Clamping mechanism and clamping device

Abstract

The utility model discloses a clamping mechanism and a clamping device.The clamping mechanism comprises a connecting plate, a clamping jaw and a pressing plate, and the clamping jaw is installed on the connecting plate, can move relative to the connecting plate and is used for clamping a part to be clamped; the pressing plate is movably connected with the connecting plate through a moving part, the moving part is arranged at the corner position of the pressing plate, and the pressing plate can move relative to the connecting plate and is used for pressing a part to be clamped; the connecting plate is provided with a first notch, and the first notch can contain at least part of the clamping jaw. The moving part is arranged at the corner position of the pressing plate, so that the pressing plate and the connecting plate can be kept relatively parallel, the possibility that the pressing plate inclines in the process of moving relative to the connecting plate is reduced, matching between the pressing plate and the to-be-clamped part is more reliable, the stability when the pressing plate abuts against a top plate of the to-be-clamped part is improved, and the clamping efficiency is improved. Smooth proceeding of follow-up work is guaranteed; and the first notch plays a role in avoiding and can provide a motion space for the clamping jaw, so that the clamping mechanism can clamp the to-be-clamped piece conveniently.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a clamping mechanism and a clamping device. Background Art

[0002] In the prior art, in order to improve the production efficiency of silicon wafers, a basket is usually used to load silicon wafers, and a clamping device is used to clamp the basket full of silicon wafers and move it to achieve the transportation of silicon wafers. However, since the overall weight of the basket is large when it is full of silicon wafers, the stability and reliability of the clamping device during the transportation of the fully loaded basket are poor. In order to prevent the silicon wafers on the basket from falling off, the clamping device will reduce the moving speed when moving the fully loaded basket, thereby affecting the overall production efficiency. Utility Model Content

[0003] In view of this, the present application provides a clamping mechanism and a clamping device to solve the technical problem of poor clamping stability and reliability of the clamping device in the prior art during the transportation of a fully loaded flower basket.

[0004] The present application provides a clamping mechanism, which includes a connecting plate, a clamping claw and a pressure plate, wherein the clamping claw is installed on the connecting plate, and can move relative to the connecting plate along a first direction x, and the clamping claw is used to clamp a piece to be clamped, and the first direction x is perpendicular to the height direction z of the clamping mechanism; the pressure plate is movably connected to the connecting plate through a moving part, and the moving part is arranged at a corner position of the pressure plate, and can move relative to the connecting plate along the height direction z of the clamping mechanism, and the pressure plate is used to press the piece to be clamped in the height direction z of the clamping mechanism; the connecting plate is provided with a first notch, and during the movement of the clamping claw along the first direction x, the first notch can accommodate at least a portion of the clamping claw.

[0005] In an embodiment of the present application, the moving part is arranged at the corner position of the pressure plate to maintain the relative parallelism between the pressure plate and the connecting plate, thereby reducing the possibility of the pressure plate tilting during the movement relative to the connecting plate, so that the cooperation between the pressure plate and the part to be clamped is more reliable, and the stability of the pressure plate and the top plate of the part to be clamped when they abut against each other is improved, thereby ensuring the smooth progress of subsequent clamping and transportation work.

[0006] At the same time, the moving part located at the corner position is also conducive to improving the connection reliability between the pressure plate and the connecting plate, and enables the pressure plate to stably move relative to the connecting plate along the height direction z of the clamping mechanism 1 during the extrusion process, thereby making the clamping mechanism more stable in the process of clamping the object to be clamped, and the clamping of the object to be clamped is also more stable and firm, further reducing the possibility of shaking of the object to be clamped during transportation.

[0007] In addition, the moving part arranged at the corner position can also effectively disperse the force. For example, in the process of separation of the pressure plate and the connecting plate, the moving part will also release the rebound force or driving force, so that the moving part can drive the pressure plate to move relative to the connecting plate along the height direction z of the clamping mechanism. At this time, since the moving part is arranged at the corner position of the pressure plate, the force applied by the moving part on the pressure plate can be effectively dispersed, avoiding the possibility of damage to the connection between the pressure plate and the connecting plate due to the concentration of force, thereby improving the service life of the clamping mechanism.

[0008] Therefore, the clamping mechanism in this embodiment can clamp the object to be clamped through the pressure plate and the clamping claw, and by setting the moving part at the corner position of the pressure plate, the connection between the pressure plate and the connecting plate can be made more stable and reliable, thereby further improving the stability and reliability of the clamping mechanism in clamping the object to be clamped, and in the subsequent steps, a faster and more efficient way can be used to transport the object to be clamped, which is conducive to improving work efficiency and better meeting actual use needs. And when the connecting plate 11 is provided with a first notch 111, the first notch 111 of the connecting plate 11 can play a role of avoidance, and when the clamping claw 12 moves along the first direction x, it can provide a movement space for the clamping claw 12, thereby facilitating the clamping mechanism 1 to clamp the object 2 to be clamped.

