Clamping mechanism

Abstract

A clamping mechanism is used for clamping materials and comprises an assembling structure, a first clamping assembly and a second clamping assembly. The assembly structure has a first direction and a second direction perpendicular to the first direction. The first clamping assembly is connected with the assembling structure and comprises a pressing claw, the pressing claw is movably arranged in the first direction, and the pressing claw is used for abutting against one side of a material. The second clamping assembly is connected with the first clamping assembly and comprises a first side clamping jaw and a second side clamping jaw, and the first side clamping jaw and the second side clamping jaw are movably arranged in the second direction and used for clamping the other two opposite sides of the materials. The clamping mechanism provided by the utility model has the advantage of efficiently grabbing materials.

Description

Technical Field

[0001] The present application relates to an automated material taking technology, and in particular to a clamping mechanism. Background Art

[0002] Generally speaking, the grasping and assembly of materials in industrial production mainly rely on manual operation or semi-automatic equipment. However, traditional material grasping systems usually need to spend a lot of time on finding the material location and adjusting the gripper, resulting in low overall production efficiency. At the same time, many existing systems still require manual intervention, especially when materials are replaced or the system fails, and true automated production cannot be achieved. Furthermore, traditional automation equipment usually requires a lot of hardware and software investment, which increases the equipment cost of the enterprise. Utility Model Content

[0003] In order to solve the above technical problems, the present application provides a clamping mechanism.

[0004] A clamping mechanism for clamping a material comprises an assembly structure, a first clamping assembly and a second clamping assembly. The assembly structure has a first direction and a second direction perpendicular to the first direction. The first clamping assembly is connected to the assembly structure, and the first clamping assembly comprises a pressure claw, which is movably arranged along the first direction, and the pressure claw is used to press one side of the material. The second clamping assembly is connected to the first clamping assembly, and the second clamping assembly comprises a first side clamping claw and a second side clamping claw, the first side clamping claw and the second side clamping claw are movably arranged along the second direction, and the first side clamping claw and the second side clamping claw are used to clamp the other two opposite sides of the material.

[0005] In some possible embodiments, the pressing claw includes a connecting portion, an extending portion and a pressing portion, the connecting portion and the pressing portion are respectively connected to opposite ends of the extending portion, the pressing portion extends back to the connecting portion, and the extending portion protrudes from the second clamping assembly.

[0006] In some possible embodiments, the first side clamp includes a first mounting portion, a first clamping arm and a first clamping head, the first mounting portion and the first clamping head are respectively connected to opposite ends of the first clamping arm, the first mounting portion extends back to the first clamping head, and the first clamping head protrudes out of the second clamping assembly.

[0007] In some possible embodiments, the second side clamp includes a second mounting portion, a second clamping arm and a second clamping head, the second mounting portion and the second clamping head are respectively connected to opposite ends of the second clamping arm, the second mounting portion extends back to the second clamping head, and the second clamping head protrudes out of the second clamping assembly.

[0008] In some possible embodiments, the second mounting portion is arranged opposite to the first mounting portion, the second clamping arm is arranged opposite to the first clamping arm, the second clamping head is arranged opposite to the first clamping head, the extending portion is located between the first clamping arm and the second clamping arm, and the pressing portion is located between the first clamping head and the second clamping head.

[0009] In some possible embodiments, a clamping groove is provided on the side of the pressing portion away from the connecting portion, a first limiting groove is provided on the side of the first clamping head away from the first mounting portion, a second limiting groove is provided on the side of the second clamping head away from the second mounting portion, and the first limiting groove and the second limiting groove are arranged opposite to each other.

[0010] In some possible implementations, a pressure-sensing component is further included. The pressure-sensing component is connected between the pressure claw and the assembly structure, and the pressure-sensing component is used to sense the pressure value of the pressure claw acting on the material.

[0011] In some possible implementations, the assembly structure includes a first plate body, a second plate body, and a sliding member, wherein the sliding member is connected between the first plate body and the second plate body so that the second plate body can slide relative to the second plate body, and one side of the second plate body is connected to the pressure-sensitive component.

