Clamping jaw, clamping device and clamping system

Abstract

The utility model provides a clamping jaw, a clamping device and a clamping system, and belongs to the technical field of hoisting fixtures. The clamping jaw comprises at least two groups of parallel side beams; the connecting parts are respectively arranged on the inner sides of the two side beams; the lifting part is arranged on the inner side of the connecting part; the door and window are moved in a lifting and non-lifting mode, and the problems that sealing glue between the door and window and glass is loosened in the moving process and the like can be effectively solved; meanwhile, the door and window are further clamped through the clamping rods, and the stability of the door and window in the moving process is improved; the clamping device comprises a main beam, and two clamping jaws capable of moving relatively are arranged on the two sides of the main beam. In the stacking process, the clamping jaws move in a centering mode, then doors and windows are lifted and clamped through the lifting parts and the connecting parts on the two sides, the doors and windows are more stable in the moving process, and the sealing glue can be further prevented from loosening in the moving process.

Description

Technical Field

[0001] The utility model belongs to the technical field of hoisting clamps, and in particular relates to a clamping claw, a clamping device and a clamping system. Background Art

[0002] The statements herein merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Palletizing robots play an important role in industrial automation and are mainly used for loading and unloading, handling, stacking, sorting and other operations. The emergence of palletizing robots has greatly improved production efficiency and significantly reduced production costs. The fully automatic palletizing robot is mainly composed of three parts: actuator, drive mechanism and control system. The drive mechanism is mainly used to enable the actuator to complete various rotations (swings), movements or compound movements to achieve the specified actions and change the position and posture of the grasped objects. The drive mechanism can use a robotic arm or a gantry robot according to the needs of the production line. The actuator is used to grab objects. The control system is mainly used to control the movement of various parts of the palletizer. The palletizing robot has the advantages of high degree of automation, large workload, fast speed, high precision, easy maintenance and long service life. Therefore, the palletizing robot is widely used in the field of industrial automation and is favored by the majority of enterprises. The palletizing robot has become an indispensable and important part of industrial automation.

[0004] The actuator of the palletizing robot is also called the end effector, fixture or mechanical gripper. It is a component used to grasp the workpiece (or tool). It has various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, supporting type and adsorption type.

[0005] The shape of building doors and windows is mainly rectangular, composed of profiles and glass, and the profiles are mostly aluminum profiles. In the production process of aluminum windows, in order to improve the sealing of doors and windows and play the necessary role of waterproofing and heat insulation, glue must be applied on the gap between glass and profiles. When the doors and windows are glued on the assembly line, the stacking robot is required to take the glued doors and windows off the assembly line, stack them on one side, and then transport them to the glue drying area manually or mechanically.

[0006] Disadvantages of manual handling and stacking: 1. Stacking doors and windows is physically demanding and repetitive, which will harm the health of workers and require multiple workers, resulting in high costs. 2. When the doors and windows are glued and flow out of the assembly line, the glue has not yet solidified. Manual handling and stacking can easily cause water ripples on the glue surface, uneven glue on the four sides, damaged glue surface, or inadequate sealing due to uneven force, uneven placement, or accidental rubbing of the glue, which will reduce the yield rate of the production line and increase unnecessary costs.

[0007] Although there are some door and window clamps in the prior art, the existing door and window clamps generally use vacuum suction cups to grab doors and windows. Although they have the advantages of small space occupation, strong adsorption force, simple and practical structure, especially when combined with the flip mechanism, it is easy to achieve gluing on the front and back sides, but when the doors and windows are just glued, the sealant is not firm (the sealant will be firm only after drying). Using a vacuum suction cup to directly adsorb the glass and move it up and down and left and right will cause the sealant to loosen, affecting the sealing effect of the sealant, and having a great impact on product quality. Utility Model Content

[0008] In order to solve the above problems in the prior art, a clamping claw, a clamping device and a clamping system are proposed.

[0009] The technical solution of the utility model to solve the technical problem is:

[0010] The utility model provides a clamping claw, comprising: at least two groups of parallel side beams; a plurality of connecting parts, which are respectively arranged on the inner sides of the two side beams; and a lifting part, which is arranged on the inner sides of the connecting parts.

[0011] Preferably, the lifting portion is arranged horizontally.

[0012] Preferably, it further comprises a clamping rod which can freely penetrate the connecting portion, and a spring is commonly connected between the clamping rod and the connecting portion.

[0013] Preferably, a rubber cap is provided inside the connecting portion, and the rubber cap is connected to the clamping rod.

