Clamping mechanism and handling equipment

Abstract

The present application relates to the technical field of silicon wafer preparation in the photovoltaic industry, and specifically discloses a clamping mechanism and handling equipment. The clamping mechanism includes a frame, a first clamping assembly, a second clamping assembly, and a driving assembly. The first clamping assembly includes a first clamping arm and a first clamping claw, the first clamping claw is rotatably connected to the first clamping arm, and the first clamping claw is provided with a plurality of first clamping parts; the second clamping assembly includes a second clamping arm and a second clamping claw, the second clamping claw is rotatably connected to the second clamping arm, and the second clamping claw is provided with a plurality of second clamping parts; the driving assembly is configured to drive the first clamping arm and / or the second clamping arm to move so that the first clamping claw and the second clamping claw are close to each other to clamp the material. The first clamping claw and the second clamping claw in the clamping device can be adaptively rotated and adjusted according to the shape of the material so that the first clamping part and the second clamping part abut against the material, which helps to increase the contact area between the first clamping claw and the second clamping claw and the material, thereby improving the stability of the clamping mechanism in clamping the material and reducing the risk of the material falling.

Description

Technical Field

[0001] The present application relates to the technical field of silicon wafer preparation in the photovoltaic industry, and in particular to a clamping mechanism and handling equipment. Background Art

[0002] In the silicon wafer manufacturing process of the photovoltaic industry, graphite insulation barrels are commonly used to insulate the heat field for a long time, and each insulation barrel needs to be installed layer by layer on the outside of the entire furnace body and heater. Due to the heavy weight of the insulation barrel, it is usually transported by hydraulic forklifts and hydraulic clamps. However, the method of using hydraulic clamps for transportation has many defects. For example, the hydraulic clamps only contact the insulation barrel with the friction of two metal iron plates, and the clamping is unstable. During the transportation process, there is a risk of the insulation barrel falling. Utility Model Content

[0003] In view of this, the present application provides a clamping mechanism and a handling device to improve the problems of low clamping stability and easy falling of materials in the existing clamping mechanism.

[0004] One embodiment of the present application provides a clamping mechanism for clamping materials, the clamping mechanism comprising a frame, a first clamping assembly, a second clamping assembly and a driving assembly. The first clamping assembly comprises a first clamping arm and a first clamping claw, the first clamping arm is slidably mounted on the frame, the first clamping claw is rotatably connected to the first clamping arm with a first axis as a rotation axis, the first clamping claw is provided with a plurality of first clamping parts, and two adjacent first clamping parts are arranged at intervals along a direction perpendicular to the first axis; the second clamping assembly comprises a second clamping arm and a second clamping claw, the second clamping arm is slidably mounted on the frame, the second clamping claw is rotatably connected to the second clamping arm with a second axis as a rotation axis, the second clamping claw is provided with a plurality of second clamping parts, and two adjacent second clamping parts are arranged at intervals along a direction perpendicular to the second axis. The driving assembly is connected to the frame, and the driving assembly is configured to drive the first clamping arm and / or the second clamping arm to move so that the first clamping claw and the second clamping claw are close to each other to clamp the material. The first clamping part and the second clamping part are configured to abut the material when the first clamping claw and the second clamping claw clamp the material.

[0005] In the above-mentioned clamping mechanism, the first clamping jaw is rotatably connected to the first clamping arm, and the first clamping jaw is provided with a first clamping portion, and the second clamping jaw is rotatably connected to the second clamping arm, and the second clamping jaw is provided with a second clamping portion. When the clamping mechanism clamps the material, the first clamping jaw and the second clamping jaw can be adaptively rotated and adjusted according to the shape of the material, so that the first clamping portion and the second clamping portion abut against the material. This helps to increase the contact area between the first clamping jaw and the second clamping jaw and the material, thereby improving the stability of the clamping mechanism in clamping the material and reducing the risk of the material slipping or falling.

[0006] In at least one embodiment, the first clamping jaw is further provided with a first rotating shaft, which is rotatably connected to the first clamping arm; each first clamping portion includes a first sub-section and a second sub-section, the first sub-section extends in a direction parallel to the first axis and is spaced apart from the first rotating shaft, the second sub-section connects the first rotating shaft and the first sub-section, the angle between at least two first sub-sections and the first rotating shaft is less than 180°, and the opening angle formed by at least two second sub-sections is less than 180°. The second clamping jaw is further provided with a second rotating shaft, which is rotatably connected to the second clamping arm; each second clamping portion includes a third sub-section and a fourth sub-section, the third sub-section extends in a direction parallel to the second axis and is spaced apart from the second rotating shaft, the fourth sub-section connects the second rotating shaft and the third sub-section, the angle between at least two third sub-sections and the second rotating shaft is less than 180°, and the opening angle formed by at least two fourth sub-sections is less than 180°.

[0007] In at least one embodiment, the two second subdivisions form a first contact surface for contacting the material, and the first contact surface is arc-shaped at the opening; the two fourth subdivisions form a second contact surface for contacting the material, and the second contact surface is arc-shaped at the opening.

