Clamping module and PIN carrying equipment

Abstract

The utility model provides a clamping module, which is used for clamping a workpiece and comprises a driver, a clamping mechanism and a clamping mechanism, a first elastic member; the first clamping jaw mechanism is located in the direction, away from the driver, of the first elastic piece, the driver pushes the first elastic piece, the pushing direction of the driver is defined as the first direction, the first elastic piece pushes the first clamping jaw mechanism under the pushing action of the driver, and the first clamping jaw mechanism pre-clamps a workpiece in the second direction; the driver continuously pushes the first elastic piece in the first direction, the first elastic piece continuously pushes the first clamping jaw mechanism, and the first clamping jaw mechanism clamps the workpiece in the second direction; the first direction is perpendicular to the second direction. According to the clamping module provided by the embodiment of the invention, the PIN needle can be prevented from being collided and tilted during clamping, the clamping work is ensured to be smoothly carried out, and the processing efficiency is ensured.

Description

Technical Field

[0001] The present application belongs to the technical field of electronic component processing equipment, and more specifically, to a clamping module and PIN needle handling equipment. Background Art

[0002] During the production process, the robot needs to clamp, flip, and transfer the PIN. The end of the robot is equipped with two-way clamps to clamp the PIN. The two clamps open and close at the same time. The clamping speed is fast, which can easily cause the PIN to be crooked, resulting in clamping failure. However, if the clamping speed is reduced, the processing efficiency will be greatly reduced. Utility Model Content

[0003] The embodiment of the present application provides a clamping module, which can avoid PIN pins from being bent during clamping, ensure smooth clamping work, and guarantee processing efficiency.

[0004] The technical solution adopted in the embodiment of the present application is: to provide a clamping module for clamping a workpiece, the clamping module comprising:

[0005] Driver;

[0006] a first elastic member; and

[0007] A first clamping mechanism, wherein the first clamping mechanism is located in a direction where the first elastic member is away from the driver, and the driver pushes the first elastic member, and the pushing direction of the driver is defined as a first direction. Under the pushing action of the driver, the first elastic member pushes the first clamping mechanism, and the first clamping mechanism pre-clamps the workpiece along a second direction; the driver continues to push the first elastic member along the first direction, and the first elastic member continues to push the first clamping mechanism, and the first clamping mechanism clamps the workpiece along the second direction; the first direction and the second direction are perpendicular to each other.

[0008] Furthermore, the clamping module also includes a mounting frame, and the driver is arranged on the mounting frame;

[0009] The driver comprises a push block and a rod body connected to the push block, the push block can push the first elastic member along the first direction and move away from the first elastic member in the opposite direction of the first direction, and the rod body is arranged along the first direction;

[0010] The first clamping jaw mechanism comprises a moving member, a limiting member and two first clamping jaws, the moving member is located at one end of the first elastic member away from the pushing block and can be pushed and moved by the first elastic member, the moving member is provided with a through hole for the rod body to pass through, the limiting member is provided at one end of the rod body passing through the through hole, the first clamping jaw is hinged to the mounting frame and the two first clamping jaws are arranged opposite to each other along the second direction, and one end of the first clamping jaw is linked with the moving member;

[0011] When the movable member is pushed and moved, the other ends of the two first clamps approach each other to pre-clamp or clamp the workpiece, or when the push block moves in the opposite direction of the first direction, the rod body drives the movable member to move together through the limiting member so that the two first clamps approach each other to release the workpiece.

[0012] Further, the first clamping jaw includes a first connecting portion, a first hinged portion and a first clamping portion connected in sequence, the first hinged portion is hinged to the mounting frame, the two first connecting portions are spaced apart along the second direction, the two first clamping portions are relatively arranged along the second direction, the first connecting portion is provided with an inclined groove, the inclined groove includes a first rotating section, a sliding section and a second rotating section connected in sequence, the first rotating section is close to the first hinged portion, the second rotating section is far away from the first hinged portion, the spacing between the two first rotating sections is greater than the spacing between the two second rotating sections, and the moving part is provided with a pin shaft that can slide along the sliding section and rotate in the first rotating section and the second rotating section.

