Clamp

Abstract

The invention relates to a clamp which comprises a clamp body, a first clamping jaw and a second clamping jaw. The clamp body comprises a first clamp body part and a second clamp body part which are connected into a whole, the first clamp body part comprises a first end face attached to a clamped material, the second clamp body part comprises a second end face attached to the clamped material, and the first end face is perpendicular to the second end face; the first clamping jaw is mounted on the first clamp body part; the second clamping jaw is mounted on the second clamp body part; when the clamp clamps materials, the first clamping jaw applies thrust to the clamped materials in the direction of the second end face, so that the clamped materials abut against the second end face. The second clamping jaw applies thrust to the clamped material in the direction of the first end face, so that the clamped material abuts against the first end face. According to the clamp, materials can be clamped in multiple directions, the stable clamping effect is provided, and the clamp is simple in structure and low in cost.

Description

Technical Field

[0001] This application relates to the technical field of industrial robots, and particularly to a fixture. Background Art

[0002] In the modern industrial production system, from the processing of raw materials of products, the manufacturing of components, to the assembly and packaging of finished products, every link is inseparable from the participation of fixtures. Therefore, fixtures play a crucial and irreplaceable role in industrial production.

[0003] When traditional fixture designs grip materials, it is often difficult to achieve stable gripping in multiple directions. Some existing fixtures can only grip materials from a single direction, which leads to the inability to achieve precise and stable gripping effects when facing irregularly shaped or multi-sided positioned materials, and situations such as material shaking, displacement, or even dropping are likely to occur, not only affecting production efficiency but also potentially damaging the materials. Additionally, although some fixtures have the function of multi-directional gripping, their structural designs are complex, manufacturing costs are high, and maintenance is difficult, which limits their practical applications to a certain extent. At the same time, with the continuous improvement of production automation, higher requirements are also put forward for the operational convenience, versatility, and compatibility with automated equipment of fixtures.

[0004] Therefore, it is of great practical significance to develop a fixture that can stably grip materials from multiple directions, has a simple and reasonable structure, low costs, and is easy to maintain, while also being able to meet the requirements of automated production.

[0005] Application Content

[0006] This application solves at least one of the technical problems in the related art to a certain extent, and provides a fixture that can grip materials from multiple directions, provides a stable gripping effect, and has a simple structure and low production costs.

[0007] To achieve the above object, this application provides a fixture, which includes:

[0008] Fixture body: including a first fixture body part and a second fixture body part connected as a whole. The first fixture body part includes a first end face that can be attached to the material to be gripped, and the second fixture body part includes a second end face that can be attached to the material to be gripped. The first end face and the second end face are perpendicularly arranged;

[0009] First jaw assembly: including a first jaw, and the first jaw is installed on the first fixture body part;

[0010] Second jaw assembly: including a second jaw, and the second jaw is installed on the second fixture body part;

[0011] When the clamp clamps the material, the first clamp applies a thrust to the clamped material in the direction of the second end face, so that the clamped material abuts against the second end face; the second clamp applies a thrust to the clamped material in the direction of the first end face, so that the clamped material abuts against the first end face.

[0012] Most of the existing clamps can only clamp materials from a single direction. The present technical solution clamps materials from two mutually perpendicular directions, which can effectively prevent the materials from shifting or shaking during the clamping process and provide a stable clamping effect. Although other existing clamps have multi-directional clamping functions, it is difficult to fit tightly with the materials, and the materials are prone to shaking, shifting or even falling. In addition, the structure is complex and the manufacturing cost is high. The present technical solution sets two fixed planes that fit the materials. This tight fit not only improves the clamping stability of the clamp and prevents the materials from loosening, but also achieves four-sided fixation of the materials with only two clamping jaws, which simplifies the clamp structure and reduces costs.

[0013] In some embodiments of the present application, the clamp further includes:

[0014] The third clamp and the fourth clamp are mounted on the first clamp body, and the third clamp and the fourth clamp are symmetrically arranged on both sides of the first clamp and the second clamp;

[0015] A first transmission unit is installed on the first clamp body and is connected to the third clamp and the fourth clamp respectively;

[0016] The first transmission unit is used to drive the third clamping jaw and the fourth clamping jaw to move, so as to clamp or release the material.

[0017] This technical solution can achieve six-sided fixation of the material, constrain the material from six different directions, and ensure the stability and accuracy of clamping and carrying the material.

[0018] In some embodiments of the present application, the first transmission unit includes:

[0019] Transmission gear: rotatably mounted on the first fixture body;

[0020] The gear bar includes a first gear bar and a second gear bar; the first gear bar and the second gear bar are arranged in parallel on opposite sides of the transmission gear and mesh with the transmission gear;

[0021] Sliding part: including a first sliding platform and a second sliding platform; the first sliding platform and the second sliding platform can slide relative to the first fixture body, the first gear bar is connected to the first sliding platform, and the second gear bar is connected to the second sliding platform;

[0022] Connecting rod: It includes a first connecting rod and a second connecting rod; one end of the first connecting rod is connected to the first gear rack or the first sliding table, and the other end is connected to the third jaw; one end of the second connecting rod is connected to the second gear rack or the second sliding table, and the other end is connected to the fourth jaw.