[0008] In at least one embodiment, the first clamp arm is provided with a first stopper, the first clamping jaw is further provided with a first rotating shaft, a first connecting portion and a first matching portion, the first rotating shaft is rotatably connected to the first clamp arm, the first connecting portion is connected to the first rotating shaft, the first matching portion and the first clamping portion are both connected to the first connecting portion, and the first stopper is configured to stop the first matching portion to restrict the rotation range of the first clamping jaw. The second clamp arm is provided with a second stopper, the second clamping jaw is further provided with a second rotating shaft, a second connecting portion and a second matching portion, the second rotating shaft is rotatably connected to the second clamp arm, the second connecting portion is connected to the second rotating shaft, the second matching portion and the second clamping portion are both connected to the second connecting portion, and the second stopper is configured to stop the second matching portion to restrict the rotation range of the second clamping jaw.

[0009] In at least one embodiment, the first clamp arm is provided with a first sleeve, the first clamp jaw is further provided with a first rotating shaft, a plurality of first clamping portions are connected to the first rotating shaft, the first rotating shaft is passed through the first sleeve so that the first clamp jaw is rotatably connected to the first clamp arm, and the first rotating shaft is configured to be able to slide relative to the first sleeve along its own axis. The second clamp arm is provided with a second sleeve, the second clamp jaw is further provided with a second rotating shaft, a plurality of second clamping portions are connected to the second rotating shaft, the second rotating shaft is passed through the second sleeve so that the second clamp jaw is rotatably connected to the second clamp arm, and the second rotating shaft is configured to be able to slide relative to the second sleeve along its own axis.

[0010] In at least one embodiment, the first clamping jaw is rotatably connected to the first clamping arm with the third axis as the rotation axis, and the third axis intersects the first axis. The second clamping jaw is rotatably connected to the second clamping arm with the fourth axis as the rotation axis, and the fourth axis intersects the second axis.

[0011] In at least one embodiment, the number of first jaws is multiple, the multiple first jaws are distributed at intervals, the distribution direction of the multiple first jaws intersects with the moving direction of the first clamp arm, and the multiple first jaws are configured to clamp a material together. The number of second jaws is multiple, the multiple second jaws are distributed at intervals, the distribution direction of the multiple second jaws intersects with the moving direction of the second clamp arm, and the multiple second jaws are configured to clamp a material together. The spacing between two adjacent first jaws is adjustable. The spacing between two adjacent second jaws is adjustable.

[0012] In at least one embodiment, the drive assembly includes a servo motor and a transmission member, the servo motor is connected to the frame, the transmission member is connected to the servo motor, the first clamp arm and / or the second clamp arm is connected to the transmission member, and the servo motor is configured to drive the first clamp arm and the second clamp arm to approach each other by driving the transmission member.

[0013] In at least one embodiment, the transmission member includes a gear, a first rack and a second rack, the gear is installed at the output end of the servo motor, the first rack is connected to the first clamp arm, the second rack is connected to the second clamp arm, the first rack and the second rack are parallel and oppositely arranged, the gear is arranged between the first rack and the second rack, and the first rack and the second rack are meshed with the gear at the same time.

[0014] The embodiment of the present application also provides a handling device, which includes a moving mechanism and the above-mentioned clamping mechanism, and the clamping mechanism is installed on the moving mechanism. The moving mechanism includes at least one of a first moving component, a second moving component, and a third moving component, the first moving component is configured to drive the clamping mechanism to move along a first direction, the second moving component is configured to drive the clamping mechanism to move along a second direction, and the third moving component is configured to drive the clamping mechanism to move along a third direction. The driving component drives the first clamping arm and the second clamping arm to move in a direction parallel to the first direction, the second direction intersects with the first direction, and the third direction intersects with the first direction and the second direction.

[0015] In the above-mentioned handling equipment, a moving mechanism and the above-mentioned clamping mechanism are used. On the one hand, when the handling equipment clamps the material, the moving mechanism can drive the clamping mechanism to move in at least one of the first direction, the second direction and the third direction, thereby improving the degree of automation of the handling equipment. On the other hand, when the handling equipment clamps the material, the first clamping jaw and the second clamping jaw in the clamping mechanism can be adaptively rotated and adjusted according to the shape of the material, so that the first clamping part and the second clamping part abut against the material. Thereby, it helps to increase the contact area between the first clamping jaw and the second clamping jaw and the material, thereby improving the stability of the handling equipment clamping the material and reducing the risk of the material slipping or falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope.

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of a handling device in one embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of the structure of a handling device clamping a material in one embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of the structure of a clamping mechanism in one embodiment of the present application;

[0020] Figure 4 for Figure 3 A partial enlarged view of the middle part III;

[0021] Figure 5 for Figure 3 A schematic diagram of the structure of the clamping mechanism with some structures omitted;

[0022] Figure 6 for Figure 5 A partial enlarged view of point V in the middle;

[0023] Figure 7 for Figure 3 A top view of the clamping mechanism;

[0024] Figure 8 for Figure 7 A partial enlarged view of the middle VI;

[0025] Fig. 9 for Figure 3 A schematic diagram of the structure of the first clamping jaw in the clamping mechanism;

[0026] Fig.10 for Figure 3 A schematic diagram of the structure of the second clamping jaw in the clamping mechanism;

[0027] Fig.11 for Figure 3 Bottom view of the middle clamping mechanism;

[0028] Fig.12 for Fig.11 A partial enlarged view of the middle X;

[0029] Fig.13 for Figure 3 Right view of the middle clamping mechanism;

[0030] Fig.14 for Fig.13 A partial enlarged view of point Ⅻ in the middle.

