Gripping device suitable for heavy loads

Abstract

This invention relates to the field of automated assembly technology, and in particular to a clamping device suitable for heavy loads. The clamping device includes: a clamping mechanism with a base, grippers, and a drive assembly; the grippers are movably mounted on the base, and the drive assembly is fixed to the base and drively connected to the grippers; a bracket for loading materials to be transported; wherein the grippers, driven by the drive assembly, reciprocate between a first position retracted into the base and a second position extended from the base; two grippers are symmetrically arranged at both ends along the length of the base; the grippers move to the first position to lock the clamping mechanism and the bracket together, and the grippers move to the second position to separate the clamping mechanism from the bracket. In this invention, through optimized structural design, the stability and reliability of the clamping device are improved, enabling the clamping device to be applied to heavy-load, high-frequency operating conditions.

Description

Technical Field

[0001] This invention relates to the field of automated assembly technology, and in particular to a clamping device suitable for heavy loads. Background Technology

[0002] Currently, in the field of heavy material clamping, mainstream technical solutions have significant limitations due to their power modes and structural characteristics: 1. Pneumatic / hydraulic clamps: relying on fluid media (compressed air / hydraulic oil) for drive, although they have fast response (pneumatic) or high load characteristics (hydraulic), there is a risk of media leakage (oil mist / particulate matter contamination), making it difficult to meet the requirements of ISO level 4 or higher clean environments; 2. Vacuum / magnetic suction devices: relying on surface adsorption principles (vacuum negative pressure / magnetic force), adsorption failure is easily caused by workpiece surface contamination, and contact clamping is prone to damaging the surface of precision workpieces; 3. Traditional electric clamps: using gear / worm gear transmission, limited by transmission efficiency and structural strength, the clamping force is generally less than 300kg, which cannot meet the handling needs of heavy clean workpieces such as superconducting cavities and wafer manufacturing equipment. Summary of the Invention

[0003] This invention aims to solve the technical problems existing in related technologies. To this end, this invention proposes a clamping device suitable for heavy loads to solve the problems of existing clamping devices being prone to material contamination, having poor stability, and having low clamping force.

[0004] This invention provides a clamping device suitable for heavy loads, comprising: The clamping mechanism includes a base, grippers, and a drive assembly. The grippers are movably mounted on the base, and the drive assembly is fixed to the base and is drively connected to the grippers. A tray is used to load materials to be transported. The gripper is driven by the drive assembly and reciprocates between a first position retracted into the base and a second position extended from the base. The two grippers are symmetrically arranged at both ends of the base along its length. The grippers move to the first position to lock the clamping mechanism and the bracket together, and the grippers move to the second position to separate the clamping mechanism and the bracket.

[0005] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the bracket includes a base plate, and the base plate is provided with a first snap-fit ​​portion at both ends in its own length direction; The gripper is provided with a second engaging portion. As the gripper moves from the second position to the first position, the first engaging portion engages with the second engaging portion to facilitate the clamping mechanism to dock and position with the bracket.

[0006] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the first snap-fit ​​portion is provided with a first protrusion, and the second snap-fit ​​portion is provided with a snap-fit ​​groove adapted to the first protrusion.

[0007] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the first snap-fit ​​portion is further provided with a second protrusion, and the second protrusion is disposed between two spaced first protrusions; The second snap-fit ​​portion has a notch between the two slots to accommodate the second protrusion.

[0008] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the base is provided with: A positioning platform, located in the middle of the base, is used to connect the robotic arm; The first groove extends along the length of the base from one end of the base to the other end of the base, and the first groove divides the positioning platform into two structurally symmetrical parts, and the drive assembly is installed in the first groove.

[0009] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the drive assembly includes: The motor is fixed to one end of the first groove; The speed reducer is connected to the motor; Screw support bases, two of which are respectively installed on both sides of the positioning platform; A ball screw extends from one side of the positioning platform to the other side of the positioning platform, and both ends of the ball screw are movably connected to the screw support seat.

