gripping device

Abstract

This invention provides a clamping device, relating to the field of packaging equipment technology. The clamping device includes a mounting body and a clamping structure. The clamping structure includes a movable arm, a first gripper, and a second gripper. The movable arm is movably mounted on the first mounting body, the first gripper is mounted on the movable arm, and the second gripper is movably mounted on the movable arm in a direction approaching or away from the first gripper. The first and second grippers are used to clamp the object to be clamped. One of the first and second grippers is provided with a magnetic element, and the other with a magnetic adsorption element, so that the first and second grippers magnetically attract each other when they are relatively close. This application solves the technical problem in related technologies where packaging clamps have poor stability when clamping packaging bags of different thicknesses, resulting in the possibility of them falling off.

Description

Technical Field

[0001] This invention relates to the field of packaging equipment technology, and more specifically, to a clamping device. Background Technology

[0002] Currently, tamper-evident boxes, as installation accessories to prevent unauthorized disassembly of products, are widely used in the packaging of air conditioners, electronics, and other industries. Especially in air conditioners, they are often used to wrap the connecting pipe nuts, providing both corrosion protection and tamper prevention. Their automated bagging process relies on clamps to stably hold the thin packaging bags.

[0003] However, existing bagging equipment generally uses silicone grippers or pneumatic clamping structures, which have problems such as constant clamping force, inability to adapt to changes in bag thickness, and easy wear and aging of the clamping surface. This causes the packaging bags to slip and fall easily during high-speed transmission, resulting in bagging failure and a decrease in yield, making it difficult to meet the industrial bagging requirements of high stability and high compatibility. Summary of the Invention

[0004] The main objective of this invention is to provide a clamping device to solve the technical problem that packaging clamps in the related art have poor stability when clamping packaging bags of different thicknesses, and that they may fall off.

[0005] To achieve the above objectives, according to one aspect of the present invention, a clamping device is provided, comprising: a mounting body; and a clamping structure including a movable arm, a first clamping jaw, and a second clamping jaw. The movable arm is movably disposed on the mounting body, the first clamping jaw is disposed on the movable arm, and the second clamping jaw is movably disposed on the movable arm in a direction approaching or away from the first clamping jaw. The first and second clamping jaws are used to clamp a part to be clamped. One of the first and second clamping jaws is provided with a magnetic element, and the other is provided with a magnetic adsorption element, so that when the first and second clamping jaws are relatively close, the first and second clamping jaws magnetically adsorb each other.

[0006] Furthermore, the clamping structure also includes: a transmission component, movably mounted on the movable arm, one end of which is hinged to the second gripper; a first elastic element, both ends of which are connected to the transmission component and the movable arm respectively; when the second gripper is in the clamping position, the first elastic element is in a contracted state, and when the second gripper is in the released position, the first elastic element is in a stretched state.

[0007] Furthermore, the transmission component includes: a first link and a second link, the middle part of the first link is hinged to the movable arm, one end of the first link is hinged to one end of the second link, and the other end of the second link is hinged to the second gripper.

[0008] Furthermore, a first guide is rotatably provided at the end of the transmission component away from the second gripper. The clamping device also includes a first movable component, which is movably disposed on the mounting body. The first movable component has an initial state and a working state. When the first movable component is in the initial state, the first movable component and the first guide are spaced apart. When the first movable component is in the working state, the first movable component moves to contact the first guide and pushes the transmission component to move.

[0009] Furthermore, a protective member is provided on the side of the second gripper facing the first gripper, and at least one third mounting groove is provided on the protective member, and a distance sensor and / or pressure sensor and / or Hall sensor is provided in the at least one third mounting groove.

[0010] Furthermore, a second guide member is rotatably provided on the movable arm, and the clamping device further includes: a second movable member, which is movably disposed on the mounting body in a direction perpendicular to the mounting body, and a mounting inclined surface is provided on the side of the second movable member facing the movable arm; the second movable member has a ready position and a start position; when the second movable member is in the ready position, the second movable member and the second guide member are spaced apart; when the second movable member is in the start position, the mounting inclined surface contacts the second guide member and pushes the movable arm to move; wherein, the mounting inclined surface is disposed at an angle to the surface of the mounting body.

[0011] Furthermore, the main body of the installation is provided with a guide rail, the movable arm is provided with a sliding member, the sliding member is slidably connected to the guide rail, and the second guide member is provided at the end of the sliding member near the second movable member.