[0031] Description of main component symbols:

[0032] 1. Handling equipment; 100. Clamping mechanism; 200. Moving mechanism; 2. Materials;

[0033] 110, rack;

[0034] 120, first clamping assembly; 121, first clamping arm; 1211, first stopper; 1212, first sleeve; 122, first clamping jaw; 1221, first clamping portion; 12211, first subsection; 12212, second subsection; 12213, first connecting portion; 12214, first matching portion; 1222, first rotating shaft; 1223, first linear bearing; 1224, opening; 1225, first contact surface;

[0035] 130, second clamping assembly; 131, second clamping arm; 1311, second stopper; 1312, second sleeve; 132, second clamping claw; 1321, second clamping portion; 13211, third sub-portion; 13212, fourth sub-portion; 13213, second connecting portion; 13214, second matching portion; 1322, second rotating shaft; 1323, second linear bearing; 1324, second contact surface;

[0036] 140, driving assembly; 141, servo motor; 142, transmission member; 1421, gear; 1422, first rack; 1423, second rack; 143, reducer;

[0037] 210, first moving assembly; 220, second moving assembly; 230, third moving assembly;

[0038] A, first axis; B, second axis; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0040] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0042] The embodiment of the present application provides a clamping mechanism for clamping materials, the clamping mechanism comprising a frame, a first clamping assembly, a second clamping assembly and a driving assembly. The first clamping assembly comprises a first clamping arm and a first clamping claw, the first clamping arm is slidably mounted on the frame, the first clamping claw is rotatably connected to the first clamping arm with a first axis as a rotation axis, the first clamping claw is provided with a plurality of first clamping parts, and two adjacent first clamping parts are spaced apart in a direction perpendicular to the first axis.

[0043] The second clamping assembly includes a second clamping arm and a second clamping jaw, the second clamping arm is slidably mounted on the frame, the second clamping jaw is rotatably connected to the second clamping arm with the second axis as the rotation axis, and the second clamping jaw is provided with a plurality of second clamping parts, and two adjacent second clamping parts are arranged at intervals in a direction perpendicular to the second axis. The driving assembly is connected to the frame, and the driving assembly is configured to drive the first clamping arm and / or the second clamping arm to move so that the first clamping jaw and the second clamping jaw are close to each other to clamp the material. The first clamping part and the second clamping part are configured to abut against the material when the first clamping jaw and the second clamping jaw clamp the material.

[0044] In the clamping mechanism of the present application, the first clamping jaw is rotatably connected to the first clamping arm, and the first clamping jaw is provided with a first clamping portion, and the second clamping jaw is rotatably connected to the second clamping arm, and the second clamping jaw is provided with a second clamping portion. When the clamping mechanism clamps a material, the first clamping jaw and the second clamping jaw can be adaptively rotated and adjusted according to the shape of the material so that the first clamping portion and the second clamping portion abut against the material. This helps to increase the contact area between the first clamping jaw and the second clamping jaw and the material, thereby improving the stability of the clamping mechanism in clamping the material and reducing the risk of the material slipping or falling.

[0045] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] An embodiment of the present application provides a transport device 1, such as Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the first direction X is defined to be parallel to the direction in which the first clamping arm 121 and the second clamping arm 131 in the clamping mechanism 100 move, the second direction Y intersects with the first direction X, and the third direction Z intersects with the first direction X and the second direction Y. The handling device 1 includes a moving mechanism 200 and a clamping mechanism 100, the clamping mechanism 100 is installed on the moving mechanism 200, and the clamping mechanism 100 is used to clamp the material 2, which may be a heat preservation barrel, graphite felt, etc.

[0047] Further, the moving mechanism 200 includes at least one of a first moving assembly 210, a second moving assembly 220 and a third moving assembly 230, the first moving assembly 210 is configured to drive the clamping mechanism 100 to move along a first direction X, the second moving assembly 220 is configured to drive the clamping mechanism 100 to move along a second direction Y, and the third moving assembly 230 is configured to drive the clamping mechanism 100 to move along a third direction Z. The setting of the moving mechanism 200 can improve the automation degree of the handling device 1 and reduce the labor intensity.

[0048] It is understandable that when the material 2 needs to be clamped or placed, the moving mechanism 200 first drives the clamping mechanism 100 to move to the target position, and then the clamping mechanism 100 is used to clamp or release the material 2. The target position is specifically the position where the material 2 is placed or the material 2 needs to be installed.

[0049] Preferably, the moving mechanism 200 includes a first moving assembly 210, a second moving assembly 220 and a third moving assembly 230 to drive the clamping mechanism 100 to move in three directions (specifically, a first direction X, a second direction Y and a third direction Z). The moving mechanism 200 may be a forklift, but is not limited to a forklift, and may also be other suitable moving mechanisms 200.

[0050] In some embodiments, Figure 3 , Figure 5 as well as Figure 7 As shown, the clamping mechanism 100 includes a frame 110, a first clamping assembly 120, a second clamping assembly 130 and a driving assembly 140. The first clamping assembly 120 includes a first clamping arm 121 and a first clamping jaw 122. The first clamping arm 121 is slidably mounted on the frame 110. The first clamping jaw 122 is rotatably connected to the first clamping arm 121 with the first axis A as the rotation axis. The first clamping jaw 122 is provided with a plurality of first clamping portions 1221. Two adjacent first clamping portions 1221 are spaced apart in a direction perpendicular to the first axis A.