[0012] In some possible implementations, the pressure sensing assembly includes a pressure sensor and a first connecting block, and the pressure sensor is disposed between the second plate and the first connecting block.

[0013] In some possible implementations, the first clamping assembly further includes a second connecting block, the second connecting block is connected between the first connecting block and the second clamping assembly, and the pressing claw is connected to one side of the second connecting block.

[0014] The clamping mechanism provided by the present application can realize efficient grasping of materials through the pressure claw, the first side clamping claw, and the second side clamping claw. The accurate prevention of materials can be realized by cooperating with the mechanical arm, thereby improving work efficiency and production benefits. At the same time, the assembly structure, pressure-sensing component, first clamping component, and second clamping component of the present application all adopt a modular design, which is convenient for maintenance and replacement of parts and reduces maintenance costs. In addition, the present application monitors the pressure of the clamping process through the pressure-sensing component to ensure the stability and safety of the material in the material picking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 An overall schematic diagram of a clamping mechanism provided in one embodiment of the present application.

[0016] Figure 2 for Figure 1 The schematic diagram of the clamping mechanism shown is when clamping materials.

[0017] Figure 3 for Figure 1 Exploded view of the clamping mechanism shown.

[0018] Figure 4 for Figure 1 Schematic diagram of the pressure claw of the clamping mechanism.

[0019] Figure 5 for Figure 1 A schematic diagram of a first side clamping jaw and a second side clamping jaw of a clamping mechanism is shown.

[0020] Figure 6 for Figure 5 Another angle schematic diagram of the first side clamping jaw and the second side clamping jaw is shown.

[0021] Main component symbols

[0022] Clamping mechanism 100

[0023] Assembly structure 10

[0024] The first plate 11

[0025] First mounting plate 111

[0026] The first limiting plate 112

[0027] Containment Chamber 113

[0028] The second plate 12

[0029] Second mounting plate 121

[0030] The second limiting plate 122

[0031] Opening 123

[0032] Slider 13

[0033] Guide Rail 131

[0034] Slider 132

[0035] Buffer 14

[0036] Guide column 141

[0037] Elastic member 142

[0038] The first clamping assembly 20

[0039] Press Claw 21

[0040] Connection part 211

[0041] Extension 212

[0042] Pressing portion 213

[0043] Card slot 213a

[0044] Avoidance slot 213b

[0045] Second connecting plate 22

[0046] The second clamping assembly 30

[0047] First side clamping jaw 31

[0048] First mounting portion 311

[0049] First clamp arm 312

[0050] First clamping head 313

[0051] First limiting groove 313a

[0052] First gap 313b

[0053] Second side clamping jaw 32

[0054] The second mounting portion 321

[0055] Second clamp arm 322

[0056] Second clamping head 323

[0057] The second limiting groove 323a

[0058] Second gap 323b

[0059] Drive 33

[0060] Transmission parts 34

[0061] Pressure sensing component 40

[0062] Pressure sensor 41

[0063] First connecting plate 42

[0064] Robotic Arm 200

[0065] Material 300

[0066] First direction A

[0067] Second direction B DETAILED DESCRIPTION

[0068] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0069] In addition, in the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present application. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0070] See also Figure 1 and Figure 2 In one embodiment of the present application, a clamping mechanism 100 is provided, which is used to cooperate with a robot arm 200 to clamp a material 300. The clamping mechanism 100 includes an assembly structure 10, a first clamping assembly 20, and a second clamping assembly 30. The first clamping assembly 20 is connected to the assembly structure 10. The second clamping assembly 30 is connected to the first clamping assembly 20.

[0071] The clamping mechanism 100 has a first direction A and a second direction B, and the first direction A is substantially perpendicular to the second direction B. The first clamping assembly 20 includes a pressure jaw 21, and the pressure jaw 21 is movably arranged along the first direction A. The second clamping assembly 30 includes a first side clamping jaw 31 and a second side clamping jaw 32. The first side clamping jaw 31 and the second side clamping jaw 32 are movably arranged along the second direction B.