[0012] Furthermore, the clamping structure has at least one set, each set including two clamping structures, which are movably arranged in a direction that is relatively close to or far apart from each other.

[0013] Furthermore, the clamping device also includes a second elastic element, the two ends of which are respectively connected to the two movable arms. When the two movable arms are in a relatively close position, the second elastic element is in a contracted state, and when the two movable arms are in a relatively far position, the second elastic element is in a stretched state.

[0014] Furthermore, the first gripper has a first mounting groove on the side facing the second gripper, and the second gripper has a second mounting groove on the side away from the first gripper. One of the magnetic component and the magnetic adsorption component is disposed in the first mounting groove and the other is disposed in the second mounting groove.

[0015] The present invention provides a clamping device, comprising a mounting body and a clamping structure. The clamping structure includes a movable arm, a first clamping jaw, and a second clamping jaw. The movable arm is movably mounted on the mounting body, the first clamping jaw is mounted on the movable arm, and the second clamping jaw is movably mounted on the movable arm in a direction approaching or away from the first clamping jaw. The first and second clamping jaws are used to clamp a part to be clamped. One of the first and second clamping jaws is provided with a magnetic element, and the other with a magnetic adsorption element, so that when the first and second clamping jaws are relatively close, they magnetically adsorb each other.

[0016] The magnetic connection between the first and second grippers creates a stable magnetic attraction force when the gripper is closed. This force works in conjunction with the mechanical clamping force to significantly improve the reliability of gripping the packaging bag. This effectively overcomes the technical problem of poor stability and falling off caused by vibration, air pressure fluctuations, or bag thickness tolerances when gripping packaging bags of different thicknesses in traditional clamps. It greatly reduces the bagging failure rate and improves the production stability, equipment qualification rate, and production capacity of the equipment.

[0017] Furthermore, the magnetic connection requires no additional drive mechanism or air source. It only relies on the adjustment of the movement of the second gripper relative to the first gripper to complete the closed-loop action of clamping and magnetic locking of packaging bags of different thicknesses or materials. The structure is simplified and the response is fast, avoiding the problem of excessive pressure piercing thin bags or insufficient clamping causing them to fall off. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 A schematic diagram of the structure in a first state provided by an embodiment of the clamping device according to the present invention is shown;

[0020] Figure 2 A schematic diagram of the structure in a second state provided by an embodiment of the clamping device according to the present invention is shown.

[0021] The above figures include the following reference numerals:

[0022] 1. Mounting body; 10. Guide rail; 11. Sliding component; 110. Second guide component;

[0023] 2. Clamping structure; 20. Movable arm; 21. First gripper; 22. Second gripper; 220. Protective component; 23. Magnetic component; 24. Magnetic adsorption component; 25. Transmission component; 250. First connecting rod; 251. Second connecting rod; 26. First elastic component; 27. First guide component;

[0024] 3. First active component;

[0025] 4. Second movable component; 40. Installation ramp;

[0026] 5. Second elastic element. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] Please refer to Figure 1 and Figure 2 As shown, one aspect of the technical solution of this application provides a clamping device, including a mounting body 1 and a clamping structure 2. The clamping structure 2 includes a movable arm 20, a first gripper 21 and a second gripper 22. The movable arm 20 is movably disposed on the mounting body 1. The first gripper 21 is disposed on the movable arm 20. The second gripper 22 is movably disposed on the movable arm 20 in a direction close to or away from the first gripper 21. The first gripper 21 and the second gripper 22 are used to clamp the object to be clamped. Among them, one of the first gripper 21 and the second gripper 22 is provided with a magnetic element 23 and the other is provided with a magnetic adsorption element 24, so that when the first gripper 21 and the second gripper 22 are relatively close, the first gripper and the second gripper are magnetically adsorbed.

[0029] The magnetic connection between the first gripper 21 and the second gripper 22 creates a stable magnetic attraction force when the gripping is closed. This force works in conjunction with the mechanical clamping force to significantly improve the reliability of gripping the packaging bag. This effectively overcomes the technical problem of poor stability and falling off caused by vibration, air pressure fluctuations, or bag thickness tolerance when gripping packaging bags of different thicknesses in traditional clamps. It greatly reduces the bagging failure rate and improves the production stability, equipment qualification rate, and production capacity of the equipment.