[0051] In some embodiments, the second clamping assembly 130 includes a second clamping arm 131 and a second clamping jaw 132. The second clamping arm 131 is slidably installed on the frame 110. The second clamping jaw 132 is rotatably connected to the second clamping arm 131 with the second axis B as the rotation axis. The second clamping jaw 132 is provided with a plurality of second clamping portions 1321. Two adjacent second clamping portions 1321 are spaced apart in a direction perpendicular to the second axis B.

[0052] It should be noted that the number of the first clamping parts 1221 and the second clamping parts 1321 is at least two, and can also be three or four distributed in an arc shape to ensure that the first clamping jaw 122 and the second clamping jaw 132 can clamp the material 2.

[0053] In some embodiments, the driving assembly 140 is connected to the frame 110, and the driving assembly 140 is configured to drive the first clamping arm 121 and / or the second clamping arm 131 to move so that the first clamping jaw 122 and the second clamping jaw 132 are close to each other to clamp the material 2. The first clamping portion 1221 and the second clamping portion 1321 are configured to abut against the material 2 when the first clamping jaw 122 and the second clamping jaw 132 clamp the material 2.

[0054] It can be understood that when clamping the material 2, the driving assembly 140 drives the first clamp arm 121 and / or the second clamp arm 131 to move, so that the first clamp jaw 122 and the second clamp jaw 132 are close to each other. Since the first clamp jaw 122 is rotatably connected to the first clamp arm 121, and the second clamp jaw 132 is rotatably connected to the second clamp arm 131, the first clamp jaw 122 and the second clamp jaw 132 can be adaptively rotated and adjusted according to the shape of the material 2, so that the first clamping portion 1221 in the first clamp jaw 122 and the second clamping portion 1321 in the second clamp jaw 132 abut against the material 2, thereby clamping the material 2.

[0055] Compared with the existing method of clamping the material 2 with two metal plates, the clamping mechanism 100 in the present application can ensure that the first clamping portion 1221 in the first clamping jaw 122 and the second clamping portion 1321 in the second clamping jaw 132 are always in contact with the material 2 by providing a rotatable and adjustable first clamping jaw 122 and a second clamping jaw 132, thereby increasing the contact area between the first clamping jaw 122 and the second clamping jaw 132 and the material 2, thereby improving the stability of the clamping mechanism 100 in clamping the material 2 and reducing the risk of the material 2 slipping or falling.

[0056] In some specific embodiments, the driving assembly 140 drives the first clamp arm 121 and the second clamp arm 131 to move together, so that the first clamp jaw 122 and the second clamp jaw 132 are close to each other to clamp the material 2. By configuring the driving assembly 140 to drive the first clamp arm 121 and the second clamp arm 131 to move together, it is beneficial to improve work efficiency.

[0057] In other embodiments, the driving assembly 140 may also drive the first clamping arm 121 to move alone, or drive the second clamping arm 131 to move alone, so that the first clamping jaw 122 and the second clamping jaw 132 are close to each other to clamp the material 2, which is not limited in the present application.

[0058] In some embodiments, Figure 3 , Figure 4 , Figure 8 as well as Fig. 9As shown, the first clamping jaw 122 is further provided with a first rotating shaft 1222, and the first rotating shaft 1222 is rotatably connected to the first clamping arm 121, so that the first clamping jaw 122 can be rotatably adjusted relative to the first clamping arm 121. Each first clamping portion 1221 includes a first sub-portion 12211 and a second sub-portion 12212, the first sub-portion 12211 extends in a direction parallel to the first axis A and is spaced apart from the first rotating shaft 1222, and the second sub-portion 12212 connects the first rotating shaft 1222 and the first sub-portion 12211.

[0059] In some more specific embodiments, the angle between at least two first sections 12211 and the first rotating shaft 1222 is less than 180°, and the angle between the openings 1224 formed by at least two second sections 12212 is less than 180°, so as to ensure that the first clamping jaw 122 has sufficient contact area when clamping the material 2, thereby improving the clamping stability.

[0060] In some embodiments, the second clamping jaw 132 is further provided with a second rotating shaft 1322, and the second rotating shaft 1322 is rotatably connected to the second clamping arm 131, so that the second clamping jaw 132 can be rotatably adjusted relative to the first clamping arm 121. Each second clamping portion 1321 includes a third sub-portion 13211 and a fourth sub-portion 13212, the third sub-portion 13211 extends along the second axis B and is spaced apart from the second rotating shaft 1322, and the fourth sub-portion 13212 connects the second rotating shaft 1322 and the third sub-portion 13211.

[0061] In some more specific embodiments, the angle between at least two third divisions 13211 and the second rotating shaft 1322 is less than 180°, and the angle between the openings formed by at least two fourth divisions 13212 is less than 180°, so as to ensure that the second clamping jaw 132 has sufficient contact area when clamping the material 2, thereby improving the clamping stability.

[0062] It is worth noting that the opening 1224 of the first clamping jaw 122 faces the second clamping arm 131 , while the opening of the second clamping jaw 132 faces the first clamping arm 121 , so as to ensure that the first clamping jaw 122 and the second clamping jaw 132 can stably clamp the material 2 together.

[0063] It can be understood that when the clamping mechanism 100 clamps the material 2, the first clamping jaw 122 and the second clamping jaw 132 are adaptively rotated and adjusted according to the shape of the material 2, so as to drive the first division 12211 and the second division 12212 in the first clamping portion 1221 to abut against one side of the material 2, and the third division 13211 and the fourth division 13212 in the second clamping portion 1321 to abut against the other opposite side of the material 2, thereby achieving the clamping of the material 2.