[0013] Furthermore, the clamping module further comprises a second clamping jaw mechanism provided on the mounting frame, wherein the second clamping jaw mechanism is at least partially located in a direction of the first clamping jaw mechanism away from the first elastic member;

[0014] When the first elastic member pushes the first clamping mechanism to pre-clamp, the driver or the first clamping mechanism approaches the second clamping mechanism without contacting it;

[0015] When the first elastic member pushes the first clamping mechanism to clamp, the driver or the first clamping mechanism pushes the second clamping mechanism, and the second clamping mechanism clamps the workpiece along a third direction, and the first direction and the second direction are both perpendicular to the third direction.

[0016] Furthermore, the second clamping jaw mechanism is located at one side of the rod body along the first direction, and the rod body can approach the second clamping jaw mechanism or push the second clamping jaw mechanism along the first direction.

[0017] Further, the second clamping jaw mechanism comprises a second elastic member and two second clamping jaws, the two second clamping jaws are arranged opposite to each other along the third direction and do not cross, the second clamping jaw comprises a pushing portion, a second hinged portion and a second clamping portion connected in sequence, the second hinged portion is hinged to the mounting frame, and one side adjacent to the two pushing portions is provided with a pushing inclined surface at an end away from the second hinged portion, the pushing inclined surface forms an acute angle with the first direction, the two second clamping portions are arranged opposite to each other along the third direction, and when the two pushing portions are away from each other, the second clamping portions are close to each other to clamp the workpiece;

[0018] The two ends of the second elastic member are respectively connected to the two pushing portions, and the two pushing portions are pulled closer to each other;

[0019] The rod body can be close to the pushing inclined surface, or inserted between the two pushing inclined surfaces and push the two pushing inclined surfaces to make the two pushing parts move away from each other.

[0020] Furthermore, the second clamping jaw further comprises a limiting groove provided between the pushing inclined surface and the second hinged portion;

[0021] The second clamping mechanism also includes a limit pin arranged on the mounting frame, the limit pin is located between the two limit grooves, and when the second elastic member pulls the two pushing parts closer to each other, the limit pin is embedded in the two limit grooves.

[0022] Further, the workpiece includes a cylindrical portion and a step portion convexly disposed around the cylindrical portion;

[0023] A clamping opening penetrating along the first direction and a step groove for the step portion to be embedded are formed on one side opposite to the two second clamping portions.

[0024] Furthermore, the second clamping jaw mechanism also includes a limiting ring, which is sleeved on the rod body and located between the push block and the moving part. When the rod body pushes against the second clamping jaw mechanism to clamp the second clamping jaw mechanism, the push block abuts against the limiting ring.

[0025] An embodiment of the present application further provides a PIN needle handling device, comprising a robot and a clamping module as described in any one of the above items, wherein the clamping module is arranged at the execution end of the robot, and the workpiece is a PIN needle.

[0026] The beneficial effect of the clamping module provided by the embodiment of the present application is that a driver, a first elastic member and a first clamping jaw mechanism are provided in the clamping module of the embodiment of the present application. The driver can push the first elastic member to move along the first direction, thereby pushing the first clamping jaw mechanism, so that the first clamping jaw mechanism pre-clamps the workpiece first. During the pre-clamping, due to the buffering effect of the first elastic member, the pre-clamping force of the first clamping jaw mechanism is small and the speed is slow, so the workpiece can be pre-fixed without knocking the workpiece flying. The driver continues to push the first elastic member, and the first elastic member continues to push the first clamping jaw mechanism, and the first clamping jaw mechanism further clamps, thereby fixing the workpiece. Through this structure, the workpiece can be pre-clamped first and then clamped and fixed without reducing the driving speed of the driver, which can prevent the workpiece from flying and will not reduce the efficiency of the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 A schematic diagram of the three-dimensional structure of the clamping module provided in an embodiment of the present application;

[0029] Figure 2 A front view of a clamping module provided in an embodiment of the present application;

[0030] Figure 3 A side view of the first elastic member of the clamping module provided in an embodiment of the present application when in a natural state;

[0031] Figure 4 For along Figure 3 Sectional view of AA in the middle;

[0032] Figure 5 A side view of a first elastic member of a clamping module provided in an embodiment of the present application when the first elastic member is in a first compressed state;

[0033] Figure 6 For along Figure 5 Cross-sectional view of the middle BB;

[0034] Figure 7 A side view of a first elastic member of a clamping module provided in an embodiment of the present application when the first elastic member is in a second compressed state;

[0035] Figure 8 For along Figure 7 Cross-sectional view of CC;

[0036] Fig. 9 A schematic structural diagram of a first clamping jaw mechanism provided in an embodiment of the present application;

[0037] Fig.10 A schematic diagram of the structure of a second clamping jaw mechanism provided in an embodiment of the present application;

[0038] Fig.11 A schematic diagram of the three-dimensional structure of the mounting base provided in an embodiment of the present application.

