Clamping and buckling device

Abstract

The utility model relates to a clamping and buckling device which comprises a base. The clamping assembly is movably connected to the base, the clamping assembly comprises a first clamping jaw, a second clamping jaw, a first driver and a second driver, the first driver and the second driver drive the second clamping jaw to move, and the first clamping jaw is provided with a vacuum suction nozzle; the first driver drives the second clamping jaw and the first driver to move in the Z-axis direction, and the second driver drives the second clamping jaw to move in the Y-axis direction, so that the second clamping jaw moves to the position below the first clamping jaw to jointly form a clamping opening used for clamping the upper face and the lower face of a material. The vacuum suction nozzle is aligned with the clamping opening and adsorbs the side surface of the material; according to the utility model, the first clamping jaw and the second clamping jaw are arranged and are matched with the vacuum suction nozzle to clamp materials, so that the position deviation of the materials during buckling is obviously reduced, and the buckling accuracy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a clamping and buckling device. Background Art

[0002] In the 3C industry, a piece of material is often sucked by a vacuum nozzle and then transferred by a robot to complete the assembly action of buckling with another material. When the vacuum nozzle takes the material, there will be image error and position error of the material, usually there will be a deviation of about 0.05mm, and because of the deviation of the robot's rotation center when the robot is buckled and rotated, it will further cause the position deviation of the material. At the same time, when the industry uses vacuum to suck the material and then performs a pressure-based buckling action, the material often has a position deviation, resulting in the material not being accurately buckled to another material, affecting the assembly efficiency, and even the pressure can cause damage to the material. Utility Model Content

[0003] To this end, the technical problem to be solved by the utility model is to overcome the problem of position deviation of materials when the robot transfers materials in the prior art, and then provide a clamping and fastening device, which significantly reduces the position deviation of the materials during fastening and improves the accuracy of the fastening.

[0004] In order to solve the above technical problems, the utility model provides a clamping and buckling device, comprising:

[0005] Pedestal;

[0006] A clamping assembly is movably connected to the base, and the clamping assembly includes a first clamping jaw, a second clamping jaw, and a first driver and a second driver for driving the second clamping jaw to move, wherein the first clamping jaw is provided with a vacuum suction nozzle; wherein the first driver drives the second clamping jaw and the first driver to move along the Z-axis direction, and the second driver drives the second clamping jaw to move along the Y-axis direction so that the second clamping jaw moves to the bottom of the first clamping jaw to form a clamping opening for clamping the upper and lower sides of the material, and the vacuum suction nozzle is aligned with the clamping opening and adsorbs the side of the material.

[0007] In one embodiment of the utility model, a buffer assembly is further included on the base, wherein the buffer assembly includes an elastic element, and the elastic element abuts against the base and the clamping assembly and is always in a compressed state.

[0008] In one embodiment of the present utility model, the buffer assembly further comprises a slide rail disposed on the base and extending along the X-axis direction, and the clamping assembly is slidably disposed on the slide rail.

[0009] In one embodiment of the present invention, the clamping assembly further comprises a slide seat slidably connected to the slide rail, the first clamping jaw and the first driver are both arranged on the slide seat, and the elastic element abuts against the slide seat and the base.

[0010] In one embodiment of the utility model, it also includes a pressure sensor arranged on the base, and the pressure sensor is configured as a six-sided pressure sensor, and the pressure sensor is used to detect the reaction force applied to the material when the material is rotated and fastened.

[0011] In one embodiment of the present invention, the first clamping jaw is detachably connected to a pressure head, and the pressure head and the second clamping jaw form the clamping opening.

[0012] In one embodiment of the present invention, the second clamping jaw is detachably connected to a clamping head, and the clamping head and the pressure head form the clamping opening.

[0013] In an embodiment of the present invention, the pressure head is further provided with a limiting portion on one side of the clamping opening, and the limiting portion abuts against the material along the X-axis direction.

[0014] In one embodiment of the utility model, the pressure head is provided with an adsorption surface perpendicular to the Y-axis direction at the clamping port, and the vacuum suction nozzle is arranged on the adsorption surface.