[0064] In some more specific embodiments, the two second subdivisions 12212 form a first contact surface 1225 for contacting the material 2, and the first contact surface 1225 is arc-shaped at the opening 1224. The two fourth subdivisions 13212 form a second contact surface 1324 for contacting the material 2, and the second contact surface 1324 is arc-shaped at the opening. The provision of the arc-shaped contact surface is more conducive to increasing the contact area between the first clamping jaw 122 and the second clamping jaw 132 and the material 2, and improving the clamping stability of the clamping device 1.

[0065] In some embodiments, as shown in FIG. Figure 6 , Figure 8 and Fig. 9 As shown, the first clamp arm 121 is provided with a first stop portion 1211, and the first clamp jaw 122 is also provided with a first rotating shaft 1222, a first connecting portion 12213 and a first matching portion 12214, the first rotating shaft 1222 is rotatably connected to the first clamp arm 121, the first connecting portion 12213 is connected to the first rotating shaft 1222, the first matching portion 12214 and the first clamping portion 1221 are both connected to the first connecting portion 12213, and the first stop portion 1211 is configured to stop the first matching portion 12214 to restrict the rotation range of the first clamp jaw 122.

[0066] It can be understood that when the driving assembly 140 drives the first clamping arm 121 and the second clamping arm 131 to move closer to each other, the first clamping jaw 122 will contact the material 2. Since the first clamping jaw 122 is rotatably connected to the first clamping arm 121, under the action of the material 2 being squeezed, the first clamping jaw 122 will rotate along the first axis A to adaptively adjust so that the first clamping portion 1221 abuts against the material 2. As the first clamping jaw 122 is rotated and adjusted along the first axis A, the first stop portion 1211 can stop the first matching portion 12214 to restrict the rotation range of the first clamping jaw 122, thereby preventing the clamping mechanism 100 from being unable to firmly clamp the material 2 due to the first clamping jaw 122 rotating too much.

[0067] In some embodiments, Figure 4 and Fig.10 As shown, the second clamp arm 131 is provided with a second stop portion 1311, and the second clamp jaw 132 is also provided with a second rotating shaft 1322, a second connecting portion 13213 and a second matching portion 13214. The second rotating shaft 1322 is rotatably connected to the second clamp arm 131, the second connecting portion 13213 is connected to the second rotating shaft 1322, the second matching portion 13214 and the second clamping portion 1321 are both connected to the second connecting portion 13213, and the second stop portion 1311 is configured to stop the second matching portion 13214 to restrict the rotation range of the second clamp jaw 132.

[0068] It can be understood that when the driving assembly 140 drives the first clamping arm 121 and the second clamping arm 131 to move closer to each other, the second clamping jaw 132 will contact the material 2. Since the second clamping jaw 132 is rotatably connected to the second clamping arm 131, under the action of the material 2 being squeezed, the second clamping jaw 132 will rotate along the second axis B to adaptively adjust so that the first clamping portion 1221 abuts against the material 2. As the first clamping jaw 122 is rotated and adjusted along the first axis A, the second stop portion 1311 can stop the second matching portion 13214 to restrict the rotation range of the second clamping jaw 132, thereby preventing the clamping mechanism 100 from being unable to firmly clamp the material 2 due to the second clamping jaw 132 rotating too much.

[0069] In some embodiments, Figure 8 and Fig. 9 As shown, the first clamping arm 121 is provided with a first sleeve 1212, and the first clamping jaw 122 is also provided with a first rotating shaft 1222. A plurality of first clamping portions 1221 are connected to the first rotating shaft 1222. The first rotating shaft 1222 is passed through the first sleeve 1212 so that the first clamping jaw 122 is rotatably connected to the first clamping arm 121. The first rotating shaft 1222 is configured to be able to slide relative to the first sleeve 1212 along its own axis.

[0070] Optionally, a linear bearing is provided between the first rotating shaft 1222 and the first sleeve 1212, and the linear bearing is fixedly connected to the first sleeve 1212. The first rotating shaft 1222 is passed through the linear bearing so that the first clamping jaw 122 and the first clamping arm 121 can rotate, and the first clamping jaw 122 can slide relative to the first sleeve 1212 along the axis of the first rotating shaft 1222.

[0071] In some embodiments, Figure 4 and Fig.10 As shown, the second clamping arm 131 is provided with a second sleeve 1312, and the second clamping jaw 132 is also provided with a second rotating shaft 1322. A plurality of second clamping portions 1321 are connected to the second rotating shaft 1322. The second rotating shaft 1322 is passed through the second sleeve 1312 to enable the second clamping jaw 132 to be rotatably connected to the second clamping arm 131. The second rotating shaft 1322 is configured to be able to slide along its own axis relative to the second sleeve 1312.

[0072] Optionally, a second linear bearing 1323 is provided between the second rotating shaft 1322 and the second sleeve 1312, and the second linear bearing 1323 is fixedly connected to the second sleeve 1312. The second rotating shaft 1322 is passed through the second linear bearing 1323 so that the second clamping jaw 132 and the second clamping arm 131 can rotate, and the second clamping jaw 132 can slide relative to the second sleeve 1312 along the axis of the second rotating shaft 1322.