[0009] In a possible implementation manner, the number of the moving parts is two, and the moving parts are arranged at diagonal positions of the pressure plate, or the number of the moving parts is at least three.

[0010] In a possible embodiment, the clamping mechanism also includes a driving member and a first connecting member, the clamping jaw is connected to the driving member, and the driving member can drive the clamping jaw to move along the first direction x; in a direction perpendicular to the height direction z of the clamping mechanism, the first connecting member is relatively arranged on one side of the driving member, one side of the first connecting member is connected to the driving member, and the other side of the first connecting member is connected to the connecting plate.

[0011] In a possible implementation manner, the first connecting member includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the driving member, and the second connecting portion is connected to the connecting plate;

[0012] The first connecting portion extends along the height direction z of the clamping mechanism. In the height direction z of the clamping mechanism, the second connecting portion is located on a side of the first connecting portion close to the connecting plate. The second connecting portion extends along a second direction y in a direction away from the driving member. The second direction y is perpendicular to the height direction z of the clamping mechanism, and a preset angle is formed between the second direction y and the first direction x.

[0013] In a possible embodiment, the pressure plate is provided with a second notch along the second direction y, and the second notch passes through one side of the pressure plate in a plane perpendicular to the height direction z of the clamping mechanism; a through hole is also provided between two adjacent moving parts, and the second notch and the through hole are both used to cooperate with the part to be clamped.

[0014] In a possible implementation, the clamping mechanism further includes a guide post and an elastic member, the elastic member is sleeved on the guide post, two ends of the elastic member are respectively connected to the connecting plate and the pressure plate, and the guide post and the elastic member constitute the moving member.

[0015] In a possible embodiment, the clamping mechanism also includes a limit member, which is fixedly connected to one end of the guide column away from the pressure plate. During the movement of the pressure plate relative to the connecting plate, the limit member can abut against the connecting plate to limit the movement range of the pressure plate.

[0016] In a possible embodiment, the moving part is a cylinder, which includes a cylinder body and a telescopic rod, and the telescopic rod can be extended and retracted relative to the cylinder body along the height direction z of the clamping mechanism; the cylinder body is connected to the connecting plate, and the telescopic rod is connected to the pressure plate to drive the pressure plate to move along the height direction z of the clamping mechanism.

[0017] In a possible implementation manner, the clamping claw includes a second connecting member and a clamping portion, the clamping portion is connected to the driving member via the second connecting member, and under the driving of the driving member, the second connecting member can drive the clamping portion to move along the first direction x;

[0018] Along the height direction z of the clamping mechanism, one end of the clamping portion is in contact with the second connecting piece, and the other end is provided with a protrusion, which protrudes inward along the first direction x. The protrusion and the pressure plate are used to clamp the object to be clamped along the height direction z of the clamping mechanism.

[0019] An embodiment of the present application also provides a clamping device, which includes a robotic arm and a clamping mechanism, and the clamping mechanism is the clamping mechanism described above; wherein the clamping mechanism is installed on the robotic arm to drive the clamping mechanism to move along the height direction z of the clamping device.

[0020] In the embodiment of the present application, the clamping mechanism is installed on the side of the robotic arm facing the object to be clamped. Specifically, one end of the robotic arm is fixedly connected to the top plate of the driving member. When the clamping mechanism completes the clamping action on the object to be clamped, the robotic arm can drive the clamping mechanism to move along the height direction z of the clamping device, so as to realize the transfer of the object to be clamped through the clamping mechanism and improve the work efficiency of the transfer work.

[0021] In summary, in the process of clamping the object to be clamped, the robotic arm drives the clamping mechanism to move along the height direction z of the clamping device toward the direction close to the object to be clamped. At this time, the clamping mechanism is in the initial state, the distance between the pressure plate and the connecting plate is large, and the moving part is in the initial state or the extended state.

[0022] In the process of cooperation between the clamping mechanism and the workpiece to be clamped, the pressure plate of the clamping mechanism first contacts with the top plate of the workpiece to be clamped. In the process of contact between the two, the second notch and the through hole of the pressure plate respectively cooperate with the limiting parts on the top plate of the workpiece to be clamped. After the limiting part passes through the through hole, the pressure plate abuts against the top plate of the workpiece to be clamped. After the two abut, the clamping mechanism continues to move under the action of the mechanical arm. At this time, the clamping device continuously applies pressure to the workpiece to be clamped through the pressure plate, so that the pressure plate, under the support of the workpiece to be clamped, moves relative to the connecting plate along the height direction z of the clamping device toward the direction close to the connecting plate. At the same time, the moving part connected to the pressure plate also moves in the same direction, so that the distance between the pressure plate and the connecting plate begins to gradually decrease.