[0023] The third jaw and the fourth jaw achieve synchronous movement through the meshing of the transmission gear and the gear rack, which can ensure that the forces exerted by the two jaws when clamping the material are uniform, avoiding material deformation or damage caused by uneven clamping force. Moreover, the synchronous movement reduces the vibration that may occur during the movement of the jaws, improving the overall stability of the fixture.

[0024] In some embodiments of the present application, the first transmission unit further includes:

[0025] Guide posts: It includes a first guide post and a second guide post; the first guide post is connected to the first gear rack, and the second guide post is connected to the second gear rack;

[0026] Limit posts: It includes a first limit post and a second limit post; the first limit post and the second limit post are fixedly installed on the first fixture body part;

[0027] A first limit hole is provided on the first limit post, and a second limit hole is provided on the second limit post. The opening directions of the first limit hole and the second limit hole face the direction opposite to that of the third jaw and the fourth jaw;

[0028] The first guide post is inserted into the first limit hole and fits with the inner wall of the first limit hole; the second guide post is inserted into the second limit hole and fits with the inner wall of the second limit hole.

[0029] This technical solution ensures that the first gear rack and the second gear rack move in a straight line, thereby ensuring the straight movement of the third jaw and the fourth jaw, preventing the jaws from shifting or shaking during the movement, and improving the accuracy and consistency of clamping.

[0030] In some embodiments of the present application, the first transmission unit further includes:

[0031] First cylinder: It includes a first cylinder and a first piston rod, and the first cylinder is fixedly connected to the first fixture body part;

[0032] Connecting piece: One end is connected to the first connecting rod or the second connecting rod, and the other end is connected to the first piston rod;

[0033] The first cylinder pushes the first piston rod to move, and the first piston rod drives the first connecting rod or the second connecting rod to move through the connecting piece.

[0034] The cylinder drive has a fast response speed. Using the cylinder drive to move the gripper can achieve fast clamping and releasing actions, improving production efficiency.

[0035] In some embodiments of the present application, the second gripper assembly further includes a second transmission unit. The second transmission unit is installed on the second fixture body part, and the second transmission unit includes:

[0036] A second cylinder, including a second cylinder body and a second piston rod;

[0037] A first rotating member: one end is fixedly connected to the second fixture body part, and the other end is hinged to the second cylinder body through a core shaft;

[0038] A second rotating member: one end is fixedly connected to the second gripper, and the other end is hinged to the second piston rod through a core shaft;

[0039] A third rotating member: one end is fixedly connected to the second fixture body part, and the other end is hinged to the second gripper through a core shaft;

[0040] When the second cylinder contracts or extends, it drives the second gripper to rotate, clamping or releasing the material.

[0041] The second cylinder precisely drives the rotation of the second gripper through multiple rotating members, ensuring the accuracy and consistency of the clamping action and improving the clamping stability.

[0042] In some embodiments of the present application, the first gripper assembly further includes a third transmission unit. The third transmission unit is installed on the first fixture body part, and the third transmission unit includes:

[0043] A rotary cylinder: including a third cylinder body and a rotating mechanism, the third cylinder body is fixedly connected to the first fixture body part;

[0044] A rotating rod: one end is fixedly connected to the rotating mechanism, and the other end is fixedly connected to the first gripper;

[0045] The third cylinder drives the rotating mechanism to rotate, and the rotating mechanism drives the first gripper to rotate through the rotating rod, clamping or releasing the material.

[0046] The precise rotation of the rotary cylinder can achieve precise angle control, ensuring the position accuracy of the gripper during rotation, thereby improving the clamping accuracy.

[0047] In some embodiments of the present application, the fixture further includes a suction cup. The suction cup is installed inside the first fixture body part, and a suction hole is provided on the first end surface. The suction cup sucks the material through the suction hole.

[0048] The suction cup sucks the material through the suction holes, providing additional adsorption force. Combined with the mechanical clamping force, it can further enhance the clamping stability and prevent the material from shifting or shaking during the clamping process.

[0049] In some embodiments of the present application, the fixture further includes a first limiting member and a second limiting member. The first limiting member and the second limiting member are installed on the second fixture body part and symmetrically arranged on both sides of the first clamping jaw and the second clamping jaw; the first limiting member and the second limiting member extend out of the second fixture body part in the thickness direction of the second fixture body part towards the direction of the material to be clamped.

[0050] The limiting members can provide additional support and limiting functions, prevent the material from shifting or shaking during the clamping process, and ensure the clamping stability.

[0051] In some embodiments of the present application, the fixture further includes a proximity switch. The proximity switch is installed inside the second fixture body part, and a detection hole is provided on the second end face. The proximity switch detects the distance between the material to be clamped and the second end face through the detection hole.

[0052] The proximity switch can accurately detect the distance between the material and the second end face, ensure the position accuracy of the material during the clamping process, reduce errors, improve the degree of automation, and enhance the production efficiency.

[0053] The above description is only an overview of the technical solution of the present disclosure. In order to be able to understand the technical means of the present disclosure more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present disclosure more obvious and understandable, the specific embodiments of the present disclosure are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1 is a schematic diagram of the overall structure of the fixture according to the embodiment of the present application;

[0056] Figure 2 is a schematic diagram of the overall structure of the fixture according to the embodiment of the present application;

[0057] Figure 3 is a schematic diagram of the internal structure of the fixture body part according to the embodiment of the present application;

[0058] Figure 4Schematic diagram of the first drive unit, the third jaw, and the fourth jaw according to an embodiment of the present application;

[0059] Figure 5 Schematic diagram of the first jaw assembly according to an embodiment of the present application;

[0060] Figure 6 Schematic diagram of the second jaw assembly according to an embodiment of the present application.