[0010] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the base is further provided with a second groove, the second groove being parallel to the first groove, and four second grooves are symmetrically distributed relative to the first groove and the positioning platform; The clamping mechanism further includes a linear guide rail installed in the second groove and a slider slidably connected to the linear guide rail, and the gripper is connected to the slider.

[0011] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the clamping jaws include: A wing plate, the first end of which extends out of the outside of the base, and the second end of which overlaps the base and is connected to the slider; A lead screw connector is fixed to the wing plate, and the lead screw connector is connected to the ball screw drive. A clamping plate, one end of which is connected to the first end of the wing plate, and the other end of which extends downward toward the base.

[0012] According to a clamping device suitable for heavy loads provided by the present invention, the bracket further includes a support plate, the support plate being perpendicular to the surface of the base plate, and two support plates being spaced apart along the length direction of the base plate.

[0013] According to the present invention, a clamping device suitable for heavy loads is provided, wherein the clamping mechanism further includes a cover body that covers the base above the base; A through-hole is provided in the middle of the cover to allow the robotic arm to pass through the cover and connect to the positioning platform.

[0014] The above-described one or more technical solutions of this invention have at least one of the following technical effects: The clamping device is divided into two parts: a clamping mechanism and a bracket. The clamping mechanism is used to clamp and lock the bracket, which improves the stability and reliability of the clamping device and ensures that the clamping device can maintain good performance under heavy load and high frequency operation.

[0015] In addition to the technical problems solved by the present invention, the technical features of the technical solutions constituted by the present invention, and the advantages brought about by the technical features of these technical solutions as described above, other technical features of the present invention and the advantages brought about by these technical features will be further explained in conjunction with the accompanying drawings, or will be learned through the practice of the present invention. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a general schematic diagram of the clamping device provided in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram illustrating the interaction between the clamping device and the robotic arm provided in an embodiment of the present invention.

[0019] Figure 3 This is an exploded view of the clamping device provided in an embodiment of the present invention.

[0020] Figure 4 This is a top view of the clamping device provided in an embodiment of the present invention when the cover is not installed.

[0021] Figure 5 This is a schematic diagram illustrating the engagement of the first snap-fit ​​portion and the second snap-fit ​​portion according to an embodiment of the present invention.

[0022] Figure label: 100. Clamping mechanism; 110. Base; 111. Positioning platform; 112. First groove; 113. Second groove; 120. Gripper; 121. Wing plate; 122. Screw connector; 123. Clamping plate; 124. Second locking part; 125. Slot; 130. Drive assembly; 131. Motor; 132. Reducer; 133. Screw support seat; 134. Ball screw; 140. Linear guide rail; 150. Slider; 160. Cover; 200. Bracket; 210. Base plate; 220. First locking part; 221. First protrusion; 222. Second protrusion; 230. Pallet; 400. Material to be transported; 500. Robotic arm. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] Currently, in the field of heavy material clamping, mainstream technical solutions have significant limitations due to their power modes and structural characteristics: 1. Pneumatic / hydraulic clamps: relying on fluid media (compressed air / hydraulic oil) for drive, although they have fast response (pneumatic) or high load characteristics (hydraulic), there is a risk of media leakage (oil mist / particulate matter contamination), making it difficult to meet the requirements of ISO level 4 or higher clean environments; 2. Vacuum / magnetic suction devices: relying on surface adsorption principles (vacuum negative pressure / magnetic force), adsorption failure is easily caused by workpiece surface contamination, and contact clamping is prone to damaging the surface of precision workpieces; 3. Traditional electric clamps: using gear / worm gear transmission, limited by transmission efficiency and structural strength, the clamping force is generally less than 300kg, which cannot meet the handling needs of heavy clean workpieces such as superconducting cavities and wafer manufacturing equipment.

[0025] To address the aforementioned problems, embodiments of the present invention provide a clamping device suitable for heavy loads.

[0026] like Figures 1 to 5 As shown, the clamping device mainly includes a clamping mechanism 100 and a bracket 200.

[0027] The clamping mechanism 100 includes a base 110, a gripper 120, and a drive assembly 130. The gripper 120 is movably mounted on the base 110. The drive assembly 130 is fixed to the base 110. Furthermore, the drive assembly 130 is drively connected to the gripper 120.