[0023] The clamping mechanism continues to move under the action of the robotic arm. When the end of the part to be clamped away from the driving member (i.e., the end of the clamping part with a protrusion) is lower than the top plate of the part to be clamped along the height direction z of the clamping device, the robotic arm stops moving. At this time, there is a gap between the pressure plate and the connecting plate or they are in contact with each other, and the moving part is in a compressed state or a retracted state.

[0024] The driving member drives the clamping jaws to move in a direction approaching each other along the first direction x. When the clamping portion and the side wall of the top plate of the piece to be clamped abut against each other, the protruding portion of the clamping jaw is located below the top plate of the piece to be clamped. At this time, the pressure plate and the protruding portion are respectively located on both sides of the top plate of the piece to be clamped along the height direction z of the clamping device, and at least part of the clamping jaw can be located in the first notch of the connecting plate.

[0025] When the clamping device needs to clamp and take away the piece to be clamped, the robotic arm drives the clamping mechanism to move along the height direction z of the clamping device in the direction away from the piece to be clamped. At this time, the moving part releases the rebound force or driving force, so that the pressure plate continues to apply pressure to the piece to be clamped, and the distance between the pressure plate and the connecting plate begins to gradually increase until the protrusion abuts against the top plate of the piece to be clamped and stops moving. At this time, the pressure plate and the protrusion clamp the top plate of the piece to be clamped along the height direction z of the clamping device, and the robotic arm can transfer the piece to be clamped to the next process through the clamping mechanism to complete the transfer of the piece to be clamped.

[0026] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 is a structural schematic diagram of a clamping mechanism provided in the present application in a specific embodiment;

[0029] Figure 2 It is a schematic structural diagram of a specific embodiment of the object to be clamped provided in the present application;

[0030] Figure 3 yes Figure 2 Top view of the .

[0031] Description of reference numerals:

[0032] 1-Clamping mechanism;

[0033] 11-connecting plate;

[0034] 111-First gap;

[0035] 12-gripper jaws;

[0036] 121- second connecting member;

[0037] 122-Clamping part;

[0038] 122a- raised portion;

[0039] 13-pressing plate;

[0040] 131-Second gap;

[0041] 132-through hole;

[0042] 14-guide column;

[0043] 15- driving member;

[0044] 16- first connecting member;

[0045] 161- first connecting portion;

[0046] 162- second connecting portion;

[0047] 17- elastic member;

[0048] 18-limiting member;

[0049] 2-Parts to be clamped;

[0050] 21-Limiting part.

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0052] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0053] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0054] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0055] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0056] The embodiment of the present application provides a clamping mechanism, such as Figure 1 As shown, the clamping mechanism 1 includes a connecting plate 11, a clamping jaw 12 and a pressing plate 13. The clamping jaw 12 is installed on the connecting plate 11. The pressing plate 13 is movably connected to the connecting plate 11 through a moving part. The connecting plate 11 and the pressing plate 13 are distributed along the height direction z of the clamping mechanism 1.

[0057] In the embodiment of the present application, the clamping jaw 12 is mounted on the connecting plate 11 and can move relative to the connecting plate 11 along the first direction x to realize the opening or closing of the clamping jaw 12, so that the clamping mechanism 1 can clamp the part to be clamped 2 through the clamping jaw 12, wherein the first direction x is perpendicular to the height direction z of the clamping mechanism 1. Specifically, the clamping mechanism 1 also includes a moving part, and the pressing plate 13 is movably connected to the connecting plate 11 through the moving part, and can move relative to the connecting plate 11 along the height direction z of the clamping mechanism 1, so as to press the part to be clamped 2 during the process of the clamping mechanism 1 clamping the part to be clamped 2, so as to cooperate with the clamping jaw 12 to clamp the part to be clamped 2, thereby clamping the part to be clamped 2.

[0058] Specifically, Figure 1 , Figure 2 and Figure 3As shown, in the process of the clamping mechanism 1 clamping the to-be-clamped part 2, the clamping mechanism 1 moves toward the direction close to the to-be-clamped part 2, and the pressing plate 13 first abuts against the top plate of the to-be-clamped part 2. After the two abut against each other, the clamping mechanism 1 continues to move. Under the action of the clamping mechanism 1, the pressing plate 13 continues to squeeze the top plate of the to-be-clamped part 2, so that the pressing plate 13, supported by the to-be-clamped part 2, moves relative to the connecting plate 11 toward the direction close to the connecting plate 11, thereby gradually reducing the distance between the pressing plate 13 and the connecting plate 11, and the to-be-clamped part 2 is moved. When at least a portion of the claw 12 is lower than the top plate of the part to be clamped 2 along the height direction z of the clamping mechanism 1, the clamping mechanism 1 stops moving along its height direction z, and the claw 12 starts to move toward each other along the first direction x until the claw 12 abuts against the side wall of the top plate of the part to be clamped 2 and stops, so that at least a portion of the claw 12 is located below the top plate of the part to be clamped 2. At this time, the pressure plate 13 and at least a portion of the claw 12 are respectively located above and below the top plate of the part to be clamped 2 along the height direction z of the clamping mechanism 1.