[0030] Furthermore, the magnetic connection requires no additional drive mechanism or air source. The second gripper 22 can adjust its movement relative to the first gripper 21 to complete the closed-loop action from clamping to magnetic locking of packaging bags of different thicknesses or materials. The structure is simplified and the response is fast, avoiding the problem of excessive pressure piercing thin bags or insufficient clamping causing them to fall off.

[0031] In this embodiment, the item to be clamped is a packaging bag.

[0032] In this embodiment, at least one of the magnetic component 23 and the magnetic adsorption component 24 is a magnet.

[0033] Preferably, the magnet is an N52 grade neodymium iron boron permanent magnet.

[0034] Neodymium iron boron (NdFeB) permanent magnets currently boast the highest magnetic energy product ((BH)max) at room temperature, with N52-grade magnets achieving a magnetic flux density exceeding 1.48T. Compared to ferrite or AlNiCo magnets, NdFeB offers 3-5 times greater magnetic force within the same volume. This allows for a stable vertical magnetic field of ≥0.4T while miniaturizing the clamping structure, ensuring a reliable adsorption force of ≥10N on ultra-thin packaging bags (0.03–0.5mm), thus overcoming the problems of traditional clamps failing to hold firmly and easily slipping out.

[0035] Furthermore, due to its high magnetic density, only a very small neodymium iron boron magnet is needed to meet the clamping requirements, making the clamping structure more compact and reducing the moment of inertia. When combined with the spring compensation module, the system has a faster response speed and more accurate positioning, making it particularly suitable for the stringent requirements of dynamic clamping stability in high-speed packaging production lines (≥60 bags / minute).

[0036] In this embodiment, the clamping structure 2 further includes a transmission component 25 and a first elastic element 26. The transmission component 25 is movably mounted on the movable arm 20, and one end of the transmission component 25 is hinged to the second gripper 22. The two ends of the first elastic element 26 are respectively connected to the transmission component 25 and the movable arm 20. When the second gripper 22 is in the clamping position, the first elastic element 26 is in a contracted state; when the second gripper 22 is in the released position, the first elastic element 26 is in a stretched state. The first elastic element 26 is a spring with an adjustable stiffness coefficient of 0.5-1.2 N / mm to compensate for bag thickness tolerances in real time.

[0037] When the thickness of the packaging bag changes (e.g., ±0.05mm), the second gripper 22 can move slightly under the linkage of the transmission component 25, and the first elastic element 26 stretches or contracts accordingly, automatically adjusting the clamping force. For thicker bags, the elastic element stretches and the clamping force increases; for thinner bags, the elastic element retracts and the clamping force decreases, avoiding cracking or clamping failure. This structure achieves sensorless mechanical adaptive closed-loop control, significantly improving compatibility with multiple batches and multiple materials of packaging bags.

[0038] Furthermore, at the moment the second gripper 22 closes, the second gripper 22 generates an impact due to inertia or high-speed movement. The first elastic element 26 absorbs energy and mitigates the collision, effectively reducing the mechanical stress on the magnetic components, transmission components 25, and movable arm 20, reducing metal fatigue and wear, extending the overall service life of the clamp, and reducing the frequency of equipment downtime for maintenance. At the same time, this mechanism relies entirely on mechanical elasticity to achieve dynamic adjustment, without the need for additional sensors, cylinders, or motors to participate in clamping force control. It has a simple structure, low cost, and strong anti-interference capabilities.

[0039] The magnetic component 23 and the magnetic adsorption component 24 provide the main adsorption force, while the first elastic component 26 provides dynamic compensation force. The two work together: the magnetic attraction achieves locking, and the elasticity achieves fitting, forming a composite clamping mechanism that combines rigidity and flexibility. Compared with purely rigid clamping or purely spring designs, this structure ensures clamping strength while also taking into account flexibility and adaptability.

[0040] In this embodiment, the transmission component 25 includes a first connecting rod 250 and a second connecting rod 251. The middle part of the first connecting rod 250 is hinged to the movable arm 20, one end of the first connecting rod 250 is hinged to one end of the second connecting rod 251, and the other end of the second connecting rod 251 is hinged to the second gripper 22.

[0041] Through the hinged combination of the first link 250 and the second link 251, the second gripper 22 can be driven to adjust its displacement with a small input displacement, making the clamping action faster and more thorough. Through the geometric constraints of the double links, the movement path of the second gripper 22 is precisely limited to a preset arc, avoiding lateral offset, tilting, or jamming problems caused by single-point connection. Especially under magnetic attraction, it ensures that the second gripper 22 always aligns with the first gripper 21 along the preset arc trajectory, guaranteeing complete contact of the magnetic flux surfaces, maximizing attraction efficiency, and reducing clamping force loss.