[0072] When in use, the pressing claw 21 approaches the material 300 along the first direction A until it presses against one side of the material 300. The first side clamping claw 31 and the second side clamping claw 32 approach the material 300 along the second direction B until the first side clamping claw 31 and the second side clamping claw 32 clamp the other two opposite sides of the material 300. In this way, the clamping mechanism 100 clamps the material 300, thereby facilitating the taking and placing of the material 300.

[0073] See also Figure 3 In this embodiment, the assembly structure 10 includes a first plate 11, a second plate 12 and a sliding member 13. The sliding member 13 is connected between the first plate 11 and the second plate 12, so that the second plate 12 can slide relative to the first plate 11 along the first direction A.

[0074] The first plate body 11 includes a first mounting plate 111 and a first limiting plate 112. The first limiting plate 112 is substantially vertically connected to one end of the first mounting plate 111, thereby enclosing a receiving space 113. The side of the first mounting plate 111 away from the receiving space 113 is used to connect the robot arm 200. The sliding member 13 is accommodated in the receiving space 113.

[0075] The second plate body 12 includes a second mounting plate 121 and a second limiting plate 122. The second limiting plate 122 is substantially vertically connected to one end of the second mounting plate 121. The second mounting plate 121 and the first mounting plate 111 are disposed opposite to each other, and the first limiting plate 112 and the second limiting plate 122 are disposed opposite to each other.

[0076] The sliding member 13 includes two guide rails 131 and two sliders 132. Each slider 132 is movably disposed on one side of one guide rail 131. The other side of each guide rail 131 is disposed on one side of the first mounting plate 111 facing the receiving space 113 along the first direction A. The guide rail 131 is a linear guide rail.

[0077] In this embodiment, the assembly structure 10 further includes a buffer member 14, which is disposed between the second mounting plate 121 and the first limiting plate 112, and is used to provide a preset pressure when clamping the material 300, so as to adapt to the material 300 of different hardness without causing damage. Specifically, the buffer member 14 includes a guide column 141 and an elastic member 142 sleeved on the guide column 141. One end of the guide column 141 is fixed to the first limiting plate 112. The second mounting plate 121 is provided with an opening 123 corresponding to the guide column 141. The other end of the guide column 141 can be movably inserted into the opening 123. One end of the elastic member 142 abuts against the second mounting plate 121, and the other end abuts against the first limiting plate 112.

[0078] In this embodiment, the clamping mechanism 100 further includes a pressure sensing component 40. The pressure sensing component 40 is connected between the assembly structure 10 and the first clamping component 20. The pressure sensing component 40 includes a pressure sensor 41 and a first connecting plate 42. The pressure sensor 41 is roughly cylindrical. One end of the pressure sensor 41 is connected to the second limit plate 122, and the other end of the pressure sensor 41 is connected to the first connecting plate 42. The first connecting plate 42 is connected to the first clamping component 20 on the side away from the pressure sensor 41. Specifically, the pressure sensor 41 includes a strain pressure sensor, a piezoelectric pressure sensor, an optical fiber pressure sensor, a differential capacitive pressure sensor, an inductive pressure sensor, a semiconductor strain gauge pressure sensor, a resonant pressure sensor, and a capacitive acceleration sensor. The first connecting plate 42 is connected to the second limit plate 122 by a fastener (e.g., a screw). By providing the first connecting plate 42, the disassembly and maintenance of the pressure sensor 41 can be facilitated, and at the same time, it is beneficial to reduce the manufacturing cost.

[0079] See also Figure 3 and Figure 4 In this embodiment, the first clamping assembly 20 also includes a second connecting plate 22. The second connecting plate 22 is connected to the side of the first connecting plate 42 away from the pressure sensor 41. The side of the second connecting plate 22 away from the first connecting plate 42 is connected to the second clamping assembly 30. The pressing claw 21 is roughly in a "Z" shape, and the pressing claw 21 includes a connecting portion 211, an extending portion 212 and a pressing portion 213. The connecting portion 211 and the pressing portion 213 are respectively connected to the opposite ends of the extending portion 212, and the pressing portion 213 extends away from the connecting portion 211, and the extending portion 212 protrudes from the second clamping assembly 30. The connecting portion 211 is connected to one side of the second connecting plate 22. The pressing portion 213 is used to press one side of the material 300. By providing the second connecting plate 22, the disassembly and maintenance of the pressing claw 21 can be facilitated, and at the same time, it is beneficial to reduce the manufacturing cost.