[0059] When the clamping mechanism 1 needs to clamp the piece to be clamped 2 to take away the piece to be clamped 2, the clamping structure 1 moves in the direction away from the piece to be clamped 2, and the pressure plate 13 is stationary relative to the piece to be clamped 2, so that the distance between the pressure plate 13 and the connecting plate 11 gradually increases. At the same time, the moving part begins to release the rebound force or driving force to make the pressure plate 13 continue to abut against the top plate of the piece to be clamped 2, and because the clamping claw 12 is installed on the connecting plate 11, the clamping claw 12 can move in the same direction driven by the connecting plate 11 until at least part of the clamping claw 12 abuts against the top plate of the piece to be clamped 2. At this time, along the height direction z of the clamping mechanism 1, at least part of the pressure plate 13 and the clamping claw 12 abut against the top plate of the piece to be clamped 2, and the clamping mechanism 1 clamps the piece to be clamped 2 through the pressure plate 13 and the clamping claw 12, so that the piece to be clamped 2 can be transported later.

[0060] Among them, the moving part is arranged at the corner position of the pressure plate 13 to maintain the relative parallelism between the pressure plate 13 and the connecting plate 11, reducing the possibility of the pressure plate 13 tilting during the movement relative to the connecting plate 11, so that the cooperation between the pressure plate 13 and the part to be clamped 2 is more reliable, and the stability between the pressure plate 13 and the top plate of the part to be clamped 2 when they abut against each other is improved, thereby ensuring the smooth progress of subsequent clamping and transportation work.

[0061] At the same time, the moving part located at the corner position is also conducive to improving the connection reliability between the pressure plate 13 and the connecting plate 11, and enables the pressure plate 13 to stably move relative to the connecting plate 11 along the height direction z of the clamping mechanism 1 during the extrusion process, thereby making the clamping mechanism 1 more stable in the process of clamping the object 2 to be clamped, and the clamping of the object 2 to be clamped is also more stable and firm, further reducing the possibility of shaking of the object 2 to be clamped during transportation.

[0062] In addition, the moving part arranged at the corner position can also effectively disperse the force. For example, in the process of separation of the pressure plate 13 and the connecting plate 11, the moving part will also release the rebound force or driving force, so that the moving part can drive the pressure plate 13 to move relative to the connecting plate 11 along the height direction z of the clamping mechanism 1. At this time, since the moving part is arranged at the corner position of the pressure plate 13, the force applied by the moving part to the pressure plate 13 can be effectively dispersed, avoiding the possibility of damage to the connection between the pressure plate 13 and the connecting plate 11 due to the concentration of force, thereby improving the service life of the clamping mechanism 1.

[0063] Therefore, the clamping mechanism 1 in this embodiment can clamp the object 2 to be clamped by the pressure plate 13 and the clamping claw 12, and by arranging a moving part at the corner position of the pressure plate 13, the connection between the pressure plate 13 and the connecting plate 11 can be made more stable and reliable, thereby further improving the stability and reliability of the clamping mechanism 1 in clamping the object 2 to be clamped, and in subsequent steps, a faster and more efficient way can be adopted to transport the object 2 to be clamped, which is conducive to improving work efficiency and better meeting actual usage needs.

[0064] like Figure 1 As shown, the connecting plate 11 is provided with a first notch 111 , and when the clamping jaw 12 moves along the first direction x, the first notch 111 can accommodate at least a portion of the clamping jaw 12 .

[0065] Since the moving part in this embodiment is arranged at the corner position of the pressing plate 13, the size of the connecting plate 11 connected to the pressing plate 13 through the moving part is relatively large. In the process of the clamping mechanism 1 clamping the to-be-clamped part 2, the clamping jaw 12 needs to move along the first direction x so as to clamp the to-be-clamped part 2 after closing. However, in the process of the clamping jaw 12 moving along the first direction x, the clamping jaw 12 will interfere with the two ends of the connecting plate 11 along the first direction x, thereby causing the clamping jaw 12 to be unable to achieve the closing action, and further causing the clamping mechanism 1 to be unable to complete the clamping of the to-be-clamped part 2. Therefore, when the connecting plate 11 is provided with a first notch 111, the first notch 111 of the connecting plate 11 can play a role of avoidance, and in the process of the clamping jaw 12 moving along the first direction x, it can provide a movement space for the clamping jaw 12, thereby facilitating the clamping mechanism 1 to clamp the to-be-clamped part 2.