[0042] Compared to the slider guide rail 10 or the cylinder direct drive structure, the double linkage mechanism can be embedded inside or in the side space of the movable arm 20 to achieve a low profile and high integration layout. It is especially suitable for high-speed packaging equipment with limited space, eliminating the need for additional guide rails, simplifying the overall structure and reducing manufacturing and assembly complexity.

[0043] In this embodiment, a first guide 27 is rotatably disposed at the end of the transmission component 25 away from the second gripper 22. The clamping device also includes a first movable component 3, which is movably disposed on the mounting body 1. The first movable component 3 has an initial state and a working state. When the first movable component 3 is in the initial state, it is spaced apart from the first guide 27. When the first movable component 3 is in the working state, it moves to contact the first guide 27 and pushes the transmission component 25 to move. The first movable component 3 is a push plate. A first driving component (motor or cylinder, etc.) is disposed on the mounting body 1, and the first movable component 3 is connected to the output end of the first driving component.

[0044] In the packaging process, the bag opening action must be completed before the clamping is completed; otherwise, the closing of the grippers will interfere with the bag opening mechanism, causing the bag opening to tear or the clamp to jam. Initial state: The first moving part 3 is retracted, the first guide part 27 is in a free position, and the clamping structure 2 is in a pre-opening or standby state and does not participate in the bag opening process; Working state: After the bag opening mechanism completes its action, the first moving part 3 moves forward, actively pushing the first guide part 27, which triggers the action of the transmission component 25, ultimately causing the second gripper 22 to close and clamp.

[0045] The first movable part 3 only briefly contacts the first guide part 27 during operation, and can retract after pushing, without continuous force application; after the clamping action is completed, the first movable part 3 resets, and the transmission part 25 automatically returns to its position under the action of the first elastic part 26; throughout the entire process, energy transfer occurs only once at the critical node, with no continuous energy consumption.

[0046] In this embodiment, a protective member 220 is provided on the side of the second gripper 22 facing the first gripper 21. The protective member 220 has at least one third mounting groove, within which a ranging sensor and / or a pressure sensor and / or a Hall effect sensor is disposed. The protective member 220 is a protective rubber pad, acting as a physical barrier to completely encapsulate the high-precision sensor (laser ranging, thin-film pressure, Hall effect element) within the third mounting groove, preventing direct exposure and extending the sensor's lifespan.

[0047] The bag thickness is monitored in real time by a laser rangefinder (accuracy ±0.1mm). Bags with a thickness of 0.1-0.2mm are thin film bags, while the rest are woven bags. A thin film pressure sensor (range 0-10N) is embedded in the third mounting slot to monitor whether the bag has fallen off. The pressure value range is 0.1-3N. A Hall sensor monitors the attenuation of the magnet (a warning is issued if the magnetic flux loss is greater than 10%) and triggers a maintenance reminder to prevent the magnetic components from failing without being detected.

[0048] In this embodiment, a second guide member 110 is rotatably disposed on the movable arm 20, and the clamping device further includes a second movable member 4, which is movably disposed on the mounting body 1 in a direction perpendicular to the mounting body 1. A mounting inclined surface 40 is disposed on the side of the second movable member 4 facing the movable arm 20. The second movable member 4 has a ready position and a start position. When the second movable member 4 is in the ready position, the second movable member 4 and the second guide member 110 are spaced apart. When the second movable member 4 is in the start position, the mounting inclined surface 40 contacts the second guide member 110 and pushes the movable arm 20 to move. The mounting inclined surface 40 is disposed at an angle to the surface of the mounting body 1.

[0049] Existing clamping devices mostly use cylinders or motors to directly drive the clamping arms to open and close, or use rigid linkages via connecting rods. These actions are abrupt and can easily cause uneven stress on the packaging bag, leading to tearing, slippage, or wrinkling at the bag opening. By utilizing the second movable component 4, which transitions through the contact between the mounting inclined surface 40 and the second guide component 110, the vertical linear motion is smoothly converted into the horizontal linear motion of the movable arm 20. This allows the opening and closing of the two movable arms 20 to be gradually pushed by the mounting inclined surface 40, avoiding mechanical impact, making the clamping process gentler, significantly reducing the damage rate of the packaging bag, and greatly reducing the instantaneous tensile force on the packaging bag. This is especially suitable for thin bags and fragile materials.