[0014] The utility model also provides a clamping device, comprising: the above-mentioned clamping jaws and a main beam, wherein the side clamping jaws are relatively movably arranged on the main beam.

[0015] Preferably, a driving assembly for driving the side beams to move relative to each other is commonly connected between the main beam and the side beams.

[0016] Preferably, the driving assembly includes a servo motor, which is transmission-connected to a bidirectional lead screw, which is rotatably arranged on the main beam, and nuts are arranged at both ends of the bidirectional lead screw, which are connected to the side beams to achieve relative movement of the two side beams.

[0017] Preferably, connecting pieces are respectively provided on the two side beams, the nut is located above the connecting pieces, and the main beam is freely penetrated through the two connecting pieces.

[0018] Preferably, at least one set of linear guide rails is fixedly connected above the main beam, and the linear guide rails are on the same axis as the main beam; a first linear slider is connected to the side beam, and the first linear slider is slidably arranged along the first linear guide rails.

[0019] The utility model also provides a clamping system, comprising: the above-mentioned clamping device and a moving component, wherein the moving component is connected to the clamping device to drive the clamping device to move.

[0020] Compared with the prior art, the above technical solution has the following advantages or beneficial effects:

[0021] 1. The clamping claws of the utility model include at least two groups of side beams. The lifting parts connected to the side beams are used to lift doors, windows and glass. By moving the doors and windows in a lifting manner, the loosening of the sealant between the doors and windows and the glass during the movement can be effectively avoided. At the same time, the doors and windows are further tightened by the clamping rod, thereby improving the stability of the doors and windows during the movement.

[0022] 2. In the clamping device, two sets of parallel measuring lines are set on both sides of the main beam with the center of the main beam. The side beams are located on the main beam and move relatively. Clamps are set under the side beams. During the stacking process, the clamps move in the center, and then the doors and windows are lifted and clamped by the lifting parts and connecting parts on both sides to further prevent the sealant from loosening during the movement.

[0023] 3. In the utility model, the two side beams are driven to move relative to each other through a bidirectional screw rod structure. The structure is self-centering during the clamping process and is more stable during the movement, thus avoiding uneven weight on both sides of the main beam and causing skewness during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0025] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0026] Figure 2 It is an enlarged view of the cooperation between the bidirectional screw rod and the screw nut in the utility model.

[0027] Figure 3 It is an enlarged view of the clamping claws in the door and window stacking robot clamp of the utility model.

[0028] Description of reference numerals:

[0029] 1. Main beam; 2. Side beam; 3. Clamping claw; 301a. Lifting part; 301b. Connecting part; 302. Cover; 303. Linear bearing; 304. Spring; 305. Clamping rod; 306. Rubber cap; 307. Rubber pad; 4. Bidirectional lead screw; 5. Linear guide; 6. Nut; 7. Flange; 8. First linear slider; 9. Connecting seat; 10. Servo motor; 11. Reducer; 12. Second linear slider; 13. Connecting piece; 14. Angle code; 15. Lead screw seat. DETAILED DESCRIPTION

[0030] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the technical scheme in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the embodiment described below is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] In the description of the present utility model, it is to be understood that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a centrally arranged component at the same time.

[0032] In addition, terms such as "long", "short", "inside", and "outside" indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention. They do not indicate or imply that the components or elements referred to must have this specific orientation or operate in a specific orientation structure, and should not be understood as a limitation of the present invention.

[0033] As used herein, the term “inside” refers to the center direction of the two sets of side beams 2 , and the term “relative movement” refers to the two sets of side beams 2 moving synchronously toward the center direction.

[0034] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0035] The present embodiment discloses a clamping jaw 3, which includes two sets of parallel side beams 2; a plurality of connecting portions 301b, which are respectively arranged on the inner sides of the two side beams 2; and a lifting portion 301a, which is arranged on the inner side of the connecting portion 301b.

[0036] The clamp 3 disclosed in this embodiment has a simple structure and is easy to process and shape. The lifting portion 301a further lifts the door and window and the glass inside the door and window to move them to a designated location. Compared with the conventional method of using a suction cup to suck the glass to drive the door and window to move, the loosening of the sealant between the door and window and the glass during the movement is avoided.

[0037] like Figure 3As shown, the lifting portion 301a in the clamp 3 is a plate-like structure, which is horizontally arranged. The horizontal lifting portion 301a is in closer contact with the doors and windows and is more stable during movement. It is connected to a vertical plate-like structure, which can be fixed to the inner side of the side beam 2 by bolts, welding, plug-in and other general methods.