[0066] Specifically, when the clamping mechanism 1 is in the initial state, at least part of the clamping jaw 12 can be located in the first notch 111, which is conducive to reducing the size of the clamping mechanism 1 as a whole along the first direction x, avoiding the clamping mechanism 1 from being too large as a whole, thereby reducing the proportion of space occupied by the clamping mechanism 1 in the working environment and improving the space utilization rate in the working environment. At the same time, the first notch 111 is provided on the connecting plate 11, which is also conducive to reducing the weight of the clamping mechanism 1, achieving the purpose of lightweighting the clamping mechanism 1, so as to improve the overall flexibility of the clamping mechanism 1. In the process of the clamping mechanism 1 clamping the part 2 to be clamped, when the clamping jaw 12 abuts against the bottom wall of the first notch 111, the end of the clamping jaw 12 close to the pressing plate 13 can be located below the top plate of the part 2 to be clamped, so as to cooperate with the pressing plate 13 to clamp the top plate of the part 2 to be clamped in the height direction z of the clamping mechanism 1, so as to ensure that the clamping process is completed smoothly.

[0067] In a specific embodiment, Figure 1 As shown, the number of the moving parts is two, and the moving parts are arranged at diagonal positions of the pressure plate 13, or the number of the moving parts is at least three.

[0068] In the embodiment of the present application, when the number of moving parts is two, the moving parts can be arranged at diagonal positions of the pressure plate 13 to ensure the symmetry of the force, or when the number of moving parts is at least three, for example, Figure 1 As shown, there are four moving parts, which are respectively arranged at the four corners of the pressure plate 13, so that when the clamping mechanism 1 clamps the object 2 to be clamped, it can cooperate with the clamping claws 12 to provide effective clamping for the object 2 to be clamped, reduce the possibility of uneven force on the pressure plate 13, thereby improving the stability and reliability of the clamping mechanism 1 in the process of clamping the object 2 to be clamped, and then can increase the moving speed of the subsequent transfer action, realize the fast and efficient transportation of the object 2 to be clamped, and effectively improve the overall work efficiency.

[0069] In a possible implementation manner, the number of the moving part may also be one.

[0070] In a possible implementation, the movement of the clamping jaw 12 can be performed manually by a staff member, that is, the staff member manually operates the opening or closing of the clamping jaw 12, so that the pre-tightening force of the clamping mechanism 1 on the clamped part 2 can be adjusted according to the actual use situation, avoiding the possibility of damage to the clamped part 2 due to excessive pre-tightening force of the clamping mechanism 1, increasing the service life of the clamped part 2, facilitating reuse, and reducing production costs. At the same time, it can also simplify the structure, reduce the manufacturing difficulty of the clamping mechanism 1, reduce the overall weight of the clamping mechanism 1, and reduce the energy consumption of the clamping mechanism 1.

[0071] In another embodiment, if Figure 1As shown, the clamping mechanism 1 further includes a driving member 15 and a first connecting member 16 , and the clamping jaw 12 is connected to the driving member 15 , and the driving member 15 can drive the clamping jaw 12 to move along the first direction x.

[0072] In the embodiment of the present application, the driving member 15 is installed on the side of the connecting plate 11 away from the pressing plate 13 through the first connecting member 16, and the output end of the driving member 15 extends outward along the first direction x and is connected to the clamping jaw 12, so that the driving member 15 can drive the clamping jaw 12 to move along the first direction x, thereby realizing the automatic opening or closing of the clamping jaw 12. Therefore, by providing the driving member 15 to drive the clamping jaw 12, it is beneficial to improve the overall automation of the clamping mechanism 1, save labor costs, improve the success rate of clamping and the overall work efficiency, and better meet the actual use needs.

[0073] Among them, in the direction perpendicular to the height direction z of the clamping mechanism 1, the first connecting member 16 is relatively arranged on at least one side of the driving member 15, and one side of the first connecting member 16 is connected to the driving member 15, and the other side of the first connecting member 16 is connected to the connecting plate 11, which can reduce the possibility of the driving member 15 and the connecting plate 11 being detached from each other and improve the stability and reliability of the connection between the two.

[0074] In a specific embodiment, Figure 1 As shown, the first connecting member 16 includes a first connecting portion 161 and a second connecting portion 162 , the first connecting portion 161 is connected to the driving member 15 , and the second connecting portion 162 is connected to the connecting plate 11 .

[0075] In the embodiment of the present application, the first connection portion 161 extends along the height direction z of the clamping mechanism 1. Along the height direction z of the clamping mechanism 1, one end of the first connection portion 161 is fixedly connected to the top cover of the driving member 15 to improve the reliability of the connection between the two. The other end of the first connection portion 161 is connected to the second connection portion 162, that is, the second connection portion 162 is located on the side of the first connection portion 161 close to the connecting plate 11, and the second connection portion 162 extends along the second direction y in a direction away from the driving member 15. One end of the second connection portion 162 away from the first connection portion 161 is fixedly connected to the connecting plate 11, wherein the second direction y is perpendicular to the height direction z of the clamping mechanism 1, and there is a preset angle between the second direction y and the first direction x.