[0061] In the above figures: 100, the first fixture body part; 110, the first end face; 120, the first jaw; 130, the third drive unit; 131, the rotary cylinder; 132, the rotary rod; 133, the third cylinder body; 134, the rotary mechanism; 140, the third jaw; 150, the fourth jaw; 160, the suction cup; 200, the second fixture body part; 210, the second end face; 220, the second jaw; 230, the second drive unit; 231, the second cylinder; 232, the first rotating part; 233, the second rotating part; 234, the third rotating part; 235, the second cylinder body; 236, the second piston rod; 240, the first limiting part; 250, the second limiting part; 260, the proximity switch; 300, the first drive unit; 310, the drive gear; 320, the first rack; 321, the second rack; 330, the first sliding table; 331, the first sliding groove; 332, the second sliding table; 333, the second sliding groove; 340, the first connecting rod; 341, the second connecting rod; 350, the first guiding column; 351, the first limiting column; 352, the second guiding column; 353, the second limiting column; 360, the first cylinder; 361, the first cylinder body; 362, the first piston rod; 370, the connecting part; 380, the transmission shaft; 390, the transmission bearing; 400, the flange connection assembly; 410, the first flange conversion part; 420, the second flange conversion part; 430, the interface channel. Detailed implementation manners

[0062] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0063] In this application, unless otherwise clearly stipulated or defined, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] In this application, unless otherwise clearly stipulated or defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0065] In this application, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0066] Next, the present application will be specifically described through exemplary embodiments. However, it should be understood that without further elaboration, the elements, structures, and features in one embodiment can also be beneficially combined into other embodiments.

[0067] A fixture is an execution device for a robotic arm to complete the material clamping and handling actions. In the context of the automation upgrade of the packaging production line, it undertakes important palletizing and depalletizing tasks in the automated production line. It can lift materials from the production line conveyor belt and transport them to the material tray, realizing the automated handling and stacking of materials. Therefore, the fixture plays a crucial and irreplaceable role in industrial production.

[0068] In the prior art, when clamping materials, it is often difficult for a fixture to achieve stable clamping in multiple directions. Some existing fixtures can only clamp materials from a single direction, which results in an inability to achieve precise and stable clamping effects when dealing with materials with irregular shapes or requiring multi-faceted positioning. This can easily lead to situations such as material shaking, displacement, or even dropping, not only affecting production efficiency but also potentially damaging the materials. Additionally, although some fixtures have the function of multi-directional clamping, their structural designs are complex, manufacturing costs are high, and maintenance is difficult, which limits their practical applications. At the same time, with the continuous improvement of production automation, higher requirements are also put forward for the operational convenience, versatility, and compatibility with automated equipment of the fixtures.

[0069] To solve the above problems, the present application proposes a fixture that can stably clamp materials from multiple directions, and has a simple and reasonable structure, low cost, and is easy to maintain.

[0070] In the following, the embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0071] As shown Figures 1 to 6 In a schematic embodiment of the present application, the fixture includes a fixture body and a flange connection assembly 400.

[0072] The fixture body includes a first fixture body part 100 and a second fixture body part 200 that are connected as a whole.

[0073] The flange connection assembly 400 includes a first flange conversion part 410 and a second flange conversion part 420 provided at both ends thereof. The first flange conversion part 410 is fixedly connected to the flange conversion part (not shown in the figure) at the end of the robotic arm, and the second flange conversion part 420 is fixedly connected to the first fixture body part 100 of the fixture body.

[0074] An interface channel 430 is formed along the axial direction of the flange connection assembly 400. The robotic arm is mechanically connected to the fixture body through the interface channel 430. The robotic arm is used to move the fixture to the target position and adjust the position and angle of the fixture, and the fixture is used to clamp the material.

[0075] In some embodiments of the present application, to achieve the clamping of the material by the fixture:

[0076] The first fixture body part 100 includes a first end face 110 that can be fitted to the material to be clamped, the second fixture body part 200 includes a second end face 210 that can be fitted to the material to be clamped, and the first end face 110 is connected to the second end face 210.

[0077] The fixture further includes a first jaw 120 assembly and a second jaw 220 assembly. The first jaw 120 assembly includes a first jaw 120, and the first jaw 120 is installed on the first fixture body part 100; the second jaw 220 assembly includes a second jaw 220, and the second jaw 220 is installed on the second fixture body part 200.

[0078] When the fixture clamps the material, the first jaw 120 applies a thrust to the clamped material in the direction of the second end face 210, so that the clamped material abuts against the second end face 210; the second jaw 220 applies a thrust to the clamped material in the direction of the first end face 110, so that the clamped material abuts against the first end face 110.

[0079] Considering that the clamped material is generally a square box, to match the outer shape of the box. Preferably, the first end face 110 and the second end face 210 are perpendicularly arranged.

[0080] Through the above technical solution, the fixture body is connected into one body by the first fixture body part 100 and the second fixture body part 200. This integrated design enhances the integrity of the fixture; moreover, the fixture can realize the four-sided clamping of the material only through two jaws. While simplifying the fixture structure and reducing the production cost, it can also effectively prevent the material from displacing or shaking during the clamping process and provide a stable clamping effect.