[0050] During clamping, if there is a slight tolerance in the thickness of the packaging bag, traditional rigid clamps need to rely on external pressure for compensation. In this structure, by using the inclined design of the mounting slope 40, the second movable part 4 only needs a slight vertical displacement to drive the movable arm 20 to produce a larger displacement, thus achieving a wider range of bag thickness self-adaptation.

[0051] In this embodiment, a guide rail 10 is provided on the mounting body 1, and a sliding member 11 is provided on the movable arm 20. The sliding member 11 is slidably connected to the guide rail 10, and a second guide member is provided at the end of the sliding member close to the second movable member. The movable arm 20 is a carbon fiber cantilever (40% weight reduction) with built-in self-lubricating bearings. It achieves a precise displacement of ±25mm through the differential mechanism of the two guide rails 10. When the bag is opened, a 15-30mm buffer cavity (adjustable) is formed between the two movable arms 20 to eliminate mechanical interference.

[0052] The guide rail 10 and the slider 11 form a high-rigidity linear guide system, which constrains the two movable arms 20 to move symmetrically on completely parallel tracks; the second movable part 4 drives the sliders 11 on both sides at the same time, eliminating the off-center load, tilt or torque imbalance caused by unilateral drive; ensuring that the first gripper 21 and the second gripper 22 always remain parallel and aligned during the closing process, and the magnetic attraction surfaces are 100% in contact.

[0053] In this embodiment, the clamping structure 2 has at least one set, each set including two clamping structures 2, which are movably arranged in a direction that is relatively close to or far apart from each other. The two clamping structures 2 in one set respectively clamp the side of the opening of the packaging bag. A second movable member 4 is correspondingly arranged with one set of clamping structures 2. The second movable member 4 has mounting inclined surfaces 40 on both sides facing the two movable arms, and the two mounting inclined surfaces 40 are symmetrically arranged in a direction perpendicular to the mounting body 1.

[0054] The parallel processing of multiple bags on one machine is achieved by using at least one set of clamping structures 2, which greatly improves the production capacity and efficiency of the equipment. Traditional clamps are single-set double-claw structures that can only clamp one packaging bag at a time. This structure adopts at least one set (which can be expanded to multiple sets) of clamping structure units, each set independently containing two movable clamping structures 2. Multiple sets of clamping structures 2 are arranged side by side on the same mounting body 1, which can clamp multiple packaging bags at the same time (such as 2 sets clamping 2 bags, 4 sets clamping 4 bags).

[0055] In this embodiment, the clamping device further includes a second elastic element 5, with both ends of the second elastic element 5 connected to two movable arms 20 respectively. When the two movable arms 20 are in a relatively close position, the second elastic element 5 is in a contracted state; when the two movable arms 20 are in a relatively far position, the second elastic element 5 is in a stretched state. The second elastic element 5 is a spring.

[0056] When the two movable arms 20 are in the clamping state (close to each other), the second elastic element 5 is compressed and stores elastic potential energy; when the two movable arms 20 are in the releasing state (far apart from each other), the elastic element naturally stretches back to its original position. No additional drive mechanism is needed to push the movable arms 20 to open, so that the second movable element 4 only needs to apply force in one direction to complete the clamping action, and the opening action is automatically completed by the energy storage and release of the second elastic element 5.

[0057] In this embodiment, the first gripper 21 is provided with a first mounting groove on the side facing the second gripper 22, and the second gripper 22 is provided with a second mounting groove on the side away from the first gripper 21. One of the magnetic component and the magnetic adsorption component is disposed in the first mounting groove and the other is disposed in the second mounting groove.

[0058] By embedding the magnetic component 23 and the magnetic adsorption component 24 into the mounting groove of the clamping component, the magnet is prevented from being directly exposed to the external environment. This effectively prevents the magnet from being bumped, broken, or falling off during high-speed operation, frequent opening and closing, or friction of the packaging bag, significantly extending the service life of the magnetic components and ensuring the long-term stable operation of the clamping system.

[0059] Furthermore, the structural design of the first and second mounting slots ensures precise axial alignment of the two magnetic components when they are close together, allowing the magnetic lines of force to be efficiently superimposed perpendicular to the clamping surface, forming the strongest adsorption force. Compared to surface-mounted or laterally arranged magnets, this structure concentrates the magnetic flux density in the clamping contact area, effectively increasing the adsorption force per unit area and achieving strong adsorption with small magnets.