[0076] Specifically, in the process of connecting the driving member 15 to the connecting plate 11 through the first connecting part 161 and the second connecting part 162, the first connecting part 161 can fit with the driving member 15, and the second connecting part 162 can fit with the connecting plate 11, which is used to reduce the possibility of the driving member 15 rotating relative to the connecting plate 11 in a plane perpendicular to the height direction of the clamping mechanism 1, thereby further improving the overall structural stability of the clamping mechanism 1.

[0077] In a possible embodiment, the first connecting portion 161 is fixedly connected to the second connecting portion 162 to improve the structural stability of the first connecting member 16 and reduce the possibility of relative separation between the two, thereby reducing the possibility of the driving member 15 falling off the connecting plate 11 when the clamping mechanism 1 clamps the clamped member 2. Alternatively, the first connecting member 16 can be an integrally formed L-shaped structure to improve the structural stability of the first connecting member 16. At the same time, it can also reduce the processing difficulty of the first connecting member 16 and reduce production costs.

[0078] In other embodiments, the first connecting member 16 can also be an integrally formed U-shaped structure. When the first connecting member 16 is a U-shaped structure, the first connecting member 16 has a U-shaped groove, and the opening direction of the U-shaped groove is along the height direction of the clamping mechanism 1 toward the connecting plate 11, so that the driving member 15 can be accommodated in the U-shaped groove, so that the driving member 15 can be fixedly installed on the driving member 15, thereby improving the stability and reliability of the connection between the driving member 15 and the connecting plate 11. Alternatively, the clamping mechanism 1 does not have the first connecting member 16, and the base of the driving member 15 is fixedly connected to the connecting plate 11 by bolts, which is beneficial to reduce the number of components of the clamping mechanism 1, reduce the production cost of the clamping mechanism 1, and further reduce the overall weight of the clamping mechanism 1.

[0079] Specifically, Figure 1 As shown, the clamping jaw 12 includes a second connecting member 121 and a clamping portion 122. The clamping portion 122 is connected to the driving member 15 through the second connecting member 121. Under the drive of the driving member 15, the second connecting member 121 can drive the clamping portion 122 to move along the first direction x to achieve the opening or closing of the clamping jaw 12. In the first direction x, one side of the second connecting member 121 is in contact with the output end of the driving member 15, and the other side is in contact with the clamping portion 122, so as to increase the contact area between the three, improve the stability and reliability of the connection, and ensure the smooth progress of the clamping work.

[0080] In a specific embodiment, Figure 1 As shown, along the height direction z of the clamping mechanism 1, one end of the clamping portion 122 is in contact with the second connecting member 121, and the other end is provided with a protrusion 122a, which protrudes inward along the first direction x. In the process of the clamping mechanism 1 clamping the to-be-clamped piece 2, the protrusion 122a can be used together with the pressure plate 13 to clamp the to-be-clamped piece 2 along the height direction z of the clamping mechanism 1, so as to realize the clamping of the to-be-clamped piece 2 by the clamping mechanism 1 and improve the stability and reliability of the clamping work.

[0081] In a possible embodiment, the clamping portion 122 is provided with a plurality of protrusions 122a, and the plurality of protrusions 122a are arranged at intervals along the second direction y. The plurality of protrusions 122a arranged at intervals can disperse the force on the top plate of the to-be-clamped part 2 during the clamping process, so that the pressure on the top plate is more uniform. At the same time, the interval between two adjacent protrusions 122a can form an avoidance space, thereby avoiding interference between the clamping portion 122 and the top plate of the to-be-clamped part 2 during the process of the clamping mechanism 1 clamping the to-be-clamped part 2, so that the clamping work can be carried out safely and reliably.

[0082] In a specific embodiment, Figure 1 As shown, along the second direction y, the pressure plate 13 is provided with a second notch 131, and in a plane perpendicular to the height direction z of the clamping mechanism 1, the second notch 131 passes through one side of the pressure plate 13; a through hole 132 is also provided between two adjacent moving parts, and the second notch 131 and the through hole 132 are both used to cooperate with the part 2 to be clamped.

[0083] In the present application embodiment, Figure 2 and Figure 3 As shown, along the height direction z of the clamping mechanism 1, a plurality of limiting portions 21 are provided on the side of the top plate of the piece to be clamped 2 facing the clamping mechanism 1. In the process of the clamping mechanism 1 clamping the piece to be clamped 2, the plurality of limiting portions 21 can respectively cooperate with the second notch 131 and the through hole 132 to play a positioning role, which is convenient for the clamping mechanism 1 to quickly position and is beneficial to improving the matching accuracy of the clamping mechanism 1 when clamping. At the same time, the plurality of limiting portions 21 can also play a guiding role, which improves the matching efficiency between the clamping mechanism 1 and the piece to be clamped 2, thereby improving the work efficiency of transporting the piece to be clamped 2.