[0073] It can be understood that when the first clamping jaw 122 and the second clamping jaw 132 clamp the material 2 and lift the material 2 in the direction of gravity, the material 2 will tend to move downward due to the action of gravity. At this time, the first rotating shaft 1222 slides along its own axis (specifically in the direction of gravity) relative to the first sleeve 1212, so that the first clamping jaw 122 slides a certain distance along the axis direction of the first rotating shaft 1222. The second rotating shaft 1322 slides along its own axis (specifically in the direction of gravity) relative to the second sleeve 1312, so that the second clamping jaw 132 slides a certain distance along the axis direction of the second rotating shaft 1322.

[0074] Thus, displacement compensation between the first clamping jaw 122 and the second clamping jaw 132 in the direction of gravity can be achieved, reducing the risk of relative sliding between the material 2 and the first clamping jaw 122, thereby further improving the stability of the clamping mechanism 100 in clamping the material 2.

[0075] In some embodiments, the first clamping jaw 122 is rotatably connected to the first clamping arm 121 with a third axis (not shown) as the rotation axis, and the third axis intersects the first axis A, so that the first clamping jaw 122 can be vertically rotated and adjusted along the first clamping arm 121. Optionally, the third axis is perpendicular to the first axis A.

[0076] The second clamping jaw 132 is rotatably connected to the second clamping arm 131 with a fourth axis (not shown) as the rotation axis, and the fourth axis intersects the second axis B, so that the second clamping jaw 132 can be vertically rotated and adjusted along the second clamping arm 131. Optionally, the fourth axis is perpendicular to the second axis B.

[0077] It is worth noting that when the first clamping jaw 122 is rotatably connected to the first clamping arm 121 with the third axis as the rotation axis, and the second clamping jaw 132 is rotatably connected to the second clamping arm 131 with the fourth axis as the rotation axis, the clamping mechanism 100 needs to be pre-provided with a supporting structure (not shown in the figure), which is used to support the material 2 to prevent the material 2 from falling.

[0078] For example, the material 2 is a sphere. When the sphere needs to be clamped, the clamping mechanism 100 first supports the material 2 through the supporting mechanism, and then the driving assembly 140 first drives the first clamping arm 121 and the second clamping arm 131 to move closer to each other, so that the first clamping jaw 122 and the second clamping jaw 132 clamp the material 2. At the same time, the first clamping jaw 122 rotates relative to the first clamping arm 121 with the third axis as the rotation axis, so that the first clamping portion 1221 abuts against the sphere; the second clamping jaw 132 rotates relative to the second clamping arm 131 with the fourth axis as the rotation axis, so that the second clamping portion 1321 abuts against the sphere, thereby achieving the clamping of the sphere.

[0079] In some more specific embodiments, the first clamp arm 121 is further provided with a third shaft sleeve (not shown), and the first shaft sleeve 1212 rotates relative to the third shaft sleeve about a third axis. The second clamp arm 131 is further provided with a fourth shaft sleeve (not shown), and the second shaft sleeve 1312 rotates relative to the fourth shaft sleeve about a fourth axis. In other embodiments, other rotation connection methods may also be used, and this application does not limit this.

[0080] In some embodiments, Figure 3 , Figure 5 and Figure 7 As shown, there are multiple first jaws 122, which are distributed at intervals, and the distribution direction of the multiple first jaws 122 intersects with the moving direction of the first clamping arm 121, and the multiple first jaws 122 are configured to jointly clamp a material 2. There are multiple second jaws 132, which are distributed at intervals, and the distribution direction of the multiple second jaws 132 intersects with the moving direction of the second clamping arm 131, and the multiple second jaws 132 are configured to jointly clamp a material 2.

[0081] It should be noted that the number of the first clamping jaws 122 and the second clamping jaws 132 is the same, and the first clamping jaws 122 and the second clamping jaws 132 correspond to each other. By providing a plurality of first clamping jaws 122 and second clamping jaws 132, the clamping parts of the clamping mechanism 100 can be increased, thereby further improving the stability of the clamping mechanism 100 in clamping the material 2.

[0082] In some more specific embodiments, a plurality of first clamping jaws 122 are distributed at intervals on the first clamping arm 121 along the direction of the third rotation axis, and a plurality of second clamping jaws 132 are distributed at intervals on the second clamping arm 131 along the axial direction of the fourth rotation axis. Alternatively, a plurality of first clamping jaws 122 are distributed at intervals on the first clamping arm 121 along the direction of the first rotation axis 1222, and a plurality of second clamping jaws 132 are distributed at intervals on the second clamping arm 131 along the axial direction of the second rotation axis 1322.

[0083] In other embodiments, a plurality of first clamping jaws 122 are configured to clamp different materials 2, and a plurality of second clamping jaws 132 are configured to clamp different materials 2. Thus, the clamping mechanism 100 can clamp a plurality of materials 2 at a time, thereby improving work efficiency.

[0084] In some embodiments, the spacing between two adjacent first clamping jaws 122 is adjustable, and the spacing between two adjacent second clamping jaws 132 is adjustable to adapt to materials 2 of different specifications. It can be understood that when the size of the material 2 becomes larger (or smaller), the technician can increase (or decrease) the spacing between the two adjacent first clamping jaws 122 and the two adjacent second clamping jaws 132 to ensure that when the first clamping jaw 122 and the second clamping jaw 132 clamp the material 2, the first clamping portion 1221 and the second clamping portion 1321 can abut against the material 2. In other words, ensure that the first clamping portion 1221 and the second clamping portion 1321 can fit the material 2. In this way, stable clamping of the material 2 is achieved.