[0080] In this embodiment, the second clamping assembly 30 further includes a driver 33 and a transmission member 34. The transmission member 34 is connected to the driver 33 and the first side clamp 31 and the second side clamp 32. The driver 33 drives the first side clamp 31 and the second side clamp 32 to move closer to each other through the transmission member 34 to clamp the two sides of the material 300, or drives the first side clamp 31 and the second side clamp 32 to move away from each other to release the material 300. The transmission member 34 includes a gear, and the driver 33 includes a motor.

[0081] See also Figure 3 and Figure 5The first side clamping jaw 31 is roughly in a "Z" shape, and includes a first mounting portion 311, a first clamping arm 312, and a first clamping head 313. The first mounting portion 311 and the first clamping head 313 are respectively connected to opposite ends of the first clamping arm 312. The first mounting portion 311 extends away from the first clamping head 313, and the first mounting portion 311 is connected to the transmission member 34. The first clamping head 313 protrudes from the transmission member 34. Similarly, the second side clamping jaw 32 is roughly in a "Z" shape, and includes a second mounting portion 321, a second clamping arm 322, and a second clamping head 323. The second mounting portion 321 and the second clamping head 323 are respectively connected to opposite ends of the second clamping arm 322. The second mounting portion 321 extends away from the second clamping head 323, the second mounting portion 321 is connected to the transmission member 34, and the second clamping head 323 protrudes from the transmission member 34. The second mounting portion 321 is arranged opposite to the first mounting portion 311, the second clamping arm 322 is arranged opposite to the first clamping arm 312, the second clamping head 323 is arranged opposite to the first clamping head 313, the extension portion 212 is located between the first clamping arm 312 and the second clamping arm 322, and the pressing portion 213 is located between the first clamping head 313 and the second clamping head 323.

[0082] When used specifically, first, the mechanical arm 200 moves the clamping mechanism 100 to the top of the material 300, and makes the pressing part 213 of the pressing claw 21 face the material 300. Then, the mechanical arm 200 drives the clamping mechanism 100 to move downward, and the pressing part 213 presses the upper surface of the material 300. When the pressure sensor 41 reaches a preset pressure value, the clamping mechanism 100 stops moving downward. Then, the driver 33 drives the first side clamping jaw 31 and the second side clamping jaw 32 to move toward the material 300 respectively, until the first clamping head 313 and the second clamping head 323 respectively press against the opposite sides of the material 300. Then, the mechanical arm 200 moves the clamping mechanism 100 to a predetermined discharge position, and then controls the first side clamping jaw 31 and the second side clamping jaw 32 to move away from the material 300, thereby releasing the material 300 at the discharge position. In this way, the automatic picking and placing operation of the material 300 is completed.

[0083] In this embodiment, see Figure 4 and Figure 6The side of the pressing portion 213 away from the connecting portion 211 is provided with a clamping groove 213a. The side of the first clamping head 313 away from the first mounting portion 311 is provided with a first limiting groove 313a. The side of the second clamping head 323 away from the second mounting portion 321 is provided with a second limiting groove 323a, and the first limiting groove 313a is arranged opposite to the second limiting groove 323a. The clamping groove 213a, the first limiting groove 313a and the second limiting groove 323a are all used to limit the material 300.

[0084] In this embodiment, see Figure 4 and Figure 5 The first clamping head 313 is provided with a first notch 313b on one side facing the second clamping head 323, and the second clamping head 323 is provided with a second notch 323b at a position corresponding to the first notch 313b. The first notch 313b and the second notch 323b can be used for screwing, so that the material 300 can be locked on other workpieces (e.g., a housing). The side of the pressing portion 213 facing away from the slot 213a is provided with a plurality of avoidance grooves 213b, and the avoidance grooves 213b are used to facilitate the operation of screwing.