[0081] At the same time, by fixing the material by fitting with a plane, this tightly fitting method can ensure that the material remains stable during the clamping process and reduce errors or quality problems caused by the loosening of the material.

[0082] In some embodiments of the present application, to further increase the clamping stability and fastening of the fixture:

[0083] The fixture further includes a third jaw 140, a fourth jaw 150 and a transmission unit.

[0084] The third jaw 140 and the fourth jaw 150 are installed on the first fixture body part 100 and are symmetrically arranged on both sides of the first jaw 120 and the second jaw 220. The third jaw 140 and the fourth jaw 150 are used to clamp the remaining two sides of the material.

[0085] The first transmission unit 300 is installed on the first fixture body part 100 and is respectively connected to the third jaw 140 and the fourth jaw 150.

[0086] Further, the first transmission unit 300 is installed inside the first fixture body portion 100, and the third jaw 140 and the fourth jaw 150 are installed outside the first fixture body portion 100. Connection holes are provided on the outer shell of the first fixture body portion 100. The third jaw 140 and the fourth jaw 150 respectively pass through the connection holes and extend into the first fixture body portion 100 to be connected to the first transmission unit 300.

[0087] The first transmission unit 300 is used to drive the third jaw 140 and the fourth jaw 150 to move, so as to clamp or release the material.

[0088] Through the above technical solution, the fixture can achieve six-sided clamping of the material through the first jaw 120, the second jaw 220, the third jaw 140, the fourth jaw 150, as well as the first end face 110 and the second end face 210, preventing displacement or shaking and ensuring the stability of the material during clamping and handling.

[0089] Further, the first transmission unit 300 includes a transmission gear 310, a gear rack, a sliding portion, and a connecting rod. Among them:

[0090] The transmission gear 310 is rotatably installed on the first fixture body portion 100.

[0091] The gear rack includes a first gear rack 320 and a second gear rack 321. The first gear rack 320 and the second gear rack 321 are arranged in parallel on opposite sides of the transmission gear 310 and mesh with the transmission gear 310.

[0092] The sliding portion includes a first sliding table 330 and a second sliding table 332. The first sliding table 330 and the second sliding table 332 can slide relative to the first fixture body portion 100. The first gear rack 320 is connected to the first sliding table 330, and the second gear rack 321 is connected to the second sliding table 332.

[0093] Further, the sliding portion further includes a first sliding groove 331 and a second sliding groove 333. The first sliding groove 331 and the second sliding groove 333 are respectively fixedly connected to the first fixture body portion 100, and the first sliding table 330 is slidably connected to the first sliding groove 331, and the second sliding table 332 is slidably connected to the second sliding groove 333.

[0094] The connecting rod includes a first connecting rod 340 and a second connecting rod 341. One end of the first connecting rod 340 is connected to the first gear rack 320, and the other end is connected to the third jaw 140; one end of the second connecting rod 341 is connected to the second gear rack 321, and the other end is connected to the fourth jaw 150; alternatively, one end of the first connecting rod 340 is connected to the first sliding table 330, and the other end is connected to the third jaw 140; one end of the second connecting rod 341 is connected to the second sliding table 332, and the other end is connected to the fourth jaw 150.

[0095] Through the above-mentioned first transmission unit 300, when the third jaw 140 moves, power is transmitted to the transmission gear 310 through the first connecting rod 340 and the first rack 320, or through the first connecting rod 340, the first sliding table 330, and the first rack 320, causing the transmission gear 310 to rotate. The rotation of the transmission gear 310 causes the second rack 321 to move, and then power is transmitted to the fourth jaw 150 through the second connecting rod 341 or the second sliding table 332 and the second connecting rod 341, causing the fourth jaw 150 to move. Moreover, the moving distances of the third jaw 140 and the fourth jaw 150 are equal and the directions are opposite.

[0096] In addition to the transmission function, the sliding part provides a stable guide rail for the sliding table through the chute, ensuring that the sliding table moves in a straight line during the movement process, enhancing the rigidity of the fixture. The sliding table slides smoothly in the chute, reducing the vibration that may occur during the movement of the jaws and improving the overall stability of the fixture. The chute provides precise guidance for the sliding table, ensuring that the sliding table moves along the predetermined track and improving the movement accuracy of the jaws.

[0097] At the same time, the third jaw 140 and the fourth jaw 150 achieve synchronous movement through the meshing of the transmission gear 310 and the rack, which can ensure that the forces exerted by the two jaws when clamping the material are uniform, avoiding material deformation or damage caused by uneven clamping forces. The synchronous movement structure also makes the operation more convenient. By only controlling the rotation of the transmission gear 310, the synchronous clamping or release of the third jaw 140 and the fourth jaw 150 can be achieved, reducing the operation steps and complexity. It also reduces the failure points caused by the asynchrony of multiple independent components, reducing the complexity and cost of maintenance.

[0098] Furthermore, the first transmission unit 300 further includes a transmission shaft 380 and a transmission bearing 390. The transmission bearing 390 includes an inner ring and an outer ring. The inner ring is fixedly connected to one end of the transmission shaft 380, and the outer ring is fixedly connected to the first fixture body part 100. The other end of the transmission shaft 380 is fixedly connected to the center of the transmission gear 310.

[0099] Furthermore, the transmission bearing 390 is connected to the transmission shaft 380 through a snap ring, and the transmission shaft 380 is connected to the transmission gear 310 through a key, spline, or coupling.

