown, the detection component 200 includes a positioning element 210 and a triggering element 220. The positioning element 210 is movably installed in the through slot 110, and the positioning element 210 has a relative positioning end and a triggering end. The positioning end extends out of the clamping surface 120 of the clamp 100, and the triggering end is opposite to the triggering element 220.

[0038] After the positioning end of the positioning element 210 is pushed, it moves along the through slot 110 so that the triggering end contacts the triggering element 220 to generate an electrical signal.

[0039] Just as an example: In this embodiment, if Figure 1 As shown, the number of the clamping claws 100 can be three, that is, the three clamping claws together complete the clamping of the goods; Figure 2 As shown, the lower end of the clamping jaw 100 is provided with an anti-slip tooth pattern 130. Figure 3 As shown, multiple groups of detection components 200 can be arranged on each clamping jaw 100, distributed in an array (the number of through slots 110 is adapted to the number of detection components 200); the number of detection components 200 arranged on the three clamping jaws is the same, and the positions of the arrangements are corresponding; the trigger element 220 can be a micro switch, which is installed on the circuit board 240 (such as Figure 6 or Figure 8 shown).

[0040] With the positioning and clamping device of this embodiment, when the clamp 100 clamps the goods, since the positioning end of the positioning element 210 extends out of the clamping surface 120 (i.e., the surface in contact with the goods) of the clamp 100, if the clamp 100 has been clamped in place, the goods will push the positioning end of the positioning element 210, causing the positioning element 210 to move along the through groove 110 on the clamp 100, and then the trigger end of the positioning element 210 contacts the trigger element 220 to generate an electrical signal. The background system receives the electrical signal and can determine that the goods have been clamped in place, thereby completing the clamping of the goods.

[0041] As a preferred solution, a detection box 300 is further included. The detection box 300 is installed on the clamp 100 , the trigger element 220 is fixed inside the detection box 300 , and the trigger end of the positioning element 210 extends into the detection box 300 and is opposite to the trigger element 220 .

[0042] This solution can store and protect the detection component 200 by providing the detection box 300.

[0043] like Figure 3 As shown, as a preferred embodiment, the detection box 300 includes a frame 310, and a front plate 320 and a rear plate 330 enclosed on the frame 310; the trigger element 220 is fixed on the rear plate 330, and the front plate 320 has a through hole, and the trigger end of the positioning element 210 penetrates into the interior of the detection box 300 through the through hole.

[0044] By using this solution, the detection assembly 200 and the detection box 300 can be integrated into one, and the two can be installed on the clamping jaw 100 as a whole, or removed from the clamping jaw 100 as a whole. Furthermore, the frame 310 of the detection box 300 and the rear plate 330 of the detection box 300 can also be designed to be detachably connected, specifically bolted, to facilitate disassembly and assembly.

[0045] like Figure 6 As shown, as a preferred embodiment, the detection component 200 also includes a first spring 230, the trigger end of the positioning element 210 has a contact block 211, one end of the first spring 230 is fixedly connected to the contact block 211, and the other end of the first spring 230 is fixedly connected to the front plate 320 or the rear plate 330, so that the positioning element 210 can move elastically along the through groove 110.

[0046] That is, if the first spring 230 is fixedly connected to the front plate 320, when the positioning element 210 moves toward the trigger element 220, the first spring 230 applies a pulling force to the contact block 211, and if the first spring 230 is fixedly connected to the rear plate 330, when the positioning element 210 moves toward the trigger element 220, the first spring 230 applies a pushing force to the contact block 211. In this embodiment, the first spring 230 is fixedly connected to the front plate 320, so that the first spring 230 can be mounted on the positioning element, and its action is more stable.

[0047] The trigger element 220 has a contact piece 221, and the contact block 211 contacts the contact piece 221 to generate an electrical signal. With this solution, when the pressure of the goods on the positioning end is eliminated, the positioning element 210 can be automatically reset.

[0048] like Fig. 9 As shown, as a preferred solution, the positioning end of the positioning element 210 has a detachable positioning head 212 .

[0049] This solution can be used to easily replace the positioning head 212; in addition, it is usually necessary to install multiple positioning elements 210 on the clamp 100. However, depending on the size of the goods, not all positioning elements 210 need to be tested every time the goods are clamped. Therefore, the positioning head 212 on the positioning element 210 that does not need to be tested this time can be removed and installed on the positioning element 210 that needs to be tested.

[0050] As a preferred solution, the positioning end of the positioning element 210 has a screw groove 213, the positioning head 212 has a stud 214 matching the screw groove 213, and the positioning head 212 is detachably mounted on the screw groove 213 via the stud 214. With this solution, the positioning head 212 can be more conveniently disassembled and assembled.

[0051] As a preferred solution, the end surface of the positioning head 212 is hemispherical. Using this solution, damage to the goods can be reduced.

[0052] As a preferred solution, the side of the positioning element 210 is provided with a card strip 215 extending along its axial direction, and at least one of the through hole on the front plate 320 of the detection box 300 and the through slot 110 of the clamping jaw 100 has a card slot. In this embodiment, a card slot 111 is provided in the through slot 110 of the clamping jaw 100 (see Figure 2 ) solution, the card strip 215 is adapted to be embedded in the card slot 111; of course, in other embodiments, the card slot can also be set in the through hole of the front plate 320, or the card slot can be set on the through hole of the front plate 320 and the through slot 110 at the same time.

[0053] In this embodiment, a plurality of clamping strips 215 are disposed on the side surface of each positioning element 210 and are distributed in a ring shape. The number and positions of the clamping slots 111 disposed in the through slot 110 correspond to the clamping strips 215 .