[0039] Among them, the reference numerals in the figure are:

[0040] 10. mounting frame; 11. back plate; 12. mounting seat; 121. slot; 122. avoidance slot;

[0041] 20. first clamping jaw mechanism; 21. moving member; 211. through hole; 222. pin shaft; 22. first clamping jaw assembly; 221. first clamping jaw; 2211. first connecting portion; 2212. first hinged portion; 2213. first clamping portion; 2214. inclined groove; 22141. first rotating section; 22142. sliding section; 22143. second rotating section; 23. stopper;

[0042] 30. Second clamping jaw mechanism; 31. Second elastic member; 32. Second clamping jaw; 321. Pushing portion; 322. Second hinged portion; 323. Second clamping portion; 324. Pushing inclined surface; 325. Position-limiting groove; 326. Clamping mouth; 327. Step groove; 3271. First end face; 3272. Second end face; 3273. Third end face; 323. Position-limiting pin; 33. Position-limiting ring;

[0043] 40. driver; 41. push block; 42. rod body;

[0044] 50. workpiece; 51. cylindrical portion; 52. step portion;

[0045] 60. a first elastic member;

[0046] X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0049] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] See also Figure 1 Now, the clamping module provided in the embodiment of the present application is described. The clamping module provided in the embodiment of the present application is used to clamp a workpiece 50 .

[0052] The workpiece 50 may be a PIN needle or a connection terminal, especially some components that are small in size and require precise insertion and positioning.

[0053] Reference Figure 1 and Figure 2 The clamping module includes a first elastic member 60 , a first clamping jaw mechanism 20 and a driver 40 .

[0054] Reference Figure 1 and Figure 2 The first clamping mechanism 20 is located in the direction where the first elastic member 60 is away from the driver 40, and the driver 40 pushes the first elastic member 60. The pushing direction of the driver 40 is defined as the first direction X. Under the pushing action of the driver 40, the first elastic member 60 pushes the first clamping mechanism 20, and the first clamping mechanism 20 pre-clamps the workpiece 50 along the second direction Y; the driver 40 continues to push the first elastic member 60 along the first direction X, and the first elastic member 60 continues to push the first clamping mechanism 20, and the first clamping mechanism 20 clamps the workpiece 50 along the second direction Y; the first direction X and the second direction Y are perpendicular to each other.

[0055] That is, the first clamping jaw mechanism 20 has an open state, a pre-clamping state, and a clamping state.

[0056] Reference Figure 3 and Figure 4 , the first clamping jaw mechanism 20 is in an open state.

[0057] Reference Figure 5 and Figure 6 , the driver 40 can move along the first direction X through the first elastic member 60, thereby pushing the first clamping mechanism 20, so that the first clamping mechanism 20 changes from the open state to the pre-clamping state. In the pre-clamping state, since the first elastic member 60 has just been compressed, the thrust generated by it is small. Therefore, during pre-clamping, the clamping speed of the first clamping mechanism 20 will be slow and the clamping force will be small, so that the workpiece 50 can be slightly fixed without knocking the workpiece 50 away.

[0058] Reference Figure 7 and Figure 8 During clamping, the driver 40 further pushes the first elastic member 60 , and the first elastic member 60 is further compressed, and its clamping force on the first clamping mechanism is greater, so that the first clamping mechanism is clamped tighter, thereby clamping or clamping the workpiece 50 .