[0060] The specific workflow in this application is as follows:

[0061] Initial state preparation: With the movable arm 20 extended and the grippers pre-opened, all components of the device are reset to their standby positions.

[0062] The second driving component drives the second movable part 4 to move downward. After the second movable part 4 contacts the second guide 110, the second movable part 4 is linked by the second guide 110, causing the two movable arms 20 to separate synchronously to both sides along the guide rail 10. The first driving component synchronously drives the first movable part 3 to move outward, which is linked by the first guide 27 to the first connecting rod 250 and the second connecting rod 251, causing the second gripper 22 to unfold and form a pre-clamping space for the packaging bag. At this time, the N52 grade neodymium iron boron permanent magnet (magnetic flux density ≥0.4T) built into the gripper is in an unactivated state, and the first elastic element 26 (stiffness coefficient adjustable from 0.5 to 1.2 N / mm²) maintains its natural extension, providing an adaptive pressure compensation basis for subsequent clamping.

[0063] Packaging bag feeding and self-adaptive clamping: After the packaging bag is fed and positioned, it enters the clamping process.

[0064] The first drive component retracts, and the first elastic element 26 contracts synchronously. Through the lever transmission of the first connecting rod 250 and the second connecting rod 251, the second gripper 22 is driven to return to the preset clamping position. The built-in magnets of the first gripper 21 and the second gripper 22 generate a magnetic attraction perpendicular to the clamping surface, which, combined with the mechanical clamping force of the first elastic element 26, clamps the packaging bag. The clamping force is monitored in real time by a thin-film pressure sensor (range 0-100N) embedded in the second gripper 22. When the pressure is lower than the threshold (e.g., 5N), an alarm is triggered to ensure clamping stability.

[0065] Closed-opening bag fits: Allowance for opening:

[0066] When the packaging bag is in a closed state, opening the bag directly may cause it to fall off. Before the external bag opening component intervenes, the second drive component retracts, driving the second movable part 4 to reset. After the second movable part 4 disengages from the second guide part 110, the two movable arms 20, under the traction of the second elastic part 5, synchronously retract towards the center along the differential mechanism of the double guide rail 10, so that the bag opening is reserved with a 15-30mm buffer cavity (adjustable) to eliminate mechanical interference.

[0067] Secondary opening after tamper-evident box loading: Straighten the bag opening:

[0068] After the feeding mechanism (other mechanisms not shown in this application) puts the tamper-evident box into the packaging bag, it performs a second bag opening action: the second driving component drives the second movable part 4 downward again, and the second movable part 4 is linked by the second guide 110, so that the two movable arms 20 separate to both sides along the guide rail 10 (the carbon fiber cantilever reduces weight by 4% and improves response speed); the second gripper 22 moves synchronously with the movable arm 20 to realize the straightening operation of the bag opening, ensuring the flatness of the subsequent sealing process (compatible with special bag types such as stand-up pouches and zipper bags).

[0069] Reset after sealing: Release finished product and start the cycle:

[0070] After the sealing mechanism completes the sealing, it enters the reset process: the first drive component drives the first movable part 3 to move outward again, and through the first guide 27, the first connecting rod 250 and the second connecting rod 251 cause the second gripper 22 to unfold and release the finished product; the second drive component retracts, and the two movable arms 20 close and reset under the action of the second elastic element 5; the Hall sensor monitors the magnet attenuation (early warning when magnetic flux loss > 10%), the laser rangefinder (accuracy ± 0.1 mm) verifies the bag thickness, all components return to the initial position, completing one work cycle and waiting for the next round of packaging operations.

[0071] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0072] The magnetic connection between the first gripper 21 and the second gripper 22 creates a stable magnetic attraction force when the gripping is closed. This force works in conjunction with the mechanical clamping force to significantly improve the reliability of gripping the packaging bag. This effectively overcomes the technical problem of traditional grippers, which suffer from poor stability when gripping packaging bags of different thicknesses due to vibration, air pressure fluctuations, or bag thickness tolerances, leading to bags falling off. This significantly reduces the bagging failure rate and improves the equipment's production stability, qualification rate, and capacity. Furthermore, the magnetic connection requires no additional drive mechanism or air source. The closed-loop action of clamping and magnetic locking of packaging bags of different thicknesses or materials can be completed simply by adjusting the movement of the second gripper 22 relative to the first gripper 21. This simplified structure and fast response prevent over-pressure from puncturing thin bags or insufficient gripping from causing bags to fall off.