[0038] In some embodiments, the supporting portion 301a can also be formed by a combination of a horizontal plate and an inclined plate, which can better fit the chamfered edges of doors and windows; the connecting portion 301b can be an inwardly protruding arc-shaped plate structure, and the bottom of the protruding portion can rest against the top of the doors and windows, further improving the stability of the doors and windows during movement.

[0039] Furthermore, a rubber pad 307 is connected to the upper surface of the lifting portion 301a, which is used to protect the doors and windows on the one hand, and to provide stability when the doors and windows are moved on the other hand, so as to prevent the doors and windows from falling off from above the lifting portion 301a.

[0040] Continue to refer Figure 3 , and further includes a clamping rod 305 that can freely penetrate the connecting portion 301b, and a spring 304 is commonly connected between the clamping rod 305 and the connecting portion 301b. Specifically, linear bearings 303 and blocking covers 302 are respectively provided on both sides of the connecting portion 301b, wherein the linear bearings 303 are located on the inner side of the connecting portion 301b, and the blocking covers 302 are located on the outer side of the connecting portion 301b. The clamping rod 305 freely penetrates the connecting portion 301b and the linear bearings 303, and the linear bearings 303 guide the clamping rod 305 to prevent the clamping rod 305 from sliding back and forth and getting stuck, and the blocking covers 302 are provided to prevent the clamping rod 305 from falling out.

[0041] In some embodiments, a rubber cap 306 is further provided on the inner side of the connection part 301b, and the rubber cap 306 is connected to the end of the clamping rod 305; during the relative movement of the two connection parts 301b, the clamping rod 305 and the rubber cat are pushed by the force of the spring 304 to apply pressure to the aluminum window. When the two connection parts 301b move outward at the same time to release the clamping, a thrust is applied to both sides of the aluminum window in a balanced manner to help the aluminum window overcome the friction with the bottom rubber pad 307, so that the aluminum window can be maintained in place and will not be tilted due to unbalanced friction; the friction is increased by the rubber cap 306 to prevent the clamped object from loosening, and at the same time, the clamping force is buffered to prevent the clamped object from being damaged by hard collision.

[0042] In this embodiment, two side beams 2 are provided, and each side beam 2 is provided with four groups of connecting parts 301b and lifting parts 301a, and the connecting parts 301b and the lifting parts 301a are arranged opposite to each other; in actual application, the number of clamps 3 can be increased or decreased according to actual needs.

[0043] refer to Figure 1-2In this embodiment, a clamping device is also provided, which includes the above-mentioned clamping claw 3 and the main beam 1, and the side beam 2 is relatively movable on the main beam 1. When the two side beams 2 move relatively, the clamping claw 3 is driven to move in the center to clamp the door and window.

[0044] As an implementation method, after the two side beams 2 move relatively to clamp the door and window, the two side beams 2 can be positioned and fixed by tying ropes or the like;

[0045] To further facilitate the operation and simplify the clamping steps, in this embodiment, a driving component for driving the side beams 2 to move relative to each other is commonly connected between the main beam 1 and the side beams 2 .

[0046] In some embodiments, the driving assembly includes an electric clamping rod 305 , a hydraulic clamping rod 305 , and a pneumatic clamping rod 305 , etc. The above structure drives the two side beams 2 to move in a central direction on the main beam 1 to achieve automatic clamping of the clamping claws 3 .

[0047] In this embodiment, the driving assembly includes a servo motor 10 arranged on the main beam 1, and the servo motor 10 is transmission-connected to a bidirectional screw rod 4, which is rotatably arranged on the main beam 1. Nuts 6 are arranged at both ends of the bidirectional screw rod 4, and the nuts 6 are respectively connected to the two side beams 2 to realize the relative movement of the two side beams 2.

[0048] It is worth noting that in order to ensure that the clamping force of the clamping device on the clamped object is appropriate, the current value of the servo motor operation will be set (or the servo motor 10 will automatically determine whether the clamp is in place based on the current value). When the clamp 3 is running, the current required for the servo motor 10 to operate reaches the preset value, which means that the clamp 3 is clamped in place.

[0049] In some embodiments, a connecting seat 9 is installed in the middle of the main beam 1 , and the connecting seat 9 is connected to a servo motor 10 . The servo motor 10 is also connected to a reducer 11 to control the rotation of the bidirectional screw rod 4 .