[0059] It can be understood that the driver 40 can move along the first direction X to push, or move in the opposite direction of the first direction X to release the pushing of the first elastic member 60 and the first clamping mechanism 20. After the pushing of the first clamping mechanism 20 is released, it can be opened to release the workpiece 50. There are many ways to open the first clamping mechanism 20. For example, the first clamping mechanism 20 is provided with other elastic members, and the elastic force of the elastic member is overcome during pushing to pre-clamp and clamp. When the pushing is released, the elastic force of the elastic member can open the first clamping mechanism 20. Alternatively, the driver 40 has other structures (such as a pull rod) connected to the first clamping mechanism 20. When the driver 40 moves in the opposite direction of the first direction X, the first clamping mechanism 20 is pulled to open the first clamping mechanism 20.

[0060] The first elastic member 60, the first clamping mechanism 20 and the driver 40 can be directly arranged on the robot arm to cooperate with the robot arm to complete the handling of the workpiece 50. Alternatively, the first elastic member 60, the first clamping mechanism 20 and the driver 40 can be first installed on a frame or a plate, and then the frame or the plate is installed on the robot arm.

[0061] Specifically, refer to Figure 1 and Figure 2 The clamping module further comprises a mounting frame 10, and the driver 40 is arranged on the mounting frame 10. In actual use, the mounting frame 10 can be connected to the robot arm.

[0062] Reference Figure 1 and Figure 4The driver 40 includes a push block 41 and a rod body 42 connected to the push block 41. The push block 41 can push the first elastic member 60 along the first direction X and move away from the first elastic member 60 in the opposite direction of the first direction X. The rod body 42 is arranged along the first direction X. That is, the push block 41 and the rod body 42 can move together in the first direction X. At this time, the push block 41 will push the first elastic member 60, so that the first clamping mechanism 20 becomes pre-clamped or clamped. The push block 41 and the rod body 42 can also move together in the opposite direction of the first direction X. At this time, the push block 41 no longer pushes the first elastic member 60.

[0063] Reference Figure 2 , Figure 4 and Fig. 9 The first clamping mechanism 20 includes a moving member 21, a stopper 23 and two first clamping jaws 221. The moving member 21 is located at one end of the first elastic member 60 away from the push block 41 and can be pushed and moved by the first elastic member 60. The moving member 21 is provided with a through hole 211 for the rod body 42 to pass through. The stopper 23 is provided at one end of the rod body 42 passing through the through hole 211. The first clamping jaw 221 is hinged to the mounting frame 10 and the two first clamping jaws 221 are arranged oppositely along the second direction Y. One end of the first clamping jaw 221 is linked with the moving member 21. When the moving member 21 is pushed and moved, the other ends of the two first clamping jaws 221 approach each other to pre-clamp or clamp the workpiece 50, or when the push block 41 moves in the opposite direction of the first direction X, the rod body 42 drives the moving member 21 to move together through the stopper 23 so that the two first clamping jaws 221 approach each other to release the workpiece 50.

[0064] That is, during operation, the push block 41 moves along the first direction X, pushes the first elastic member 60, so that the first elastic member 60 pushes the moving member 21, and the moving member 21 makes the two first clamping jaws 221 move closer to each other and pre-clamp; the push block 41 further moves along the first direction X, further pushes the first elastic member 60, so that the first elastic member 60 pushes the moving member 21, and the moving member 21 makes the two first clamping jaws 221 move closer to each other and clamp. When it is necessary to release, the push block 41 moves in the opposite direction of the first direction X to release the push on the first elastic member 60, and at the same time, the rod body 42 also moves in the opposite direction of the first direction X, drives the moving member 21 to move together through the limit member 23, and the moving member 21 links the two first clamping jaws 221, and the two first clamping jaws 221 move away from each other and release. In other words, the first clamping jaw mechanism 20 is pre-clamped and clamped by the push block 41, and the first clamping jaw mechanism 20 is released by pulling back by the rod body 42.

[0065] Reference Fig. 9The first clamping jaw 221 includes a first connecting portion 2211, a first hinged portion 2212 and a first clamping portion 2213 connected in sequence, the first hinged portion 2212 is hinged to the mounting frame 10, the two first connecting portions 2211 are arranged at intervals along the second direction Y, the two first clamping portions 2213 are arranged opposite to each other along the second direction Y, the first connecting portion 2211 is provided with an oblique groove 2214, the oblique groove 2214 includes a first rotating section 22141, a sliding section 22142 and a second rotating section 22143 connected in sequence, the first rotating section 22141 is close to the first hinged portion 2212, the second rotating section 22143 is far away from the first hinged portion 2212, the spacing between the two first rotating sections 22141 is greater than the spacing between the two second rotating sections 22143, and the moving member 21 is provided with a pin shaft 222 that can slide along the sliding section 22142 and rotate in the first rotating section 22141 and the second rotating section 22143.