[0084] In a possible implementation, Figure 3 As shown, three limiting portions 21 are arranged on the top plate of the piece to be clamped 2. In the process of the clamping mechanism 1 clamping the piece to be clamped 2, the two limiting portions 21 symmetrically distributed relative to the top plate of the piece to be clamped 2 can cooperate with the through hole 132 of the pressure plate 13, and the second notch 131 of the pressure plate 13 cooperates with the other limiting portion 21, which is beneficial to improve the cooperation efficiency between the pressure plate 13 and the top plate while reducing the possibility of reverse cooperation between the two, thereby improving the cooperation accuracy between the clamping mechanism 1 and the piece to be clamped 2, and then achieving a fast and efficient working effect of the clamping mechanism 1, which is more in line with actual usage requirements.

[0085] In another possible implementation, at least two limiting portions 21 can be provided on the top plate of the object 2 to be clamped, and the two limiting portions 21 are diagonally arranged, or multiple limiting portions 21 are provided, and the multiple limiting portions 21 are spaced apart along the circumference of the top plate.

[0086] In a specific embodiment, Figure 1 As shown, the moving part includes a guide post 14 and an elastic part 17. The elastic part 17 is sleeved on the guide post 14. Two ends of the elastic part 17 are respectively connected to the connecting plate 11 and the pressing plate 13.

[0087] In the embodiment of the present application, the above-mentioned moving part can be composed of a guide column 14 and an elastic member 17. The guide column 14 extends along the height direction of the clamping mechanism 1 and is arranged at the corner position of the pressure plate 13. One end of the guide column 14 is fixedly connected to the pressure plate 13, and the other end of the guide column 14 is movably connected to the connecting plate 11, so that in the process of the clamping mechanism 1 clamping the to-be-clamped part 2, the pressure plate 13 can move relative to the connecting plate 11 along the height direction of the clamping mechanism 1 through the guide column 14. Specifically, in the process of the pressure plate 13 moving relative to the connecting plate 11, the guide column 14 can play a good guiding role, avoid the possibility of misalignment between the pressure plate 13 and the connecting plate 11, and improve the reliability of the clamping mechanism 1 when working. In addition, a plurality of guide columns 14 are arranged between the pressure plate 13 and the connecting plate 11, which can better improve the stability of the relative movement between the two, so as to ensure the smooth progress of the clamping work.

[0088] At the same time, the elastic member 17 is sleeved on the guide column 14, and the two ends of the elastic member 17 are respectively connected to the pressing plate 13 and the connecting plate 11, so as to provide a rebound force for the pressing plate 13 to reset when the clamping mechanism 1 clamps the object 2 to be clamped, so that the staff does not need to manually adjust the position of the pressing plate 13, which is conducive to improving the automation degree of the clamping mechanism 1 and reducing labor costs. The elastic member 17 can also provide a driving force for the pressing plate 13 when the clamping mechanism 1 clamps the object 2 to be clamped, so that the pressing plate 13 and the clamping claw 12 can clamp the top plate of the object 2 to be clamped along the height direction z of the clamping mechanism 1, reduce the possibility of loosening between the clamping mechanism 1 and the object 2 to be clamped during transportation, and improve the stability and reliability of the clamping work.

[0089] In addition, if Figure 1 As shown, the clamping mechanism 1 also includes a limit member 18, which is fixedly connected to one end of the guide column 14 away from the pressure plate 13. During the movement of the pressure plate 13 relative to the connecting plate 11, the limit member 18 can abut against the connecting plate 11 to limit the movement range of the pressure plate 13.

[0090] In the embodiment of the present application, along the height direction z of the clamping mechanism 1, the limit member 18 is located on the side of the connecting plate 11 away from the pressure plate 13, and is fixedly connected to the end of the guide column 14 away from the pressure plate 13. In the process of the clamping mechanism 1 clamping the to-be-clamped object 2, the limit member 18 can abut against or separate from the connecting plate 11 to limit the movement of the pressure plate 13 away from the connecting plate 11, thereby avoiding the possibility of the pressure plate 13 being separated from the connecting plate 11 when it is reset under the action of the rebound force, thereby improving the connection reliability between the pressure plate 13 and the connecting plate 11, as well as the overall structural stability of the clamping mechanism 1, and improving the safety during the clamping process.

[0091] In another specific embodiment, the moving part can also be a cylinder, which includes a cylinder body and a telescopic rod, and the telescopic rod can be extended and retracted relative to the cylinder body along the height direction z of the clamping mechanism 1, wherein the cylinder body is fixedly connected to the connecting plate 11, and the telescopic rod is fixedly connected to the pressing plate 13 to drive the pressing plate 13 to move along the height direction z of the clamping mechanism 1.

[0092] In the embodiment of the present application, the above-mentioned moving part can also be a cylinder. In the process of the clamping mechanism 1 clamping the object to be clamped 2, the clamping mechanism 1 can drive the pressure plate 13 to move relative to the connecting plate 11 through the telescopic rod. When the moving part is a cylinder, it has the characteristics of smooth movement, good power output continuity and high working reliability, which is beneficial to improving the working reliability and service life of the clamping mechanism 1.