[0100] Through the connection between the transmission gear 310, the transmission shaft 380, and the transmission bearing 390, the transmission gear 310 is rotatably installed on the first fixture body part 100.

[0101] The transmission bearing 390 significantly reduces wear by reducing the direct friction between the transmission shaft 380 and the fixture body, extending the service life of the transmission shaft 380 and the fixture.

[0102] In some embodiments of the present application, to further increase the clamping stability of the fixture and prevent the third jaw 140 and the fourth jaw 150 from wobbling during the moving clamping process:

[0103] The first transmission unit 300 further includes a guide post and a limit post.

[0104] The guide post includes a first guide post 350 and a second guide post 352. The first guide post 350 is connected to the first toothed bar 320, and the second guide post 352 is connected to the second toothed bar 321. The limit post includes a first limit post 351 and a second limit post 353, and the first limit post 351 and the second limit post 353 are fixedly installed on the first fixture body part 100.

[0105] A first limit hole is formed in the first limit post 351, and a second limit hole is formed in the second limit post 353. The opening directions of the first limit hole and the second limit hole face the direction opposite to the third jaw 140 and the fourth jaw 150 (the direction in which the third jaw 140 and the fourth jaw 150 move). The first guide post 350 is inserted into the first limit hole and fits with the inner wall of the first limit hole; the second guide post 352 is inserted into the second limit hole and fits with the inner wall of the second limit hole.

[0106] Through the above technical solution, the moving trajectory of the guide post is limited to a straight line by the limit hole, ensuring that the first toothed bar 320 and the second toothed bar 321 move along a straight line, thereby ensuring the straight-line movement of the third jaw 140 and the fourth jaw 150, and improving the clamping accuracy and consistency. The structural design of the guide post and the limit post enhances the rigidity of the fixture, making the fixture more stable during the clamping process, capable of withstanding a greater clamping force, and reducing the deformation caused by external forces.

[0107] In some embodiments of the present application, to drive the third jaw 140 and the fourth jaw 150 to move and clamp the material:

[0108] The first transmission unit 300 further includes a first air cylinder 360 and a connecting member 370.

[0109] The first air cylinder 360 is fixedly connected to the first fixture body part 100. One end of the connecting member 370 is connected to the first connecting rod 340, and the other end is connected to the power output end of the first air cylinder 360. The first air cylinder 360 drives the first connecting rod 340 to move through the connecting member 370.

[0110] Alternatively, one end of the connecting member 370 is connected to the second connecting rod 341, and the other end is connected to the power output end of the first air cylinder 360. The first air cylinder 360 drives the second connecting rod 341 to move through the connecting member 370.

[0111] By setting the above-mentioned first transmission unit 300, when it is necessary to clamp the material, the first cylinder 360 pushes either the third jaw 140 or the fourth jaw 150 to move. At this time, the driven jaw will transmit the power to the other jaw through components such as the rack and the transmission gear 310, so that the two jaws move synchronously, making a movement with equal distance and opposite direction to clamp or release the material.

[0112] Furthermore, the first cylinder 360 includes a first cylinder body 361 and a first piston rod 362. The first piston rod 362 is installed inside the first cylinder body 361 and extends out of the first cylinder body 361. The compressed air inside the first cylinder body 361 can push the first piston rod 362 to move. The first cylinder body 361 is fixedly connected to the first fixture body part 100, and the first piston rod 362, as the power output end of the first cylinder 360, is connected to the connecting piece 370.

[0113] The first cylinder 360 pushes the first piston rod 362 to move, and the first piston rod 362 drives the first connecting rod 340 or the second connecting rod 341 to move through the connecting piece 370.

[0114] Furthermore, the first transmission unit 300 further includes a first cylinder 360 fixing plate. The first cylinder 360 fixing plate includes two fixing planes connected perpendicular to each other. One fixing plane is fixedly connected to the first fixture body part 100 by screws, and the other fixing plane is fixedly connected to the first cylinder 360 by screws. The first cylinder 360 fixing plate is arranged at both ends of the first cylinder body 361 respectively, so that both ends of the first cylinder body 361 are connected to the first fixture body part 100.

[0115] The cylinder drive has a fast response speed, can realize fast clamping and releasing actions, and improves production efficiency. At the same time, the cylinder drive is easy to operate. Only by controlling the telescopic movement of the cylinder can the clamping and releasing of the jaws be realized, reducing the operation steps and complexity.

[0116] In some embodiments of the present application, in order to drive the second jaw 220 to move and clamp the material:

[0117] The second jaw 220 assembly further includes a second transmission unit 230, and the second transmission unit 230 is installed on the second fixture body part 200. The first transmission unit 300 is used to drive the second jaw 220 to move and clamp the material.

[0118] Furthermore, the second transmission unit 230 is installed inside the second fixture body part 200, and the second jaw 220 is installed outside the second fixture body part 200. A connection hole is provided on the outer shell of the second fixture body part 200, and the second jaw 220 passes through the connection hole and extends into the inside of the second fixture body part 200 to be connected to the second transmission unit 230.

[0119] Further, the second transmission unit 230 includes a first rotating member 232, a second rotating member 233, a third rotating member 234, and a second cylinder 231.

[0120] The second cylinder 231 includes a second cylinder body 235 and a second piston rod 236.