[0085] Compared with the prior art, the clamping mechanism 100 provided in the present application can achieve efficient grasping of the material 300 through the pressure claw 21, the first side clamping claw 31, and the second side clamping claw 32, and can achieve accurate prevention of the material 300 in cooperation with the mechanical arm 200, thereby improving work efficiency and production benefits. At the same time, the assembly structure 10, the pressure-sensing component 40, the first clamping component 20, and the second clamping component 30 of the present application all adopt a modular design, which is convenient for maintenance and replacement of parts and reduces maintenance costs. In addition, the present application monitors the pressure of the clamping process through the pressure-sensing component 40 to ensure the stability and safety of the material 300 during the material picking process.

[0086] The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application is described in detail with reference to the above implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A clamping mechanism for clamping materials, characterized in that: include: An assembly structure having a first direction and a second direction perpendicular to the first direction; a first clamping assembly, the first clamping assembly being connected to the assembly structure, the first clamping assembly comprising a pressing claw, the pressing claw being movably arranged along the first direction, and the pressing claw being used to press one side of the material; A second clamping assembly, wherein the second clamping assembly is connected to the first clamping assembly, and the second clamping assembly includes a first side clamping jaw and a second side clamping jaw, wherein the first side clamping jaw and the second side clamping jaw are movably arranged along the second direction, and the first side clamping jaw and the second side clamping jaw are used to clamp the other two opposite sides of the material.

2. The clamping mechanism according to claim 1, characterized in that: The pressing claw comprises a connecting portion, an extending portion and a pressing portion, wherein the connecting portion and the pressing portion are respectively connected to opposite ends of the extending portion, the pressing portion extends away from the connecting portion, and the extending portion protrudes from the second clamping assembly.

3. The clamping mechanism according to claim 2, characterized in that: The first side clamp includes a first mounting portion, a first clamp arm and a first clamp head, wherein the first mounting portion and the first clamp head are respectively connected to opposite ends of the first clamp arm, the first mounting portion extends away from the first clamp head, and the first clamp head protrudes out of the second clamp assembly.

4. The clamping mechanism according to claim 3, characterized in that: The second side clamp includes a second mounting portion, a second clamping arm and a second clamping head. The second mounting portion and the second clamping head are respectively connected to opposite ends of the second clamping arm. The second mounting portion extends back to the second clamping head, and the second clamping head protrudes out of the second clamping assembly.

5. The clamping mechanism according to claim 4, characterized in that: The second mounting portion is arranged opposite to the first mounting portion, the second clamping arm is arranged opposite to the first clamping arm, the second clamping head is arranged opposite to the first clamping head, the extending portion is located between the first clamping arm and the second clamping arm, and the pressing portion is located between the first clamping head and the second clamping head.

6. The clamping mechanism according to claim 4, characterized in that: A clamping groove is provided on the side of the pressing portion away from the connecting portion, a first limiting groove is provided on the side of the first clamping head away from the first mounting portion, a second limiting groove is provided on the side of the second clamping head away from the second mounting portion, and the first limiting groove is arranged opposite to the second limiting groove.

7. The clamping mechanism according to claim 1, characterized in that: It also includes a pressure-sensing component, which is connected between the pressure claw and the assembly structure, and is used to sense the pressure value of the pressure claw acting on the material.

8. The clamping mechanism according to claim 7, characterized in that: The assembly structure includes a first plate body, a second plate body and a sliding member, wherein the sliding member is connected between the first plate body and the second plate body so that the second plate body can slide relative to the second plate body, and one side of the second plate body is connected to the pressure-sensitive component.

9. The clamping mechanism according to claim 8, characterized in that: The pressure sensing component includes a pressure sensor and a first connecting block, and the pressure sensor is arranged between the second plate body and the first connecting block.

10. The clamping mechanism according to claim 9, characterized in that: The first clamping assembly further includes a second connecting block, the second connecting block is connected between the first connecting block and the second clamping assembly, and the pressing claw is connected to one side of the second connecting block.

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