[0050] In some embodiments, a connecting piece 13 is commonly connected between the side beam 2 and the nut 6. The connecting piece 13 is a sheet metal connecting piece. The connecting piece 13 is a U-shaped structure. The nut 6 is located above the connecting piece 13. A flange 7 is also connected between the nut 6 and the connecting piece 13. The main beam 1 is freely penetrated through the two connecting pieces 13. Screw seats 15 are connected to both ends of the main beam 1. The screw seats 15 are specifically located on the outside of the side beam 2. The bidirectional screw 4 is arranged between the two screw seats 15. Furthermore, an angle code 14 is commonly connected between the connecting piece 13 and the side beam 2. The angle code 14 is used as a receiving piece to further increase the stability of the side beam 2 during movement.

[0051] In some embodiments, in order to maintain the stability of the driving component when driving the two side beams 2 to move in alignment, at least one group of linear guide rails 5 are fixedly connected to the main beam 1, and the linear guide rails 5 are on the same axis as the main beam 1. A first linear slider 8 is connected to the side beam 2, and the first linear slider 8 is specifically fixed to the bottom surface of the connecting member 13, and the first linear slider 8 is slidably arranged along the first linear guide rail 5; specifically, the linear guide rail 5 has recessed portions on both sides, and the first linear slider 8 has raised portions on both sides, and the raised portions are slidably arranged in the recessed portions.

[0052] In actual use, the servo motor 10 drives the bidirectional screw rod 4 to rotate. During the rotation of the bidirectional screw rod 4, it cooperates with the screw nuts 6 on both sides. The two screw nuts 6 drive the beams 2 on both sides to move in alignment under the force of the bidirectional screw rod 4.

[0053] During the centering movement of the beams 2 on both sides, the lifting part 301a is inserted into the bottom of the door and window to hold the door and window and the glass, and the door and window can be moved after being further tightened by the rubber caps 306 on both sides;

[0054] After moving to the designated location, the two side beams 2 move outward synchronously, and the door and window are separated from the top surface of the lifting part 301a under the push of the rubber cap 306 and placed at the current position.

[0055] This embodiment also provides a clamping system, which includes the above-mentioned clamping device and a moving component, and the moving component is connected to the clamping device to drive the clamping device to move.

[0056] In some embodiments, the moving component includes a palletizing robot or a palletizing gantry; a second linear slider 12 is symmetrically arranged on the inner side of the connecting seat 9, and the second linear slider 12 is connected to the linear guide rail 5 on the palletizing robot or the palletizing gantry, and the xyz-axis movement of the clamping device is realized by the palletizing robot or the palletizing gantry.

[0057] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A clamping jaw (3), characterized in that: include: at least two sets of parallel side beams (2); A plurality of groups of connection parts (301b), wherein the connection parts (301b) are respectively arranged on the inner sides of the beams (2) on both sides; A lifting portion (301a), wherein the lifting portion (301a) is arranged inside the connecting portion (301b).

2. A clamping jaw (3) according to claim 1, characterized in that: The lifting portion (301a) is arranged horizontally.

3. A clamping jaw (3) according to claim 1, characterized in that: It also includes a clamping rod (305) that can freely penetrate the connecting portion (301b), and a spring (304) is commonly connected between the clamping rod (305) and the connecting portion (301b).

4. A clamping jaw (3) according to claim 3, characterized in that: A rubber cap (306) is provided inside the connecting portion (301b), and the rubber cap (306) is connected to the clamping rod (305).

5. A clamping device, characterized in that: include: The clamping jaw (3) according to any one of claims 1 to 4, and A main beam (1), wherein the clamping claw (3) is arranged on the main beam (1) to move relatively thereto.

6. A clamping device according to claim 5, characterized in that: A driving component for driving the side beams (2) to move relative to each other is commonly connected between the main beam (1) and the side beams (2).

7. A clamping device according to claim 6, characterized in that: The driving assembly comprises a servo motor (10), the servo motor (10) being drivingly connected to a bidirectional screw rod (4), the bidirectional screw rod (4) being rotatably arranged on the main beam (1), and screw nuts (6) being arranged at both ends of the bidirectional screw rod (4), the screw nuts (6) being connected to the side beams (2) to achieve relative movement of the two side beams (2).

8. A clamping device according to claim 7, characterized in that: A connecting piece (13) is respectively provided on the two side beams (2), the nut (6) is located above the connecting piece (13), and the main beam (1) is freely penetrated through the two connecting pieces (13).

9. A clamping device according to claim 6, characterized in that: At least one set of linear guide rails (5) is fixedly connected above the main beam (1), and the linear guide rails (5) and the main beam (1) are coaxially connected; a first linear slide block (12) is connected to the side beam (2), and the first linear slide block (12) is slidably arranged along the first linear guide rail (5).

10. The gripping system is characterized in that: include: The clamping device according to claim 5, and A moving component is connected to the clamping device to drive the clamping device to move.

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