[0121] One end of the first rotating member 232 is fixedly connected to the second fixture body portion 200, and the other end is hinged to the second cylinder body 235; one end of the second rotating member 233 is fixedly connected to the second jaw 220, and the other end is hinged to the second piston rod 236; one end of the third rotating member 234 is fixedly connected to the second fixture body portion 200, and the other end is hinged to the second jaw 220.

[0122] The second piston rod 236 is installed in the second cylinder body 235 and extends out of the second cylinder body 235. The compressed air in the second cylinder body 235 can push the second piston rod 236 to move, causing the second cylinder 231 to contract or extend.

[0123] When the second cylinder 231 contracts or extends, it drives the second jaw 220 to rotate to clamp or release the material.

[0124] The specific action principle of the second cylinder 231 driving the second jaw 220 to rotate is as follows: when the second cylinder 231 contracts or extends, it applies a pulling force or a pushing force to the second jaw 220, and the second jaw 220 rotates around the third rotating member 234 under the action of the pulling force. However, since the rotation trajectory of the second jaw 220 is not a straight line but an arc, the first rotating member 232 and the second rotating member 233 are provided so that the second cylinder 231 can adjust its own movement during the rotation of the second jaw 220, enabling the actions of the second cylinder 231 and the second jaw 220 to cooperate smoothly.

[0125] Further, between the first rotating member 232 and the second cylinder 231, between the second rotating member 233 and the second cylinder 231, and between the third rotating member 234 and the second jaw 220, the hinge is achieved through a core shaft.

[0126] Preferably, the second jaw 220 has a first position and a second position. The first position is the position where the third rotating member 234 is hinged to the second jaw 220, and the second position is the position where the second rotating member 233 is fixedly connected to the second jaw 220. There is a certain distance between the first position and the second position.

[0127] More preferably, the first position is located at the end position of the second jaw 220, and the second position is located at the central position of the second jaw 220. At this time, the second jaw 220 can have a relatively large rotation amplitude while ensuring sufficient contact area with the material.

[0128] Further, the second drive unit 230 further includes a fixing plate for the second cylinder 231. Both ends of the fixing plate for the second cylinder 231 have fixing planes that fit with the outer shell of the second fixture body portion 200, and the fixing planes are connected to the outer shell of the second fixture body portion 200 by screws. A protruding portion is formed between both ends of the fixing plate for the suction cup 160.

[0129] The first rotating member 232 is connected to the protruding portion by screws, the second rotating member 233 is connected to the second jaw 220 by screws, and the third rotating member 234 is connected to the outer shell of the second fixture body portion 200 by screws.

[0130] The second cylinder 231 precisely drives the rotation of the second jaw 220 through multiple rotating members, ensuring the accuracy and consistency of the clamping action and improving the stability of clamping. At the same time, the cylinder drive can provide a uniform clamping force, ensuring that the force applied by the second jaw 220 when clamping the material is uniform, and avoiding deformation or damage of the material caused by uneven clamping force.

[0131] In some embodiments of the present application, to drive the first jaw 120 to perform a moving clamp on the material:

[0132] The first jaw 120 assembly further includes a third drive unit 130, and the third drive unit 130 is installed on the first fixture body portion 100. The third drive unit 130 is used to drive the first jaw 120 to move, and clamp or release the material.

[0133] Further, the third drive unit 130 is installed inside the first fixture body portion 100, and the first jaw 120 is installed outside the first fixture body portion 100. A connection hole is provided on the outer shell of the first fixture body portion 100, and the first jaw 120 passes through the connection hole and extends into the inside of the first fixture body portion 100 to be connected to the first drive unit 300.

[0134] Further, the third drive unit 130 includes a rotary cylinder 131 and a rotary rod 132.

[0135] The rotary cylinder 131 includes a third cylinder body 133 and a rotary mechanism 134. The third cylinder body 133 is fixedly connected to the first fixture body portion 100, the rotary mechanism 134 is disposed inside the third cylinder body 133, and the compressed air inside the third cylinder body 133 pushes the rotary mechanism 134 to rotate.

[0136] Common rotary mechanisms include a gear-rack mechanism, a screw mechanism, etc. Taking the gear-rack mechanism as an example, the piston rod is connected to the rack, the rack meshes with the gear. When the piston rod makes a linear motion, it drives the rack to move, and then drives the gear to rotate around its axis. The gear is connected to an external load (rotary rod 132), thus realizing the conversion of the linear motion of the piston into the rotary motion of the load.

[0137] One end of the rotating rod 132 is fixedly connected to the rotating mechanism 134, and the other end is fixedly connected to the first jaw 120.

[0138] By providing the above-mentioned third transmission unit 130, when it is necessary to clamp the material, the rotating cylinder 131 drives the rotating mechanism 134 to rotate. The rotating mechanism 134 drives the first jaw 120 to rotate through the rotating rod 132, and pushes the material to abut against the second end face 210.

[0139] Furthermore, the third transmission unit 130 further includes a fixed plate for the rotating cylinder 131. The fixed plate for the rotating cylinder 131 includes two fixed planes connected perpendicularly to each other. One fixed plane is fixedly connected to the first fixture body part 100, and the other fixed plane is fixedly connected to the rotating cylinder 131.

[0140] The precise rotation of the rotating cylinder 131 can achieve precise angle control, ensure the position accuracy of the jaw during rotation, and thus improve the clamping accuracy.

[0141] In some embodiments of the present application, the fixture further includes a suction cup 160.