[0028] Bracket 200 is used to load materials 400 to be transported.

[0029] like Figure 2 As shown, the clamping device is fixed to the robotic arm 500 and, driven by the robotic arm 500, moves the material 400 to be transported. The bracket 200 is responsible for positioning and clamping the material 400 to be transported. The clamping mechanism 100 is responsible for clamping and moving the bracket 200.

[0030] The gripper 120 is driven by the drive assembly 130 and reciprocates between a first position retracted into the base 110 and a second position extended out of the base 110.

[0031] The two grippers 120 are symmetrically arranged at both ends of the base 110 along its length.

[0032] The gripper 120 moves to the first position to lock the clamping mechanism 100 and the bracket 200 together.

[0033] The gripper 120 moves to the second position to separate the clamping mechanism 100 from the bracket 200.

[0034] Furthermore, the requirements for clamping devices vary greatly across complex and diverse industry environments and application scenarios. Traditional clamping devices are often unable to adapt to materials of various shapes and sizes that need to be transported.

[0035] To improve the adaptability of the clamping device, the bracket 200 is configured to consist of a base plate 210 and a pallet 230. The base plate 210 can be a fixed structure for fixed engagement with the clamping mechanism 100; the pallet 230 can be flexibly designed according to the material 400 to be transported, thereby improving its adaptability to various materials.

[0036] Specifically, the base plate 210 has a first snap-fit ​​portion 220 at both ends in its length direction.

[0037] The pallet 230 is perpendicular to the surface of the base plate 210. Two pallets 230 are spaced apart along the length of the base plate 210. The two ends of the material 400 to be transported are connected to the pallets 230 respectively.

[0038] Correspondingly, the gripper 120 is provided with a second engaging portion 124. As the gripper 120 moves from the second position to the first position, the first engaging portion 220 engages with the second engaging portion 124 to facilitate the clamping mechanism 100 and the bracket 200 to be docked and positioned.

[0039] In this way, the clamping device only needs to replace the bracket 200 to achieve efficient gripping with the clamping mechanism 100, making the clamping device highly adaptable and able to handle various clamping tasks flexibly and properly, saving the time required to install, remove and replace the clamping mechanism 100 from the robotic arm 500.

[0040] Furthermore, the first latching portion 220 is provided with a first protrusion 221. The second latching portion 124 is provided with a latching groove 125 that matches the first protrusion 221. The first protrusion 221 and the latching groove 125 are connected by a trapezoidal bevel.

[0041] Preferably, the first protrusion 221 is configured as a protrusion with a trapezoidal cross-section.

[0042] Furthermore, the first snap-fit ​​portion 220 is also provided with a second protrusion 222. The second protrusion 222 is disposed between two spaced-apart first protrusions 221.

[0043] The second snap-fit ​​portion 124 has a notch between the two snap-fit ​​slots 125 to accommodate the second protrusion 222.

[0044] In this embodiment, the clamping device is configured as two parts: a clamping mechanism 100 and a bracket 200. The clamping mechanism 100 is used to clamp and lock the bracket 200, which improves the stability and reliability of the clamping device and ensures that the clamping device can maintain good performance under heavy load and high frequency operation.

[0045] Based on the above embodiments, another embodiment of the present invention introduces a clamping device suitable for heavy loads.

[0046] like Figure 3 and Figure 4 As shown, in order to optimize the structure of the clamping mechanism 100 and reduce its volume, the base 110 is provided with a positioning platform 111, a first groove 112 and a second groove 113.

[0047] The positioning platform 111 is located in the middle of the base 110 and is used to connect the robotic arm 500. The first groove 112 extends along the length of the base 110 from one end of the base 110 to the other end of the base 110.

[0048] Furthermore, the first groove 112 divides the positioning platform 111 into two structurally symmetrical parts. Thus, the drive assembly 130 is installed in the first groove 112 and can maintain a transmission connection with the grippers 120 located at both ends of the base 110 simultaneously.