[0066] That is, the workpiece 50 is clamped by two first clamping jaws 221, the first hinged portion 2212 of the first clamping jaw 221 is hinged to the first end, and the first clamping portions 2213 of the two first clamping jaws 221 are arranged relatively along the second direction YY. When the first clamping jaw 221 rotates around the first hinged portion 2212, the distance between the two first clamping portions 2213 can be changed, thereby clamping or releasing the workpiece 50. Since the first connecting portion 2211 is provided with an inclined groove 2214, the movable member 21 is provided with a pin shaft 222, and the pin shaft 222 can slide along the sliding section 22142 in the inclined groove 2214 and rotate in the first rotating section 22141 and the second rotating section 22143. When the moving member 21 moves away from the first end, the first clamping jaw 221 cooperates with the movement of the pin 222 through the skewed slot 2214, so that the pin 222 slides along the sliding section 22142 into the first rotating section 22141 and rotates (actually, the first clamping jaw 221 rotates around the pin 222), so that the two first connecting parts 2211 of the first clamping jaw 221 are close to each other, and the two first clamping parts 2213 are separated from each other and opened. When the moving member 21 moves close to the first end, the pin 222 slides along the sliding section 22142 into the second rotating section 22143 and rotates (actually, the first clamping jaw 221 rotates around the pin 222), so that the two first connecting parts 2211 of the first clamping jaw 221 are separated from each other, and the two first clamping parts 2213 are close to each other and clamped.

[0067] Reference Fig. 9 When the moving member 21 moves a distance L, the first clamping jaw assembly 22 can be controlled to open or clamp.

[0068] Reference Figure 1 , Figure 3 and Fig.10The clamping module further includes a second clamping mechanism 30 disposed on the mounting frame 10 , and the second clamping mechanism 30 is at least partially located in a direction of the first clamping mechanism 20 away from the first elastic member 60 ;

[0069] Reference Figure 6 , when the first elastic member 60 pushes the first clamping mechanism 20 for pre-clamping, the driver 40 or the first clamping mechanism 20 approaches the second clamping mechanism 30 but does not contact;

[0070] Reference Figure 8 When the first elastic member 60 pushes the first clamping mechanism 20 to clamp, the driver 40 or the first clamping mechanism 20 pushes the second clamping mechanism 30, and the second clamping mechanism 30 clamps the workpiece 50 along the third direction Z, and the first direction X and the second direction Y are both perpendicular to the third direction Z.

[0071] The second clamping jaw mechanism 30 can clamp the workpiece 50 along the third direction Z, and cooperate with the first clamping jaw mechanism 20 to clamp along the second direction Y, so as to clamp and limit the workpiece 50 in two directions, and the clamping is more secure.

[0072] The second clamping mechanism 30 can be pushed by the driver 40 or the first clamping mechanism 20 to achieve clamping. When the first clamping mechanism 20 is pre-clamped, the driver 40 or the first clamping mechanism 20 approaches the second clamping mechanism 30 but does not contact it. At this time, the second clamping mechanism 30 has not clamped yet and is in an open state to prevent it from quickly clamping and hitting the workpiece 50. When the first clamping mechanism 20 is pre-clamped, the driver 40 or the first clamping mechanism 20 pushes the second clamping mechanism 30 to clamp the second clamping mechanism 30, that is, at this time, the first clamping mechanism 20 and the second clamping mechanism 30 are clamped at the same time.

[0073] In some embodiments, the second clamping mechanism 30 is located on one side of the rod body 42 along the first direction X, and the rod body 42 can approach the second clamping mechanism 30 or push the second clamping mechanism 30 along the first direction X. That is, in some embodiments, after the rod body 42 of the driver 40 passes through the moving member 21, the second clamping mechanism 30 is pushed, so that the second clamping mechanism 30 clamps the workpiece 50.