[0142] The suction cup 160 is installed inside the first fixture body part 100. An air suction hole is provided on the first end face 110. The suction cup 160 sucks the material through the air suction hole.

[0143] The suction cup 160 includes a tracheal connector. The suction cup 160 is connected to an external air source (such as a vacuum generator or a compressed air system) through the tracheal connector.

[0144] The fixture further includes a fixed plate for the suction cup 160. Both ends of the fixed plate for the suction cup 160 have fixed planes that fit the outer shell of the first fixture body part 100. The fixed planes are connected to the outer shell of the first fixture body part 100 by screws. There is a groove between both ends of the fixed plate for the suction cup 160. The groove is used to accommodate and fix the suction cup 160. A through hole is provided at the groove. The tracheal connector extends out through the through hole to be connected to the external air source.

[0145] Preferably, to ensure the balance of the suction of the suction cup 160 on the material, the suction cup 160 is symmetrically arranged about the center of the first end face 110. Correspondingly, the air suction holes are symmetrically arranged about the center of the first end face 110.

[0146] The suction cup 160 sucks the material through the air suction hole, providing additional adsorption force. Combined with the mechanical clamping force, it further enhances the clamping stability and prevents the material from shifting or shaking during clamping. At the same time, the suction cup 160 can adapt to materials with different materials and surface characteristics. Especially for materials with a smooth or soft surface, the suction cup 160 can provide stable adsorption force to ensure the reliability of clamping.

[0147] In addition, the suction cup 160 is installed inside the first clamp body 100 without occupying additional space, so that the clamp can not only absorb the material, but also make the material fit closely with the fixed surface of the first clamp body 100 to ensure stable clamping.

[0148] In some embodiments of the present application, the clamp further includes a proximity switch 260 .

[0149] The proximity switch 260 is installed inside the second clamp body 200 . A detection hole is opened on the second end surface 210 . The proximity switch 260 detects the distance between the clamped material and the second end surface 210 through the detection hole.

[0150] The fixture further includes a fixing plate for the proximity switch 260. Both ends of the fixing plate for the proximity switch 260 have fixing planes that fit with the outer shell of the second fixture body 200, and the fixing planes are connected to the outer shell of the second fixture body 200 by screws. A groove is provided between the two ends of the fixing plate for the proximity switch 260, and the groove is used to accommodate and fix the proximity switch 260. A through hole is provided at the groove, and the proximity switch 260 extends through the through hole to be connected to an external power supply, a controller, etc.

[0151] The proximity switch 260 can accurately detect the distance between the material and the second end face 210, ensure the position accuracy of the material during the clamping process, and reduce errors. At the same time, the detection signal of the proximity switch 260 can be fed back to the control system to automatically adjust the clamping force and clamping position, improve the degree of automation, and reduce the need for manual intervention through automatic detection and adjustment, thereby improving production efficiency.

[0152] In addition, the proximity switch 260 adopts non-contact detection, avoiding direct contact with the material, reducing the risk of wear and damage, and improving reliability.

[0153] In some embodiments of the present application, the clamp further includes a first limit member 240 and a second limit member 250, which are installed on the second clamp body 200 and symmetrically arranged on both sides of the first clamp 120 and the second clamp 220, and the first limit member 240 and the second limit member 250 extend out of the second clamp body 200 along the thickness direction of the second clamp body 200 in the direction where the clamped material is located.

[0154] The first limiting member 240 and the second limiting member 250 are used to assist in fixing the clamped box, reduce shaking of the box when it is clamped, reduce inaccurate positioning of the box when it is clamped, and increase the clamping stability of the clamp.

[0155] Preferably, the first limiting member 240 and the second limiting member 250 are installed on the second fixture body portion 200 through a lead screw, and the distance between the first limiting member 240 and the second limiting member 250 can be adjusted through the lead screw.

[0156] This design enables the limiting members to adapt to materials of different shapes and sizes, improving the applicability and flexibility of the fixture.

[0157] In some embodiments of the present application, the structures of the third jaw 140 and the fourth jaw 150 are exactly the same.

[0158] In some embodiments of the present application, the first jaw 120, the second jaw 220, the third jaw 140, and the fourth jaw 150 all include a connecting portion connected to the transmission unit and a fixing portion in contact with and fixing the material. The connecting portion and the fixing portion are connected, and an obtuse angle is formed between the two.

[0159] To further increase the friction force when the third jaw 140 and the fourth jaw 150 fix the material, the fixing portions of the third jaw 140 and the fourth jaw 150 are provided with fixing teeth arranged at intervals, and the fixing teeth come into contact with and fix the material when clamping the material.

[0160] In summary, the use process of the fixture provided in the present application is as follows: At the initial stage of clamping the cardboard box, the proximity switch 260 detects the current position of the material and feeds the position back to the robotic arm. The robotic arm controls the movement of the fixture to place the material between the first limiting member 240 and the second limiting member 250, realizing the positioning of the left and right sides of the material. The suction cup 160 adsorbs the material to realize the upper-side positioning of the material. The first jaw 120, the second jaw 220, the third jaw 140, and the fourth jaw 150 move and rotate simultaneously under the drive of high-pressure gas to clamp the material, realizing the six-dimensional synchronous clamping of the material. Then, the proximity switch 260 detects the distance information of the material again. After confirmation, the robotic arm moves for handling. After the handling is completed, the first jaw 120, the second jaw 220, the third jaw 140, and the fourth jaw 150 are released simultaneously, the adsorption force of the suction cup 160 is eliminated, the material is released, and each component returns to its initial state.