[0049] The second groove 113 is parallel to the first groove 112. The four second grooves 113 are symmetrically distributed relative to the first groove 112 and the positioning platform 111. The linear guide rails 140 are installed in the second grooves 113 one by one.

[0050] The clamping mechanism 100 further includes a linear guide rail 140 installed in the second groove 113 and a slider 150 slidably connected to the linear guide rail 140. The gripper 120 is connected to the slider 150.

[0051] Furthermore, the drive assembly 130 mainly includes a motor 131, a reducer 132, a lead screw support 133, and a ball screw 134.

[0052] The motor 131 is fixed to one end of the first groove 112. The reducer 132 is connected to the motor 131. The two lead screw support seats 133 are respectively installed on both sides of the positioning platform 111.

[0053] The ball screw 134 extends from one side of the positioning platform 111 to the other side of the positioning platform 111. Both ends of the ball screw 134 are movably connected to the screw support seat 133.

[0054] Specifically, the output shaft of motor 131 is connected to the input end of reducer 132. The output end of reducer 132 is connected to ball screw 134.

[0055] Preferably, the drive assembly 130 further includes a coupling. The coupling allows the reducer 132 to be connected and fitted with threaded rods of different diameters.

[0056] To ensure that particulate matter emissions are less than or equal to 0.1 μm particles per cubic meter during the operation of the clamping device, meeting the cleanliness requirements for scenarios such as semiconductor wafer handling and superconducting cavity assembly, a brushless motor 131 can be selected for motor 131, and a harmonic reducer 132 can be selected for reducer 132. Directly driving the ball screw 134 with motor 131 can eliminate the problem of lubricating oil contamination, thus meeting the ISO 4-5 cleanroom standard.

[0057] like Figure 3 As shown, the gripper 120 mainly includes a wing plate 121, a lead screw connector 122, and a clamping plate 123.

[0058] The first end of the wing plate 121 extends outward from the base 110. The second end of the wing plate 121 overlaps the base 110. Furthermore, the wing plate 121 is connected to the slider 150.

[0059] The lead screw connector 122 is fixed to the wing plate 121. The lead screw connector 122 is connected to the ball screw 134 for transmission.

[0060] Specifically, the first end of the ball screw 134 is provided with a clockwise thread, and the second end of the ball screw 134 is provided with a counterclockwise thread. Correspondingly, the screw connectors 122 mounted on different jaws 120 are provided with threaded holes with different thread directions.

[0061] Therefore, when the ball screw 134 rotates, the jaws 120 located at both ends of the base 110 can move in opposite directions along the same straight line.

[0062] One end of the clamping plate 123 is connected to the first end of the wing plate 121. The other end of the clamping plate 123 extends downward toward the base 110. The gripper 120, formed by the wing plate 121 and the clamping plate 123, forms a high-rigidity, distributed stress-bearing structure capable of stably clamping materials weighing approximately 500 kg.

[0063] Furthermore, the clamping mechanism 100 also includes a cover 160. The cover 160 is positioned above the base 110, which can reduce the dust and particles generated by the clamping mechanism 100 during the clamping operation, thereby ensuring the cleanliness of the working environment.

[0064] A through opening is provided in the middle of the cover 160 so that the robotic arm 500 can pass through the cover 160 and connect to the positioning platform 111.

[0065] Furthermore, the base 110 is equipped with three laser displacement sensors and a camera. Through the laser displacement sensors and the camera, the position and orientation of the bracket 200 can be accurately located, thereby achieving sub-millimeter positioning accuracy and avoiding physical contact damage to the workpiece surface caused by traditional mechanical positioning.

[0066] In this embodiment, the clamping device uses the clamping mechanism 100 to clamp and lock the bracket 200, which improves the stability and reliability of the clamping device. By replacing the bracket 200, the clamping device can handle various clamping tasks flexibly and properly, saving the time required to install, remove and replace the clamping mechanism 100 from the robotic arm 500. It can meet the actual needs in various application scenarios and promote the development of industrial automation and intelligent manufacturing.