[0085] In some more specific embodiments, the two first clamping jaws 122 are used to adjust the distance between the two components by extending and retracting the first clamping arm 121 , and the two second clamping jaws 132 are used to adjust the distance between the two components by extending and retracting the second clamping arm 131 .

[0086] In some more specific embodiments, the two first clamping jaws 122 are moved relative to the first clamping arm 121 to adjust the distance therebetween. The two second clamping jaws 132 are moved relative to the second clamping arm 131 to adjust the distance therebetween.

[0087] In some embodiments, Figure 5 , Figures 11 to 13 As shown, the driving assembly 140 includes a servo motor 141 and a transmission member 142. The servo motor 141 is connected to the frame 110, the transmission member 142 is connected to the servo motor 141, the first clamping arm 121 and / or the second clamping arm 131 are connected to the transmission member 142, and the servo motor 141 is configured to drive the first clamping arm 121 and the second clamping arm 131 to approach each other by driving the transmission member 142.

[0088] It should be noted that, by using the servo motor 141 and the transmission member 142 to cooperate, the first clamp arm 121 and the second clamp arm 131 are controlled to approach each other, so that the first clamp jaw 122 and the second clamp jaw 132 clamp the material 2, which can improve the control accuracy of the clamping mechanism 100 on the first clamping assembly 120 and the second clamping assembly 130. In addition, when the first clamp arm 121 and the second clamp arm 131 move to the torque of the servo motor 141 reaches the upper limit, the servo motor 141 stops rotating, and the servo motor 141 has a braking function, which can keep the first clamp arm 121 and the second clamp arm 131 in the same position, so that the current clamping force of the first clamp jaw 122 and the second clamp jaw 132 remains unchanged, thereby making the clamping of the material 2 more stable.

[0089] In some embodiments, Figures 11 to 14As shown, the transmission member 142 includes a gear 1421, a first rack 1422 and a second rack 1423. The gear 1421 is installed at the output end of the servo motor 141, the first rack 1422 is connected to the first clamping arm 121, the second rack 1423 is connected to the second clamping arm 131, the first rack 1422 and the second rack 1423 are parallel and oppositely arranged, the gear 1421 is arranged between the first rack 1422 and the second rack 1423, and the first rack 1422 and the second rack 1423 are meshed with the gear 1421 at the same time.

[0090] It should be noted that the relative parallelism between the first rack 1422 and the second rack 1423 does not mean an absolute 180° relationship, but a certain deviation is allowed so that the first clamping arm 121 and the second clamping arm 131 are relatively close to each other so that the first clamping jaw 122 and the second clamping jaw 132 do not hinder the material 2 when clamping.

[0091] It can be understood that when it is necessary to clamp the material 2, the servo motor 141 is started to drive the gear 1421 to rotate. Since the first rack 1422 and the second rack 1423 are arranged in parallel and opposite to each other, the gear 1421 is arranged between the first rack 1422 and the second rack 1423, and the first rack 1422 and the second rack 1423 are meshed with the gear 1421 at the same time, the gear 1421 drives the first clamp arm 121 and the second clamp arm 131 to approach each other, so that the first clamp jaw 122 and the second clamp jaw 132 clamp the material 2. When it is necessary to release the material 2, the servo motor 141 drives the gear 1421 to rotate in the opposite direction to the above, so that the first clamp arm 121 and the second clamp arm 131 can be driven away from each other, so that the first clamp jaw 122 and the second clamp jaw 132 release the material 2.

[0092] The clamping mechanism 100 in the present application adopts a transmission method of the gear 1421 , the first rack 1422 and the second rack 1423 , which not only has high transmission accuracy but also can improve the synchronization between the first clamping arm 121 and the second clamping arm 131 .

[0093] In some more specific embodiments, Figure 5 As shown, the driving assembly 140 further includes a reducer 143, the reducer 143 is mounted on the frame 110 and connected to the servo motor 141, and the gear 1421 is mounted on the output end of the reducer 143. Optionally, the reducer 143 is a worm gear reducer 143. By setting the reducer 143, the torque between the gear 1421 and the first rack 1422 and the second rack 1423 can be increased, thereby further improving the clamping stability of the clamping mechanism 100.

[0094] In addition, those skilled in the art should recognize that the above embodiments are only used to illustrate the present application and are not intended to be limiting of the present application. As long as they are within the spirit and scope of the present application, appropriate changes and modifications to the above embodiments are within the scope of the present application.

Claims

1. A clamping mechanism for clamping materials, characterized in that: The clamping mechanism comprises: frame; A first clamping assembly comprises a first clamping arm and a first clamping claw, wherein the first clamping arm is slidably mounted on the frame, the first clamping claw is rotatably connected to the first clamping arm with a first axis as a rotation axis, the first clamping claw is provided with a plurality of first clamping portions, and two adjacent first clamping portions are spaced apart in a direction perpendicular to the first axis; A second clamping assembly comprises a second clamping arm and a second clamping claw, wherein the second clamping arm is slidably mounted on the frame, the second clamping claw is rotatably connected to the second clamping arm with a second axis as a rotation axis, the second clamping claw is provided with a plurality of second clamping portions, and two adjacent second clamping portions are spaced apart in a direction perpendicular to the second axis; A drive assembly is connected to the frame, and the drive assembly is configured to drive the first clamp arm and / or the second clamp arm to move so that the first clamp jaw and the second clamp jaw are close to each other to clamp the material; the first clamping portion and the second clamping portion are configured to abut the material when the first clamp jaw and the second clamp jaw clamp the material.

