Mechanical clamping hand mechanism

Abstract

The utility model relates to a mechanical clamping hand mechanism which comprises a movable seat arranged on a conveying line in a reciprocating motion mode and a clamping block assembly used for clamping workpieces, the clamping block assembly is arranged on one side of the movable seat in an up-down axial motion mode, and the movable seat is provided with a first driver used for driving the clamping block assembly to do up-down axial motion. By arranging the first driver for driving the whole clamping block assembly to axially move up and down, when the clamping block assembly clamps a workpiece to move from one conveying line to the other conveying line, if the height of the other conveying line is high, the first driver drives the whole clamping block assembly to axially move upwards, the workpiece is prevented from colliding with the other conveying line, and the workpiece clamping efficiency is improved. If the height of the other conveying line is low, the first driver drives the whole clamping block assembly to move downwards in the axial direction, the situation that when the clamping block assembly loosens the workpieces, the workpieces fall to the other conveying line from the high position is avoided, the conveying line adapts to the joint positions between conveying lines with different heights, and the workpieces are protected to be well conveyed to the other conveying line from one conveying line.

Description

Technical Field

[0001] The utility model relates to the technical field of woodworking machinery, in particular to a mechanical hand clamping mechanism. Background Art

[0002] Chinese patent publication number CN116442343A discloses an all-in-one machine for labeling, punching and cutting panel furniture, which has a labeling part, a loading table, a punching and grooving part and a cutting part. When the workpiece (panel furniture) is labeled, it is then grasped by a mechanical gripper, and the mechanical gripper drives one conveyor line to move to another conveyor line to carry out the next process, such as the punching and grooving process of the panel furniture. However, since there is a height difference between the connection between the two conveyor lines, in order to avoid the collision of the wooden board with the other conveyor line during the conveying process, a lifting structure needs to be set to avoid the collision of the wooden board with the other conveyor line during the conveying process, and to avoid the wooden board falling from a high place to the other conveyor line. Utility Model Content

[0003] The utility model aims to provide a mechanical clamping mechanism, which is provided with a first driver for driving the entire clamping block assembly to make an axial movement up and down. When the clamping block assembly clamps a workpiece and moves it from one conveyor line to another conveyor line, if the other conveyor line is at a higher height, the first driver drives the entire clamping block assembly to make an axial movement up to avoid the workpiece colliding with the other conveyor line. If the other conveyor line is at a lower height, the first driver drives the entire clamping block assembly to make an axial movement down to avoid the workpiece falling from a high place to the other conveyor line when the clamping block assembly releases the workpiece.

[0004] The purpose of the utility model is achieved in this way:

[0005] A mechanical clamping mechanism includes a movable seat which is reciprocatingly arranged on a conveyor line, and a clamping block assembly for clamping a workpiece. The clamping block assembly is arranged on one side of the movable seat for up and down axial movement, and the movable seat is provided with a first driver for driving the clamping block assembly to make up and down axial movement; when the clamping block assembly clamps the workpiece on the conveyor line, the clamping block assembly drives the workpiece to move along one conveyor line to another conveyor line, and the first driver drives the clamping block assembly to drive the workpiece to make up and down axial movement, so that the workpiece can adapt to conveyor lines of different heights.

[0006] A first driver is provided to drive the entire clamping block assembly to make up and down axial movements. When the clamping block assembly clamps the workpiece and moves it from one conveyor line to another conveyor line, if the other conveyor line is at a higher height, the first driver drives the entire clamping block assembly to make upward axial movements to avoid the workpiece from colliding with the other conveyor line. If the other conveyor line is at a lower height, the first driver drives the entire clamping block assembly to make downward axial movements to avoid the workpiece from falling from a high place onto another conveyor line when the clamping block assembly releases the workpiece, thereby adapting to the connection between conveyor lines of different heights.

[0007] An axial motion groove is provided on the movable seat, and a lifting block is provided at one end of the clamping block assembly. The lifting block limiter at one end of the clamping block assembly is installed in the axial motion groove, and the output end of the first driver is transmission-connected to the lifting block. When the first driver drives the clamping block assembly to make up-and-down axial motion along the movable seat, the lifting block limiter moves in the axial motion groove to set the up-and-down axial motion freedom of the entire clamping block assembly to prevent the clamping block assembly from slipping out of the movable seat when making up-and-down axial motion.