[0074] Reference Fig.10The second clamping jaw mechanism 30 includes a second elastic member 31 and two second clamping jaws 32. The two second clamping jaws 32 are arranged opposite to each other along the third direction Z and do not cross each other. The second clamping jaw 32 includes a push-pull portion 321, a second hinged portion 322 and a second clamping portion 323 connected in sequence. The second hinged portion 322 is hinged to the mounting frame 10. One side adjacent to the two push-pull portions 321 is provided with a push-pull inclined surface 324 at one end away from the second hinged portion 322. The push-pull inclined surface 324 forms an acute angle with the first direction X. The two second clamping portions 323 are arranged opposite to each other along the third direction Z. When the two push-pull portions 321 are away from each other, the second clamping portions 323 are close to each other to clamp the workpiece 50. The two ends of the second elastic member 31 are respectively connected to the two push-pull portions 321, and the two push-pull portions 321 are pulled closer to each other. The rod body 42 can be close to the pushing inclined surface 324 , or inserted between the two pushing inclined surfaces 324 and push the two pushing inclined surfaces 324 to make the two pushing portions 321 move away from each other.

[0075] The two second clamping jaws 32 do not cross each other, but are hinged by two second hinged parts 322 in the middle. Therefore, when the two abutting parts 321 are close to each other, the two second clamping parts 323 will move away from each other. The second elastic member 31 connects the two abutting parts 321, and the second elastic member 31 actually pulls the two abutting parts 321 to pull them closer to each other, so that when the second clamping jaw mechanism 30 is not subjected to external force, the two clamping jaws move away from each other and open, and have a normally open state.

[0076] When the first clamping jaw mechanism 20 is pre-clamped, the rod body 42 approaches the push-button inclined surface 324 but does not contact it, and the second clamping jaw mechanism 30 remains open.

[0077] When the first clamping jaw mechanism 20 is clamped, the rod body 42 is inserted between the two push-pushing inclined surfaces 324. Since the push-pushing inclined surfaces form an acute angle with the first direction XX, when the rod body 42 continues to approach the first end along the first direction XX, the two push-pushing inclined surfaces 324 will be pushed apart, so that the push-pushing portions 321 will move away from each other, thereby making the two second clamping portions 323 approach each other and clamp. Specifically, the second elastic member 31 can be a tension spring.

[0078] Reference Fig.10 Among them, the end of the push rod that contacts the pushing inclined surface 324 can be set to a hemispherical or ball-head shape with a smooth surface, which can better contact and push against the two pushing inclined surfaces 324 to better push the two pushing inclined surfaces 324 apart.

[0079] Reference Fig.10 The second clamping jaw 32 also includes a limiting groove 325 arranged between the pushing inclined surface 324 and the second hinged portion 322; the second clamping jaw mechanism 30 also includes a limiting pin 323 arranged on the mounting frame 10, and the limiting pin 323 is located between the two limiting grooves 325. When the second elastic member 31 pulls the two pushing portions 321 closer to each other, the limiting pin 323 is embedded in the two limiting grooves 325.

[0080] Since the two second clamping jaws 32 are hinged to the mounting frame 10, if there is only one hinge point, the second clamping jaws 32 will flip around the hinge point, and the position of the clamping opening between the two second clamping jaws 32 will be changed, making it difficult to clamp the workpiece 50. Therefore, a limiting groove 325 and a limiting pin 323 are provided, and the limiting groove 325 and the limiting pin 323 cooperate to limit the rotation of the second clamping jaw 32 around the second hinge 322, thereby preventing the second clamping jaw 32 from flipping too much, and at the same time, it will not affect the opening and clamping between the two second clamping jaws 32.

[0081] Reference Fig.10 The workpiece 50 includes a cylindrical portion 51 and a step portion 52 protruding around the cylindrical portion 51; the two second clamping portions 323 have opposite sides formed with a clamping opening 326 penetrating along the first direction XX and a step groove 327 for the step portion 52 to be embedded.

[0082] The clamping opening 326 is through along the first direction XX, and the cylindrical portion 51 can be passed through the clamping cylindrical portion 51, and the step groove 327 can be embedded in the step portion 52, so that the end face of the step groove 327 abuts against the end face of the step portion 52, thereby further limiting the position of the workpiece 50 in the first direction XX. Specifically, the step groove 327 includes a first end face 3271, a second end face 3272, and a third end face 3273 connected in sequence, the first end face 3271 and the third end face 3273 are both perpendicular to the second end face 3272, the first end face 3271 and the third end face 3273 are perpendicular to the first direction XX, and the second end face 3272 is parallel to the first direction XX and the third direction ZZ.