[0067] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and 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. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0069] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms are not limited to the same embodiments or examples. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping device suitable for heavy loads, characterized in that, include: The clamping mechanism (100) is provided with a base (110), a gripper (120) and a drive assembly (130). The gripper (120) is movably mounted on the base (110), and the drive assembly (130) is fixed to the base (110) and is connected to the gripper (120) in a transmission manner. A bracket (200) is used to load materials (400) to be transported. The gripper (120) is driven by the drive assembly (130) and moves back and forth between a first position retracted into the base (110) and a second position extended out of the base (110); Two grippers (120) are symmetrically arranged at both ends of the base (110) along its length. The grippers (120) move to the first position to lock the clamping mechanism (100) and the bracket (200) together. The grippers (120) move to the second position to separate the clamping mechanism (100) and the bracket (200) from each other.

2. The clamping device suitable for heavy loads according to claim 1, characterized in that, The bracket (200) includes a base plate (210), and the base plate (210) has a first snap-fit ​​portion (220) at both ends in its length direction. The gripper (120) is provided with a second engaging portion (124). As the gripper (120) moves from the second position to the first position, the first engaging portion (220) is inserted into the second engaging portion (124) so ​​that the clamping mechanism (100) can dock and be positioned with the bracket (200).

3. The clamping device suitable for heavy loads according to claim 2, characterized in that, The first snap-fit ​​portion (220) is provided with a first protrusion (221), and the second snap-fit ​​portion (124) is provided with a slot (125) that is adapted to the first protrusion (221).

4. The clamping device suitable for heavy loads according to claim 3, characterized in that, The first snap-fit ​​portion (220) is also provided with a second protrusion (222), which is located between two spaced-apart first protrusions (221); The second snap-fit ​​portion (124) has a notch between the two snap-fit ​​slots (125) to accommodate the second protrusion (222).

5. The clamping device suitable for heavy loads according to any one of claims 1 to 4, characterized in that, The base (110) is provided with: The positioning platform (111), located in the middle of the base (110), is used to connect the robotic arm (500). The first groove (112) extends along the length of the base (110) from one end of the base (110) to the other end of the base (110). The first groove (112) divides the positioning platform (111) into two structurally symmetrical parts. The drive assembly (130) is installed in the first groove (112).

6. The clamping device suitable for heavy loads according to claim 5, characterized in that, The drive component (130) includes: The motor (131) is fixed at one end of the first groove (112); A speed reducer (132) is connected to the motor (131); Screw support base (133), two screw support bases (133) are respectively installed on both sides of the positioning platform (111); A ball screw (134) extends from one side of the positioning platform (111) to the other side of the positioning platform (111), and both ends of the ball screw (134) are movably connected to the screw support seat (133).

7. The clamping device suitable for heavy loads according to claim 6, characterized in that, The base (110) is also provided with a second groove (113), which is parallel to the first groove (112), and the four second grooves (113) are symmetrically distributed relative to the first groove (112) and the positioning platform (111); The clamping mechanism (100) further includes a linear guide rail (140) installed in the second groove (113) and a slider (150) slidably connected to the linear guide rail (140), wherein the gripper (120) is connected to the slider (150).

8. The clamping device suitable for heavy loads according to claim 7, characterized in that, The gripper (120) includes: A wing plate (121), the first end of which extends out of the outside of the base (110), and the second end of which overlaps the base (110) and is connected to the slider (150); A lead screw connector (122) is fixed on the wing plate (121), and the lead screw connector (122) is connected to the ball screw (134) for transmission. A clamp (123) is provided, one end of which is connected to the first end of the wing plate (121), and the other end of which extends downward toward the base (110).

9. The clamping device suitable for heavy loads according to any one of claims 2 to 4, characterized in that, The bracket (200) also includes a tray (230), which is perpendicular to the surface of the base plate (210), and two trays (230) are spaced apart along the length of the base plate (210).

10. The clamping device for heavy loads according to claim 5, characterized in that, The clamping mechanism (100) also includes a cover (160) which covers the base (110); The cover (160) has a through opening in the middle so that the robotic arm (500) can pass through the cover (160) and connect to the positioning platform (111).

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