[0008] The movable seat is provided with a guide column inserted through the lifting block, and the lifting block is provided with a guide sleeve mounted on the guide column. When the lifting block moves in the axial motion groove, the guide sleeve moves up and down axially along the guide column to ensure that the entire clamping block assembly moves up and down stably.

[0009] The clamping block assembly includes a first clamping block connected to the lifting block, and a second clamping block that moves axially up and down along the first clamping block. A second driver is provided at the bottom of the first clamping block for driving the second clamping block to move axially up and down. The second driver drives the second clamping block to move closer to or away from the first clamping block to achieve clamping and releasing of the workpiece by the clamping block assembly.

[0010] A connecting block is provided between the lifting block and the first clamping block, and a first linear sliding assembly is provided between the connecting block and the movable seat. When the lifting block moves axially up and down, the lifting block drives the clamping block assembly to move through the connecting block, and the connecting block moves linearly up and down on the movable seat through the first linear sliding assembly.

[0011] A second linear sliding assembly is provided between the movable seat and the second clamping block. When the second driver drives the second clamping block to move axially up and down, the second clamping block moves linearly up and down on the movable seat through the second linear sliding assembly.

[0012] The first clamping block is provided with an installation avoidance notch corresponding to the second linear sliding assembly.

[0013] An opening and closing guide assembly is provided between the first clamping block and the second clamping block, and the upper and lower intervals between the first clamping block and the second clamping block form a clamping groove for clamping a workpiece. When the second driver drives the second clamping block to move, the second clamping block moves axially up and down along the first clamping block through the opening and closing guide assembly to change the upper and lower intervals between the first clamping block and the second clamping block, thereby changing the size of the clamping groove.

[0014] The output end of the second driver passes through the bottom of the first clamping block upwards and is drivingly connected to the second clamping block.

[0015] The first clamping block and / or the second clamping block are provided with a soft block for contacting the outer surface of the workpiece, thereby increasing the friction between the clamping hand and the clamped wooden board, making the clamping more secure and preventing the outer surface of the workpiece from being worn.

[0016] The beneficial effects of the utility model are as follows:

[0017] A first driver is provided to drive the entire clamping block assembly to make up and down axial movements. When the clamping block assembly clamps the workpiece and moves it from one conveyor line to another conveyor line, if the other conveyor line is at a higher height, the first driver drives the entire clamping block assembly to make upward axial movements to avoid the workpiece from colliding with the other conveyor line. If the other conveyor line is at a lower height, the first driver drives the entire clamping block assembly to make downward axial movements to avoid the workpiece from falling from a high place onto another conveyor line when the clamping block assembly releases the workpiece. This allows the assembly to adapt to the connection between conveyor lines of different heights, so as to protect the workpiece from being transported intact from one conveyor line to another. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of a mechanical gripper mechanism according to an embodiment of the utility model.

[0019] Figure 2 It is a schematic diagram of a three-dimensional cross-sectional structure of a mechanical gripper mechanism according to an embodiment of the utility model.

[0020] Figure 3 This is a schematic diagram of the cross-sectional structure of the mechanical gripper mechanism in another aspect of an embodiment of the utility model.

[0021] Figure 4 This is a structural schematic diagram of a mechanical gripper mechanism in an embodiment of the utility model that is reciprocatingly arranged on a conveyor line.

[0022] Figure 5 It is a three-dimensional structural schematic diagram of a clamping block assembly according to an embodiment of the utility model. DETAILED DESCRIPTION

[0023] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0024] See also Figure 1-Figure 5 A mechanical clamping mechanism includes a movable seat 1 which is reciprocatingly arranged on a conveyor line 2, and a clamping block assembly 4 for clamping a workpiece 3. The clamping block assembly 4 is arranged on one side of the movable seat 1 for up and down axial movement. The movable seat 1 is provided with a first driver 5 for driving the clamping block assembly 4 to make up and down axial movement; when the clamping block assembly 4 clamps the workpiece 3 on the conveyor line 2, the clamping block assembly 4 drives the workpiece 3 to move along one conveyor line 2 to another conveyor line 2, and the first driver 5 drives the clamping block assembly 4 to drive the workpiece 3 to make up and down axial movement, so that the workpiece 3 can adapt to conveyor lines 2 of different heights.

[0025] In this embodiment, the movable seat 1 is provided with an installation cavity for installing the motor 19 and the first driver 5. The first driver 5 can be a motor or a cylinder, preferably a cylinder, and the piston rod of the cylinder is connected with the fixed part of the clamping block assembly 4.