[0015] In one embodiment of the utility model, the pressing head is further provided with a clamping portion, and when the clamping head is located directly below the pressing head, the clamping portion is arranged directly opposite to the clamping head along the Z-axis direction.

[0016] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0017] The clamping and fastening device described in the utility model is provided with a first clamping jaw and a second clamping jaw to clamp the material up and down, and cooperates with a suction nozzle to clamp the material, thereby eliminating the position deviation of the material during fastening and improving the fastening accuracy; the clamping component can move relative to the base, and when the clamping and fastening device performs a pressure-induced fastening action, a buffering effect will be generated between the two materials due to the slight movement of the clamping component, thereby preventing the two materials from being crushed by the first clamping jaw and the second clamping jaw. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0019] Figure 1 It is a schematic structural diagram of the clamping and buckling device in the preferred embodiment of the utility model.

[0020] Figure 2 for Figure 1 A structural schematic diagram of a side view of the clamping and fastening device shown.

[0021] Figure 3 for Figure 1 A schematic structural diagram of the enlarged view shown in FIG.

[0022] Explanation of the reference numerals in the specification: 1. pressure sensor; 2. slide rail; 3. base; 4. slide seat; 5. elastic element; 6. first clamping jaw; 61. pressure head; 62. limiting portion; 63. adsorption surface; 64. vacuum nozzle; 65. clamping portion; 7. second clamping jaw; 71. clamping head; 8. second driver; 9. first driver; 10. clamping port. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0024] Example

[0025] Reference Figure 1 As shown, in one embodiment of the present utility model, a clamping and fastening device,

[0026] include,

[0027] A base 3, which is provided with a plurality of through holes for connecting the entire clamping and fastening device to the manipulator;

[0028] The clamping assembly is movably connected to the base 3. When the clamping and fastening device performs a pressure-bearing fastening action, the material is easily damaged due to excessive pressure. When rotating and fastening, the clamping assembly and the material slide slightly relative to the base to buffer the material, thereby protecting the material. The clamping assembly includes a first clamping jaw 6, a second clamping jaw 7, and a first driver 9 and a second driver 8 for driving the second clamping jaw 7 to move. The first clamping jaw is provided with a vacuum suction nozzle 64, wherein the first driver 9 is arranged on the base 3, the first clamping jaw 6 is fixedly arranged relative to the first driver 9, the second driver 8 is arranged on the power output end of the first driver 9, and the second clamping jaw 7 is arranged on the power output end of the second driver 8. The first drive is preferably a cylinder, and the second drive is preferably a horizontal push. The cylinder comprises a first driver 9, wherein the first driver 9 drives the second clamp 7 and the first driver 9 to move up and down along the Z-axis direction. Only when the second driver 8 drives the second clamp 7 to move along the Y-axis direction so that the second clamp 7 is located below the first clamp 6, the two form a clamping opening 10. When the material is located in the clamping opening 10, the first clamp 6 and the second clamp 7 clamp the material from above and below respectively to limit the material in the Z-axis direction. The vacuum suction nozzle 64 is aligned with the clamping opening 10 for quickly adsorbing the side of the material for fastening to limit the material in the Y-axis direction, so that the first clamp 6 and the second clamp 7 can clamp the material next, and the size of the clamping opening 10 is related to the upper and lower distance between the first clamp 6 and the second clamp 7.

[0029] It also includes a buffer component arranged on the base 3, and the buffer component includes an elastic element 5, which is arranged on the base 3, and the two ends of the elastic element 5 respectively abut the base 3 and the shell of the first driver 9 of the clamping component and are always in a compressed state. When the clamping and fastening device performs a pressure-locking action, the elastic element 5 can buffer the clamping component and assist in resetting the clamping component. If there is no buffering, the material may be damaged due to the pressure of the first clamping jaw 6 and the second clamping jaw 7, and the elastic element 5 is arranged in the sliding direction of the clamping component. When the first clamping jaw 6 and the second clamping jaw 7 clamp the material and press down and rotate, the clamping and fastening device can slide slightly relative to the manipulator so that the material can be adjusted to the optimal fastening position; the elastic element 5 is preferably a spring.