[0054] By using this solution, the positioning element 210 can be guided and its stability enhanced through the cooperation between the clamping strip 215 and the clamping slot 111 .

[0055] like Figures 2 to 5 As shown, as a preferred solution, the clamping jaw 100 has a socket 140 , and the detection box 300 has a plug 340 , and the plug 340 is adapted to be plugged into the socket 140 , so that the detection box 300 can be detachably mounted on the clamping jaw 100 .

[0056] In this embodiment, each clamping jaw 100 is provided with four sockets 140, two of which are symmetrically installed at the upper end of the clamping jaw 100, and the other two are symmetrically installed at the lower end of the clamping jaw 100. Correspondingly, the upper end and the lower end of the detection box 300 are also provided with two symmetrical plug posts 340, and the four plug posts 340 are adapted to be plugged with the four sockets 140. In other embodiments, the number and position of the sockets 140 and the plug posts 340 can be set according to actual conditions.

[0057] With this solution, the detection box 300 can be easily installed on the clamping jaw 100 or removed from the clamping jaw 100 .

[0058] like Figure 2 As shown, as a preferred solution, the socket 140 is a U-shaped socket, which includes a socket bottom plate 141 and a socket side plate 142 connected to the socket bottom plate 141; the socket side plate 142 has a limiting groove 143.

[0059] like Fig.10 As shown, the insertion end of the plug 340 has a cavity 341, and at least one side wall of the cavity 341 is an elastic baffle 342 (the elastic baffle 342 in this embodiment means that the baffle can retreat to the cavity 341 after being pushed by an appropriate force, and can return to its original state after being pushed in another opposite direction, and there is no restriction on its material), and the outer side of the elastic baffle 342 has a limit platform 343, and the limit platform 343 can be adapted and embedded in the limit groove 143, and the interior of the cavity 341 is installed with a second spring 344 to provide elastic thrust for the elastic baffle 342.

[0060] By adopting this scheme, when the limit platform 343 is subjected to an internal thrust, the elastic baffle 342 can retreat toward the cavity 341, so that the limit platform 343 can be separated from the limit groove 143; and when the internal thrust on the limit platform 343 is eliminated, the second spring 344 pushes the elastic baffle 342, so that the limit platform 343 can be embedded in the limit groove 143, thereby conveniently realizing the installation of the plug 340 of the detection box 300 and the socket 140 on the clamp 100.

[0061] In this embodiment, the corners of the elastic baffle 342 are chamfered to reduce sliding resistance during insertion.

[0062] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning and clamping device, comprising a clamping jaw and a detection assembly mounted on the clamping jaw, characterized in that: The clamping jaw is provided with a through slot, and the through slot passes through the clamping surface of the clamping jaw; The detection assembly includes a positioning element and a triggering element, the positioning element is movably installed in the through slot, and the positioning element has a positioning end and a triggering end opposite to each other, the positioning end extends out of the clamping surface of the clamping claw, and the triggering end is opposite to the triggering element; After the positioning end is pushed, the positioning element moves along the through slot, so that the trigger end contacts the trigger element to generate an electrical signal.

2. The positioning and clamping device according to claim 1, characterized in that: It also includes a detection box, which is installed on the clamping claw, the trigger element is fixed inside the detection box, and the trigger end of the positioning element extends into the detection box and is opposite to the trigger element.

3. The positioning and clamping device according to claim 2, characterized in that: The detection box includes a frame, and a front plate and a rear plate enclosed on the frame; the trigger element is fixed on the rear plate, the front plate has a through hole, and the trigger end of the positioning element penetrates into the interior of the detection box through the through hole.

4. The positioning and clamping device according to claim 3, characterized in that: The detection component also includes a first spring, the trigger end of the positioning element has a contact block, one end of the first spring is fixedly connected to the contact block, and the other end of the first spring is fixedly connected to the front plate / the rear plate, so that the positioning element can move elastically along the through groove; the trigger element has a contact piece, and the contact block is used to contact the contact piece to generate an electrical signal.

5. The positioning and clamping device according to claim 4, characterized in that: The positioning end of the positioning element is provided with a detachable positioning head.

6. The positioning and clamping device according to claim 5, characterized in that: The positioning end of the positioning element has a screw groove, the positioning head has a stud matched with the screw groove, and the positioning head is detachably mounted on the screw groove through the stud.

7. The positioning and clamping device according to claim 5, characterized in that: The end surface of the positioning head is hemispherical.

8. The positioning and clamping device according to claim 3, characterized in that: A clamping strip extending along the axial direction of the positioning element is disposed on the side surface thereof, and at least one of the through hole and the through slot has a clamping slot, and the clamping strip is adapted to be embedded in the clamping slot.

9. The positioning and clamping device according to any one of claims 2 to 8, characterized in that: The clamping jaw is provided with a socket, and the detection box is provided with a plugging post, and the plugging post is adapted to be plugged into the socket, so that the detection box can be detachably mounted on the clamping jaw.

10. The positioning and clamping device according to claim 9, characterized in that: The socket is a U-shaped socket, which includes a socket base plate and a socket side plate connected to the socket base plate; the socket side plate is provided with a limit groove; the insertion end of the plug column has a cavity groove, at least one side wall of the cavity groove is an elastic baffle, the outer side of the elastic baffle plate is provided with a limit platform, the limit platform can be adapted and embedded in the limit groove, and a second spring is installed inside the cavity groove to provide elastic thrust for the elastic baffle plate.

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