[0026] In this embodiment, the motor shaft of the motor 19 passes through the bottom wall of the mounting cavity and is provided with a gear 20, a linear guide slider 21 is provided at the bottom of the movable seat 1, a rack 22 meshing with the gear 20 is provided on the frame of the conveyor line 2, and a linear guide rail 23 connected to the linear guide slider 21 is provided on the frame of the conveyor line 2. When the motor 19 drives the gear 20 to rotate, the entire movable seat 1 and the motor 19 slide back and forth along the rack 22 through the gear 20, and the linear guide slider 21 slides on the linear guide rail 23.

[0027] In this embodiment, the movable seat 1 is formed by splicing a plurality of plates, and screws are provided on the connection between the plurality of plates so as to be fixedly connected by the screws.

[0028] An axial motion groove 7 is provided on the movable seat 1, and a lifting block 6 is provided at one end of the clamping block assembly 4. The lifting block 6 at one end of the clamping block assembly 4 is limitedly installed in the axial motion groove 7, and the output end of the first driver 5 is transmission-connected with the lifting block 6. When the first driver 5 drives the clamping block assembly 4 to make an axial movement up and down along the movable seat 1, the lifting block 6 is limitedly moved in the axial motion groove 7.

[0029] The movable seat 1 is provided with a guide column 8 which is inserted through the lifting block 6. The lifting block 6 is provided with a guide sleeve 9 which is sleeved on the guide column 8. When the lifting block 6 moves in the axial motion groove 7, the guide sleeve 9 moves up and down along the guide column 8.

[0030] In this embodiment, one end of the guide column 8 is fixed on the plate of the movable seat 1 .

[0031] The clamping block assembly 4 includes a first clamping block 10 connected to the lifting block 6, and a second clamping block 11 that moves axially up and down along the first clamping block 10. A second driver 12 is provided at the bottom of the first clamping block 10 for driving the second clamping block 11 to move axially up and down. The second driver 12 drives the second clamping block 11 to move closer to or away from the first clamping block 10, so as to enable the clamping block assembly 4 to clamp and release the workpiece 3.

[0032] In this embodiment, the second driver 12 is a motor or a cylinder, preferably a cylinder, and a piston rod of the cylinder penetrates the first clamping block 10 upward and is connected to the second clamping block 11 .

[0033] A connecting block 13 is provided between the lifting block 6 and the first clamping block 10, and a first linear sliding assembly 14 is provided between the connecting block 13 and the movable seat 1. When the lifting block 6 moves axially up and down, the lifting block 6 drives the clamping block assembly 4 to move through the connecting block 13, and the connecting block 13 moves linearly up and down on the movable seat 1 through the first linear sliding assembly 14.

[0034] In this embodiment, the first linear sliding assembly 14 is a sliding matching structure such as a sliding block, a sliding rail, etc.

[0035] A second linear sliding assembly 15 is provided between the movable seat 1 and the second clamping block 11 . When the second driver 12 drives the second clamping block 11 to move axially up and down, the second clamping block 11 moves linearly up and down on the movable seat 1 through the second linear sliding assembly 15 .

[0036] The first clamping block 10 is provided with an installation avoidance notch 16 corresponding to the second linear sliding assembly 15 .

[0037] In this embodiment, the second linear sliding component 15 is a sliding matching structure such as a sliding block, a sliding rail, etc.

[0038] An opening and closing guide assembly 17 is provided between the first clamping block 10 and the second clamping block 11. The upper and lower intervals between the first clamping block 10 and the second clamping block 11 form a clamping groove for clamping the workpiece 3. When the second driver 12 drives the second clamping block 11 to move, the second clamping block 11 moves up and down axially along the first clamping block 10 through the opening and closing guide assembly 17 to change the upper and lower intervals between the first clamping block 10 and the second clamping block 11, thereby changing the size of the clamping groove.

[0039] In this embodiment, the opening and closing guide assembly 17 is a structure including a guide column, a guide sleeve hole, etc.

[0040] The output end of the second driver 12 passes through the bottom of the first clamping block 10 upwards and is transmission-connected to the second clamping block 11 .

[0041] The first clamping block 10 and / or the second clamping block 11 is provided with a soft block 18 for contacting the outer surface of the workpiece 3 .

[0042] In this embodiment, the soft block 18 is fixed to a pad by glue, and the pad is fixed to the first clamping block 10 or the second clamping block 11 by screws. The pad is disassembled and assembled on the first clamping block 10 or the second clamping block 11 to facilitate the later replacement of the soft block 18. Anti-slip grooves can be provided on the soft block 18 to increase the friction of contacting the outer surface of the workpiece 3.