[0073] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0074] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0075] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0076] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0077] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0078] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A clamping device, characterized in that include: Installation main body (1); The clamping structure (2) includes a movable arm (20), a first gripper (21), and a second gripper (22). The movable arm (20) is movably disposed on the mounting body (1). The first gripper (21) is disposed on the movable arm (20). The second gripper (22) is movably disposed on the movable arm (20) in a direction close to or away from the first gripper (21). The first gripper (21) and the second gripper (22) are used to clamp the object to be clamped. Among them, one of the first gripper (21) and the second gripper (22) is provided with a magnetic element (23) and the other is provided with a magnetic adsorption element (24) so ​​that when the first gripper (21) and the second gripper (22) are relatively close, the first gripper (21) and the second gripper (22) are magnetically adsorbed.

2. The clamping device of claim 1, wherein The clamping structure (2) further includes: A transmission component (25) is movably mounted on the movable arm (20), and one end of the transmission component (25) is hinged to the second gripper (22); The first elastic element (26) has two ends connected to the transmission component (25) and the movable arm (20) respectively; when the second gripper (22) is in the clamping position, the first elastic element (26) is in the contracted state; when the second gripper (22) is in the released position, the first elastic element (26) is in the stretched state.

3. The clamping device according to claim 2, characterized in that, The transmission component (25) includes: The first link (250) and the second link (251) are connected in the middle to the movable arm (20), one end of the first link (250) is connected to one end of the second link (251), and the other end of the second link (251) is connected to the second gripper (22).

4. The clamping device according to claim 2, characterized in that, The transmission component (25) has a first guide (27) rotatably disposed at one end away from the second gripper (22), and the clamping device further includes: The first movable component (3) is movably disposed on the mounting body (1). The first movable component (3) has an initial state and a working state. When the first movable component (3) is in the initial state, the first movable component (3) is spaced apart from the first guide component (27). When the first movable component (3) is in the working state, the first movable component (3) moves to contact the first guide component (27) and pushes the transmission component (25) to move.

5. The clamping device according to claim 1, characterized in that, The second gripper (22) is provided with a protective member (217) on the side facing the first gripper (21). The protective member (217) is provided with at least one third mounting groove, and a distance sensor and / or pressure sensor and / or Hall sensor is provided in the at least one third mounting groove.

6. The clamping device according to claim 1, characterized in that, A second guide (110) is rotatably provided on the movable arm (20), and the clamping device further includes: The second movable component (4) is movably disposed on the mounting body (1) in a direction perpendicular to the mounting body (1). The second movable component (4) has a mounting inclined surface (40) on the side facing the movable arm (20). The second movable component (4) has a ready position and a start position. When the second movable component (4) is in the ready position, the second movable component (4) is spaced apart from the second guide (110). When the second movable component (4) is in the start position, the mounting inclined surface (40) contacts the second guide (110) and pushes the movable arm (20) to move. The mounting inclined surface (40) is set at an angle to the surface of the mounting body (1).

7. The clamping device according to claim 6, characterized in that, The mounting body (1) is provided with a guide rail (10), and the movable arm (20) is provided with a slider (11). The slider (11) is slidably connected to the guide rail (10), and the second guide (110) is located at one end of the slider (11) near the second movable part (4).

8. The clamping device according to claim 1, characterized in that, The clamping structure (2) has at least one set, each set including two clamping structures (2), the two clamping structures (2) being movably arranged in a direction that is relatively close to or far apart from each other.

9. The clamping device according to claim 8, characterized in that, The clamping device further includes: The second elastic element (5) has two ends connected to the two movable arms (20) respectively. When the two movable arms (20) are in a relatively close position, the second elastic element (5) is in a contracted state. When the two movable arms (20) are in a relatively far position, the second elastic element (5) is in a stretched state.

10. The clamping device according to claim 1, characterized in that, The first gripper (21) has a first mounting groove on the side facing the second gripper (22), and the second gripper (22) has a second mounting groove on the side away from the first gripper (21). One of the magnetic component (23) and the magnetic adsorption component (24) is disposed in the first mounting groove and the other is disposed in the second mounting groove.

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