[0083] Reference Figure 1 and Figure 3 The clamping openings of the second clamping jaw mechanism 30 and the first clamping jaw assembly 22 are sequentially arranged along the first direction XX. When clamping the PIN, the length direction of the PIN is along the first direction XX, and the second clamping jaw mechanism 30 and the first clamping jaw assembly 22 can clamp different parts of the PIN along the length direction of the PIN, thereby limiting the PIN from different directions at the same time.

[0084] The second clamping mechanism 30 further includes a limiting ring 33, which is sleeved on the rod body 42 and located between the push block 41 and the moving member 21. When the rod body 42 pushes against the second clamping mechanism 30 to clamp the second clamping mechanism 30, the push block 41 abuts against the limiting ring 33. That is, after the push rod clamps the second clamping mechanism 30, the driving part cannot get closer to the moving member 21 due to the abutment against the limiting ring 33, so as to avoid excessive thrust causing excessive clamping force of the second clamping mechanism 30 and causing damage to the workpiece 50.

[0085] Reference Figure 1 and Fig.11The mounting frame 10 includes a back plate 11 and a mounting seat 12. The back plate 11 may be a rectangular plate, and its length direction is arranged along the first direction XX. The driver 40 is arranged at one end of the back plate 11, and the mounting seat 12 is arranged at the other end of the back plate 11. The first clamping jaw assembly 22 and the second clamping jaw mechanism 30 are both arranged on the mounting seat 12.

[0086] Reference Figure 1 and Fig.11 , slots 121 are provided on both sides of the mounting seat 12 along the second direction YY, the first clamping jaw 221 is inserted in the slot 121, and the first hinged portion 2212 of the first clamping jaw 221 is hinged to the mounting seat 12 in the slot 121, so that the first clamping jaw 221 can rotate in the slot, and the first connecting portion 2211 and the first clamping portion 2213 extend from both ends of the slot 121 to the outside of the slot 121, so that the oblique slot 2214 of the first connecting portion 2211 is connected to the pin shaft 222 of the first connecting portion 2211.

[0087] Reference Figure 1 and Fig.11 The mounting seat 12 is provided with an avoidance groove 122 arranged along the first direction XX, and the second clamping jaw mechanism 30 is located in the avoidance groove 122. The second clamping jaw 32 is in the avoidance groove 122 and is hinged to the mounting seat 12. The second clamping jaw 32 can rotate in the avoidance groove 122 to open and close.

[0088] The embodiment of the present application further provides a PIN needle handling device, including a manipulator and a clamping module as in any of the above embodiments, the clamping module is arranged at the execution end of the manipulator, and the workpiece 50 is a PIN needle.

[0089] The PIN needle transporting device of the embodiment of the present application includes the clamping module in any of the above embodiments, and thus has the beneficial effects brought by the clamping module in any of the above embodiments, which will not be elaborated here.

[0090] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A clamping module for clamping a workpiece, characterized in that: The clamping module comprises: Driver; a first elastic member; and A first clamping mechanism, wherein the first clamping mechanism is located in a direction where the first elastic member is away from the driver, and the driver pushes the first elastic member, and the pushing direction of the driver is defined as a first direction. Under the pushing action of the driver, the first elastic member pushes the first clamping mechanism, and the first clamping mechanism pre-clamps the workpiece along a second direction; the driver continues to push the first elastic member along the first direction, and the first elastic member continues to push the first clamping mechanism, and the first clamping mechanism clamps the workpiece along the second direction; the first direction and the second direction are perpendicular to each other.