[0043] The above is a preferred embodiment of the utility model, which shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. The utility model may have various changes and improvements without departing from the spirit and scope of the utility model, and these changes and improvements fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A mechanical gripper mechanism, comprising a movable seat (1) reciprocatingly arranged on a conveyor line (2), and a clamping block assembly (4) for clamping a workpiece (3), characterized in that: A clamping block assembly (4) is arranged on one side of a movable seat (1) for vertical axial movement, and the movable seat (1) is provided with a first driver (5) for driving the clamping block assembly (4) to perform vertical axial movement; when the clamping block assembly (4) clamps a workpiece (3) on a conveyor line (2), the clamping block assembly (4) drives the workpiece (3) to move along one conveyor line (2) to another conveyor line (2), and the first driver (5) drives the clamping block assembly (4) to drive the workpiece (3) to perform vertical axial movement, so that the workpiece (3) can adapt to conveyor lines (2) of different heights.

2. The mechanical gripping mechanism according to claim 1, characterized in that: An axial motion groove (7) is provided on the movable seat (1), and a lifting block (6) is provided at one end of the clamping block assembly (4). The lifting block (6) at one end of the clamping block assembly (4) is limitedly installed in the axial motion groove (7), and the output end of the first driver (5) is transmission-connected to the lifting block (6). When the first driver (5) drives the clamping block assembly (4) to make an axial movement up and down along the movable seat (1), the lifting block (6) is limitedly moved in the axial motion groove (7).

3. The mechanical gripping mechanism according to claim 2, characterized in that: The movable seat (1) is provided with a guide column (8) which penetrates and is inserted into the lifting block (6); the lifting block (6) is provided with a guide sleeve (9) which is sleeved on the guide column (8); when the lifting block (6) moves in a limited position in the axial movement groove (7), the guide sleeve (9) moves axially up and down along the guide column (8).

4. The mechanical gripping mechanism according to claim 2, characterized in that: The clamping block assembly (4) comprises a first clamping block (10) connected to the lifting block (6), and a second clamping block (11) which moves axially up and down along the first clamping block (10). A second driver (12) is provided at the bottom of the first clamping block (10) for driving the second clamping block (11) to move axially up and down. The second driver (12) drives the second clamping block (11) to move closer to or away from the first clamping block (10), so as to enable the clamping block assembly (4) to clamp or release the workpiece (3).

5. The mechanical gripping mechanism according to claim 4, characterized in that: A connecting block (13) is provided between the lifting block (6) and the first clamping block (10), and a first linear sliding assembly (14) is provided between the connecting block (13) and the movable seat (1). When the lifting block (6) moves axially up and down, the lifting block (6) drives the clamping block assembly (4) to move through the connecting block (13), and the connecting block (13) moves linearly up and down on the movable seat (1) through the first linear sliding assembly (14).

6. The mechanical gripping mechanism according to claim 4, characterized in that: A second linear sliding assembly (15) is provided between the movable seat (1) and the second clamping block (11); when the second driver (12) drives the second clamping block (11) to make an axial movement up and down, the second clamping block (11) moves linearly up and down on the movable seat (1) via the second linear sliding assembly (15).

7. The mechanical gripping mechanism according to claim 6, characterized in that: The first clamping block (10) is provided with an installation avoidance notch (16) corresponding to the second linear sliding assembly (15).

8. The mechanical gripping mechanism according to claim 4, characterized in that: An opening and closing guide assembly (17) is provided between the first clamping block (10) and the second clamping block (11); an upper and lower interval between the first clamping block (10) and the second clamping block (11) forms a clamping groove for clamping a workpiece (3); when the second driver (12) drives the second clamping block (11) to move, the second clamping block (11) moves up and down axially along the first clamping block (10) through the opening and closing guide assembly (17), so as to change the upper and lower interval between the first clamping block (10) and the second clamping block (11), thereby changing the size of the clamping groove.

9. The mechanical gripping mechanism according to claim 4, characterized in that: The output end of the second driver (12) passes through the bottom of the first clamping block (10) upwards and is drivingly connected to the second clamping block (11).

10. The mechanical gripping mechanism according to claim 4, characterized in that: The first clamping block (10) and / or the second clamping block (11) is provided with a soft block (18) for contacting the outer surface of the workpiece (3).

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