2. The clamping mechanism according to claim 1, characterized in that: The first clamping jaw is further provided with a first rotating shaft, and the first rotating shaft is rotatably connected to the first clamping arm; each of the first clamping parts includes a first sub-section and a second sub-section, the first sub-section extends in a direction parallel to the first axis and is spaced apart from the first rotating shaft, the second sub-section connects the first rotating shaft and the first sub-section, the angle formed by at least two of the first sub-sections and the first rotating shaft is less than 180°, and the angle formed by at least two of the second sub-sections is less than 180°; The second clamping jaw is also provided with a second rotating shaft, which is rotatably connected to the second clamping arm; each of the second clamping parts includes a third section and a fourth section, the third section extends in a direction parallel to the second axis and is spaced apart from the second rotating shaft, the fourth section connects the second rotating shaft and the third section, at least two of the third sections have an angle less than 180° with the second rotating shaft, and at least two of the fourth sections have an angle less than 180 degrees between the openings.

3. The clamping mechanism according to claim 2, characterized in that: The two second sub-parts form a first contact surface for contacting the material, and the first contact surface is arc-shaped at the opening; The two fourth sub-portions form a second contact surface for contacting the material, and the second contact surface is arc-shaped at the opening.

4. The clamping mechanism according to claim 1, characterized in that: The first clamp arm is provided with a first stop portion, and the first clamping jaw is further provided with a first rotating shaft, a first connecting portion and a first matching portion, wherein the first rotating shaft is rotatably connected to the first clamp arm, the first connecting portion is connected to the first rotating shaft, the first matching portion and the first clamping portion are both connected to the first connecting portion, and the first stop portion is configured to stop the first matching portion to restrict the rotation range of the first clamping jaw; The second clamp arm is provided with a second stop portion, and the second clamp jaw is also provided with a second rotating shaft, a second connecting portion and a second matching portion, the second rotating shaft is rotatably connected to the second clamp arm, the second connecting portion is connected to the second rotating shaft, the second matching portion and the second clamping portion are both connected to the second connecting portion, and the second stop portion is configured to stop the second matching portion to restrict the rotation range of the second clamp jaw.

5. The clamping mechanism according to claim 1, characterized in that: The first clamp arm is provided with a first shaft sleeve, the first clamp jaw is further provided with a first rotating shaft, a plurality of the first clamping parts are connected to the first rotating shaft, the first rotating shaft is passed through the first shaft sleeve so that the first clamp jaw is rotatably connected to the first clamp arm, and the first rotating shaft is configured to be able to slide relative to the first shaft sleeve along its own axis; The second clamping arm is provided with a second sleeve, and the second clamping jaw is also provided with a second rotating shaft. A plurality of the second clamping parts are connected to the second rotating shaft. The second rotating shaft is passed through the second sleeve to enable the second clamping jaw to be rotatably connected to the second clamping arm. The second rotating shaft is configured to be able to slide relative to the second sleeve along its own axis.

6. The clamping mechanism according to claim 1, characterized in that: The first clamping jaw is rotatably connected to the first clamping arm with a third axis as a rotation axis, and the third axis intersects with the first axis; the second clamping jaw is rotatably connected to the second clamping arm with a fourth axis as a rotation axis, and the fourth axis intersects with the second axis.

7. The clamping mechanism according to claim 1, characterized in that: There are multiple first clamps, the multiple first clamps are spaced apart, the distribution direction of the multiple first clamps intersects with the moving direction of the first clamp arm, and the multiple first clamps are configured to clamp one material together; There are multiple second clamping jaws, the multiple second clamping jaws are distributed at intervals, the distribution direction of the multiple second clamping jaws intersects with the moving direction of the second clamping arm, and the multiple second clamping jaws are configured to clamp one material together; The distance between two adjacent first clamping jaws is adjustable; the distance between two adjacent second clamping jaws is adjustable.

8. The clamping mechanism according to any one of claims 1 to 7, characterized in that: The driving assembly includes a servo motor and a transmission member, the servo motor is connected to the frame, the transmission member is connected to the servo motor, the first clamp arm and / or the second clamp arm are connected to the transmission member, and the servo motor is configured to drive the first clamp arm and the second clamp arm to approach each other by driving the transmission member.

9. The clamping mechanism according to claim 8, characterized in that: The transmission member includes a gear, a first rack and a second rack, the gear is installed at the output end of the servo motor, the first rack is connected to the first clamp arm, the second rack is connected to the second clamp arm, the first rack and the second rack are parallel and oppositely arranged, the gear is arranged between the first rack and the second rack, and the first rack and the second rack are meshed with the gear at the same time.

10. A handling device, characterized in that: The invention comprises a moving mechanism and a clamping mechanism as claimed in any one of claims 1 to 9, wherein the clamping mechanism is installed on the moving mechanism; the moving mechanism comprises at least one of a first moving component, a second moving component and a third moving component, wherein the first moving component is configured to drive the clamping mechanism to move along a first direction, the second moving component is configured to drive the clamping mechanism to move along a second direction, and the third moving component is configured to drive the clamping mechanism to move along a third direction; The direction in which the driving assembly drives the first clamping arm and the second clamping arm to move is parallel to the first direction, the second direction intersects with the first direction, and the third direction intersects with the first direction and the second direction.

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