[0161] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claimed rights.

Claims

1. A fixture, characterized in that, The fixture includes: Fixture body: Comprising a first fixture body part and a second fixture body part connected as a whole. The first fixture body part includes a first end face capable of fitting with the material to be clamped, and the second fixture body part includes a second end face capable of fitting with the material to be clamped. The first end face and the second end face are perpendicularly arranged. First jaw assembly: Comprising a first jaw, and the first jaw is installed on the first fixture body part. Second jaw assembly: Comprising a second jaw, and the second jaw is installed on the second fixture body part. When the fixture clamps the material, the first jaw applies a thrust to the material to be clamped in the direction of the second end face, causing the material to be clamped to abut against the second end face; the second jaw applies a thrust to the material to be clamped in the direction of the first end face, causing the material to be clamped to abut against the first end face.

2. The fixture according to claim 1, wherein, The fixture further includes: Third jaw and fourth jaw: Installed on the first fixture body part, and the third jaw and the fourth jaw are symmetrically arranged on both sides of the first jaw and the second jaw. First transmission unit: Installed on the first fixture body part and respectively connected to the third jaw and the fourth jaw. The first transmission unit is used to drive the third jaw and the fourth jaw to move for clamping or releasing the material.

3. The fixture according to claim 2, wherein The first transmission unit includes: Drive gear: Rotatably installed on the first fixture body part. Gear rack: Comprising a first gear rack and a second gear rack; the first gear rack and the second gear rack are arranged in parallel on opposite sides of the drive gear and mesh with the drive gear. Sliding part: Comprising a first sliding table and a second sliding table; the first sliding table and the second sliding table can slide relative to the first fixture body part. The first gear rack is connected to the first sliding table, and the second gear rack is connected to the second sliding table. Connecting rod: Comprising a first connecting rod and a second connecting rod; one end of the first connecting rod is connected to the first gear rack or the first sliding table, and the other end is connected to the third jaw; one end of the second connecting rod is connected to the second gear rack or the second sliding table, and the other end is connected to the fourth jaw.

4. The fixture according to claim 3, characterized in that The first transmission unit further includes: Guide post: Comprising a first guide post and a second guide post; the first guide post is connected to the first gear rack, and the second guide post is connected to the second gear rack. Limit post: Comprising a first limit post and a second limit post; the first limit post and the second limit post are fixedly installed on the first fixture body part. A first limit hole is formed in the first limit post, and a second limit hole is formed in the second limit post. The opening directions of the first limit hole and the second limit hole face the direction opposite to that of the third jaw and the fourth jaw. The first guide post is inserted into the first limit hole and fits with the inner wall of the first limit hole; the second guide post is inserted into the second limit hole and fits with the inner wall of the second limit hole.

5. The fixture according to claim 3, wherein The first transmission unit further includes: First cylinder: Comprising a first cylinder and a first piston rod, and the first cylinder is fixedly connected to the first fixture body part. Connector: One end is connected to the first connecting rod or the second connecting rod, and the other end is connected to the first piston rod. The first cylinder pushes the first piston rod to move, and the first piston rod drives the first connecting rod or the second connecting rod to move through a connecting member.

6. The fixture according to any one of claims 1-5, characterized in that The second jaw assembly further includes a second transmission unit, the second transmission unit is installed on the second fixture body portion, and the second transmission unit includes: A second cylinder, including a second cylinder body and a second piston rod; A first rotating member: one end is fixedly connected to the second fixture body portion, and the other end is hinged to the second cylinder body through a core shaft; A second rotating member: one end is fixedly connected to the second jaw, and the other end is hinged to the second piston rod through a core shaft; A third rotating member: one end is fixedly connected to the second fixture body portion, and the other end is hinged to the second jaw through a core shaft; When the second cylinder contracts or extends, it drives the second jaw to rotate to clamp or release the material.

7. The jig according to any one of claims 1-5, characterized in that, The first jaw assembly further includes a third transmission unit, the third transmission unit is installed on the first fixture body portion, and the third transmission unit includes: A rotary cylinder: including a third cylinder body and a rotating mechanism, the third cylinder body is fixedly connected to the first fixture body portion; A rotating rod: one end is fixedly connected to the rotating mechanism, and the other end is fixedly connected to the first jaw; The third cylinder drives the rotating mechanism to rotate, and the rotating mechanism drives the first jaw to rotate through the rotating rod to clamp or release the material.

8. The jig according to claim 1, wherein The fixture further includes a suction cup, the suction cup is installed inside the first fixture body portion, and a suction hole is provided on the first end surface, and the suction cup sucks the material through the suction hole.

9. The fixture according to claim 1, wherein The fixture further includes a first limiting member and a second limiting member, the first limiting member and the second limiting member are installed on the second fixture body portion and are symmetrically arranged on both sides of the first jaw and the second jaw; the first limiting member and the second limiting member extend out of the second fixture body portion in the thickness direction of the second fixture body portion towards the direction where the material to be clamped is located.

10. The jig according to claim 1, characterized in that, The fixture further includes a proximity switch, the proximity switch is installed inside the second fixture body portion, a detection hole is provided on the second end surface, and the proximity switch detects the distance between the material to be clamped and the second end surface through the detection hole.

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