2. The clamping module according to claim 1, characterized in that: The clamping module also includes a mounting frame, and the driver is arranged on the mounting frame; The driver comprises a push block and a rod body connected to the push block, the push block can push the first elastic member along the first direction and move away from the first elastic member in the opposite direction of the first direction, and the rod body is arranged along the first direction; The first clamping jaw mechanism comprises a moving member, a limiting member and two first clamping jaws, the moving member is located at one end of the first elastic member away from the pushing block and can be pushed and moved by the first elastic member, the moving member is provided with a through hole for the rod body to pass through, the limiting member is provided at one end of the rod body passing through the through hole, the first clamping jaw is hinged to the mounting frame and the two first clamping jaws are arranged opposite to each other along the second direction, and one end of the first clamping jaw is linked with the moving member; When the movable member is pushed and moved, the other ends of the two first clamps approach each other to pre-clamp or clamp the workpiece, or when the push block moves in the opposite direction of the first direction, the rod body drives the movable member to move together through the limiting member so that the two first clamps approach each other to release the workpiece.

3. The clamping module according to claim 2, characterized in that: The first clamping jaw includes a first connecting portion, a first hinged portion and a first clamping portion connected in sequence, the first hinged portion is hinged to the mounting frame, the two first connecting portions are spaced apart along the second direction, the two first clamping portions are relatively arranged along the second direction, the first connecting portion is provided with an inclined groove, the inclined groove includes a first rotating section, a sliding section and a second rotating section connected in sequence, the first rotating section is close to the first hinged portion, the second rotating section is far away from the first hinged portion, the spacing between the two first rotating sections is greater than the spacing between the two second rotating sections, and the moving member is provided with a pin shaft that can slide along the sliding section and rotate in the first rotating section and the second rotating section.

4. The clamping module according to claim 2 or 3, characterized in that: The clamping module further comprises a second clamping jaw mechanism disposed on the mounting frame, wherein the second clamping jaw mechanism is at least partially located in a direction away from the first elastic member by the first clamping jaw mechanism; When the first elastic member pushes the first clamping mechanism to pre-clamp, the driver or the first clamping mechanism approaches the second clamping mechanism without contacting it; When the first elastic member pushes the first clamping mechanism to clamp, the driver or the first clamping mechanism pushes the second clamping mechanism, and the second clamping mechanism clamps the workpiece along a third direction, and the first direction and the second direction are both perpendicular to the third direction.

5. The clamping module according to claim 4, characterized in that: The second clamping jaw mechanism is located at one side of the rod body along the first direction, and the rod body can approach the second clamping jaw mechanism or push the second clamping jaw mechanism along the first direction.

6. The clamping module according to claim 5, characterized in that: The second clamping jaw mechanism comprises a second elastic member and two second clamping jaws, the two second clamping jaws are arranged opposite to each other along the third direction and do not cross each other, the second clamping jaw comprises a pushing portion, a second hinged portion and a second clamping portion connected in sequence, the second hinged portion is hinged to the mounting frame, and a pushing inclined surface is provided at one end away from the second hinged portion on one side adjacent to the two pushing portions, the pushing inclined surface forms an acute angle with the first direction, the two second clamping portions are arranged opposite to each other along the third direction, and when the two pushing portions are away from each other, the second clamping portions are close to each other to clamp the workpiece; The two ends of the second elastic member are respectively connected to the two pushing portions, and the two pushing portions are pulled closer to each other; The rod body can be close to the pushing inclined surface, or inserted between the two pushing inclined surfaces and push the two pushing inclined surfaces to make the two pushing parts move away from each other.

7. The clamping module according to claim 6, characterized in that: The second clamping jaw further comprises a limiting groove provided between the pushing inclined surface and the second hinged portion; The second clamping mechanism also includes a limit pin arranged on the mounting frame, the limit pin is located between the two limit grooves, and when the second elastic member pulls the two pushing parts closer to each other, the limit pin is embedded in the two limit grooves.

8. The clamping module according to claim 6, characterized in that: The workpiece includes a cylindrical portion and a step portion convexly disposed around the cylindrical portion; A clamping opening penetrating along the first direction and a step groove for the step portion to be embedded are formed on one side opposite to the two second clamping portions.

9. The clamping module according to claim 5, characterized in that: The second clamping jaw mechanism also includes a limiting ring, which is sleeved on the rod body and located between the push block and the moving member. When the rod body pushes against the second clamping jaw mechanism to clamp the second clamping jaw mechanism, the push block abuts against the limiting ring.

10. A PIN needle handling device, characterized in that: It comprises a robot and a clamping module as described in any one of claims 1 to 9, wherein the clamping module is arranged at the execution end of the robot, and the workpiece is a PIN needle.

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