[0030] In one embodiment of the present invention, referring to Figure 1As shown, in order to realize the force-controlled insertion and fastening action of the clamping and fastening device, it also includes a pressure sensor 1 arranged on the base 3, and the pressure sensor 1 is used to detect the force applied to the clamping assembly, specifically to detect the reaction force applied when the material is rotated and fastened. The pressure state of each action of the clamping and fastening device is monitored by the pressure sensor 1, so as to analyze the product assembly state and continuously feed back to the manipulator. The manipulator itself is continuously adjusted to eliminate the deviation of the manipulator's rotation center and improve the accuracy of the rotation and fastening action.

[0031] In one embodiment of the present invention, referring to Figure 1 As shown, the pressure sensor 1 is configured as a six-sided pressure sensor. The advantage of the six-sided pressure sensor is that it can be mounted at any position on the base 3 and can detect the pressure of forces from all directions, thereby comprehensively monitoring all actions of the clamping and fastening device.

[0032] In one embodiment of the present invention, referring to Figure 1 As shown, in order to limit the sliding of the clamping assembly, the buffer assembly also includes a slide rail 2 arranged on the base 3 and extending along the X-axis direction. The clamping assembly is slidably arranged on the slide rail 2, and the pressure sensor 1 is arranged in the length direction of the slide rail 2. When the clamping device slides along the slide rail 2 toward the side of the pressure sensor 1, the elastic element 5 is further compressed.

[0033] In one embodiment of the present invention, referring to Figure 1 As shown, the clamping assembly also includes a slide seat 4 slidably connected to the slide rail 2 , the first clamping jaw 6 and the housing of the first driver 9 are fixedly disposed on the slide seat 4 , and the elastic element 5 abuts against the slide seat 4 and the base 3 .

[0034] In one embodiment of the present invention, referring to Figure 2 and 3 As shown, the end of the first clamping jaw 6 is used for pressing the material and is easily damaged and often needs to be replaced. Therefore, in order to save the cost of consumables, a pressure head 61 is detachably connected to the end of the first clamping jaw 6. The pressure head 61 is used to press the upper side of the material. The pressure head 61 and the second clamping jaw 7 form the clamping port 10. Since the pressure head 61 is also a consumable part, the pressure head 61 is fixedly connected to the end of the first clamping jaw 6 by screws, and the pressure head 61 can be quickly replaced, saving replacement time and replacement and debugging time.

[0035] In one embodiment of the present invention, referring to Figure 2 and 3As shown, the end of the second clamping jaw 7 is detachably connected to a clamping head 71, which is used to clamp the lower side of the material in the clamping opening 10 from bottom to top. When the clamping head 71 is located below the pressure head 61, the two together form the clamping opening 10.

[0036] In one embodiment of the present invention, referring to Figure 3 As shown, the pressure head 61 is further provided with a limiting portion 62 on one side of the clamping port 10. When the material is located at the clamping port 10, the limiting portion 62 abuts against the material along the X-axis direction. Specifically, the pressure head 61 is provided with a recess and an "L"-shaped protrusion is formed on the edge of the recess, and the recess is used to accommodate the material; the "L"-shaped protrusion includes the limiting portion 62 and a pressing portion 65, and the limiting portion 62 is used to limit the tail of the material from the side so that the head of the material can be inserted into another material; the pressing portion is used to press down the upper side of the material from the top along the Z-axis direction.

[0037] In one embodiment of the present invention, referring to Figure 3 As shown, the first clamping jaw 6 is provided with an adsorption surface 63 perpendicular to the Y-axis direction at the clamping port 10, and the adsorption surface 63 is located in the recessed portion. The purpose is to allow the vacuum suction nozzle to avoid the force of the clamping portion 65 and the clamping head 71, and the side of the material on the adsorption surface 63 is matched to improve the adsorption effect. The vacuum suction nozzle 64 is arranged on the adsorption surface 63 to prevent the vacuum suction nozzle 64 from being directly crushed by the clamping portion 65 and the clamping head 71.

[0038] The working principle of the clamping and buckling device of the utility model is:

[0039] The base 3 of the clamping and fastening device is connected to the manipulator, which is driven by the manipulator to the material storage to clamp the first material to be fastened. Specifically, the adsorption surface 63 of the first clamping jaw 6 is close to the first material, the vacuum suction nozzle 64 starts to adsorb the first material, and the limiting portion 62 abuts against the tail of the first material to limit the X-axis direction of the first material. Then, the second driver 8 drives the second clamping jaw 7 to move along the Y direction, so that the clamping head 71 of the second clamping jaw 7 moves to the bottom of the first material and the pressure head 61 to form a clamping opening 10. Then, the first driver 9 drives the second clamping jaw 7 to rise along the Z axis so that the clamping head 71 abuts against the first material. The pressure head 61 is approached and clamps the upper and lower sides of the first material. After the first material is clamped, the robot drives the clamping and fastening device to move to the top of the fastening station and ensures that the first material is at a specific inclination angle with the head facing downward. The robot inserts the head of the first material into the second material, and then the second clamping jaw 7 releases the first material. Then the robot drives the clamping and fastening device to rotate as a whole at the specific inclination angle and press down the first material, so that the tail of the first material is also inserted into the second material. Finally, the first material is fastened to the second material and is in a horizontal state. The vacuum nozzle 64 releases the first material to complete the fastening action.

[0040] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A clamping and fastening device, characterized in that: include, Pedestal; A clamping assembly is movably connected to the base, and the clamping assembly includes a first clamping jaw, a second clamping jaw, and a first driver and a second driver for driving the second clamping jaw to move, wherein the first clamping jaw is provided with a vacuum suction nozzle; wherein the first driver drives the second clamping jaw and the first driver to move along the Z-axis direction, and the second driver drives the second clamping jaw to move along the Y-axis direction so that the second clamping jaw moves to the bottom of the first clamping jaw to form a clamping opening for clamping the upper and lower sides of the material, and the vacuum suction nozzle is aligned with the clamping opening and adsorbs the side of the material.

2. A clamping and fastening device according to claim 1, characterized in that: It also includes a buffer component arranged on the base, and the buffer component includes an elastic element. The elastic element abuts against the base and the clamping component and is always in a compressed state.

3. A clamping and fastening device according to claim 2, characterized in that: The buffer assembly further comprises a slide rail which is arranged on the base and extends along the X-axis direction, and the clamping assembly is slidably arranged on the slide rail.

4. A clamping and fastening device according to claim 3, characterized in that: The clamping assembly further comprises a sliding seat slidably connected to the sliding rail, the first clamping jaw and the first driver are both arranged on the sliding seat, and the elastic element abuts against the sliding seat and the base.

5. The clamping and fastening device according to claim 1, characterized in that: It also includes a pressure sensor arranged on the base, wherein the pressure sensor is arranged as a six-sided pressure sensor, and the pressure sensor is used to detect the reaction force received by the material when it is rotated and fastened.

6. The clamping and fastening device according to claim 1, characterized in that: The first clamping jaw is detachably connected to a pressure head, and the pressure head and the second clamping jaw form the clamping opening.

7. A clamping and fastening device according to claim 6, characterized in that: The second clamping jaw is detachably connected to a clamping head, and the clamping head and the pressure head form the clamping opening.

8. The clamping and fastening device according to claim 6, characterized in that: The pressure head is further provided with a limiting portion on one side of the clamping opening, and the limiting portion abuts against the material along the X-axis direction.

9. The clamping and fastening device according to claim 6, characterized in that: The pressure head is provided with an adsorption surface perpendicular to the Y-axis direction at the clamping port, and the vacuum suction nozzle is arranged on the adsorption surface.

10. The clamping and fastening device according to claim 7, characterized in that: The pressure head is also provided with a clamping portion, and when the clamping head is located directly below the pressure head, the clamping portion is arranged directly opposite to the clamping head along the Z-axis direction.

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