[0093] An embodiment of the present application further provides a clamping device, which includes a robotic arm (not shown in the figure) and a clamping mechanism 1. The clamping mechanism 1 is the clamping mechanism 1 described above, and the clamping mechanism 1 is installed on the robotic arm.

[0094] In the embodiment of the present application, the clamping mechanism 1 is installed on the side of the robotic arm facing the object 2 to be clamped. Specifically, one end of the robotic arm is fixedly connected to the top plate of the driving member 15. When the clamping mechanism 1 completes the clamping action on the object 2 to be clamped, the robotic arm can drive the clamping mechanism 1 to move along the height direction z of the clamping device, so as to realize the transfer work of the object 2 to be clamped through the clamping mechanism 1, thereby improving the work efficiency of the transfer work.

[0095] In summary, in the process of clamping the object to be clamped 2, the robotic arm drives the clamping mechanism 1 to move along the height direction z of the clamping device toward the direction close to the object to be clamped 2. At this time, the clamping mechanism 1 is in the initial state, the distance between the pressure plate 13 and the connecting plate 11 is large, and the moving part is in the initial state or the extended state.

[0096] In the process of cooperation between the clamping mechanism 1 and the part to be clamped 2, the pressure plate 13 of the clamping mechanism 1 first contacts with the top plate of the part to be clamped 2. In the process of contact between the two, the second notch 131 and the through hole 132 of the pressure plate 13 respectively cooperate with the limiting part 21 on the top plate of the part to be clamped 2. After the limiting part 21 passes through the through hole 132, the pressure plate 13 abuts against the top plate of the part to be clamped 2. After the two abut, the clamping mechanism 1 continues to move under the action of the mechanical arm. At this time, the clamping device continuously applies pressure to the part to be clamped 2 through the pressure plate 13, so that the pressure plate 13, under the support of the part to be clamped 2, moves relative to the connecting plate 11 along the height direction z of the clamping device toward the direction close to the connecting plate 11. At the same time, the moving part connected to the pressure plate 13 also moves in the same direction, so that the distance between the pressure plate 13 and the connecting plate 11 begins to gradually decrease.

[0097] The clamping mechanism 1 continues to move under the action of the robotic arm. When the end of the clamping part 122 away from the driving member 15 (i.e., the end of the clamping part 122 with the protrusion 122a) is lower than the top plate of the part 2 to be clamped in the height direction z of the clamping device, the robotic arm stops moving. At this time, there is a gap between the pressure plate 13 and the connecting plate 11 or they are in contact with each other, and the moving part is in a compressed state or a retracted state.

[0098] The driving member 15 drives the clamping jaws 12 to move in the direction of approaching each other along the first direction x. When the clamping portion 122 abuts against the side wall of the top plate of the member 2 to be clamped, the protruding portion 122a of the clamping jaw 12 is located below the top plate of the member 2 to be clamped. At this time, the pressure plate 13 and the protruding portion 122a are respectively located on both sides of the top plate of the member 2 to be clamped along the height direction z of the clamping device, and at least a portion of the clamping jaw 12 can be located in the first notch 111 of the connecting plate 11.

[0099] When the clamping device needs to clamp and take away the part to be clamped 2, the robotic arm drives the clamping mechanism 1 to move along the height direction z of the clamping device in the direction away from the part to be clamped 2. At this time, the moving part releases the rebound force or driving force, so that the pressure plate 13 continues to apply pressure to the part to be clamped 2, and the distance between the pressure plate 13 and the connecting plate 11 begins to gradually increase until the protrusion 122a stops moving when it abuts against the top plate of the part to be clamped 2. At this time, the pressure plate 13 and the protrusion 122a clamp the top plate of the part to be clamped 2 along the height direction z of the clamping device, and the robotic arm can transfer the part to be clamped 2 to the next process through the clamping mechanism 1 to complete the transfer of the part to be clamped 2.

[0100] The above describes in detail the structure, features and effects of the present application based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present application, but the present application does not limit the scope of implementation to what is shown in the drawings. Any changes made in accordance with the concept of the present application, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present application.

Claims

1. A clamping mechanism, characterized in that: The clamping mechanism (1) comprises: Connecting plate (11); a clamping jaw (12), the clamping jaw (12) being mounted on the connecting plate (11), the clamping jaw (12) being movable relative to the connecting plate (11) along a first direction x, the clamping jaw (12) being used to clamp the object (2) to be clamped, the first direction x being perpendicular to a height direction z of the clamping mechanism (1); A pressing plate (13), the pressing plate (13) being movably connected to the connecting plate (11) via a moving part, the moving part being arranged at a rotation angle of the pressing plate (13), and being able to move relative to the connecting plate (11) along a height direction z of the clamping mechanism (1), and being used to press the object (2) to be clamped in the height direction z of the clamping mechanism (1); The connecting plate (11) is provided with a first notch (111), and the first notch (111) is capable of accommodating at least a portion of the clamping jaw (12) when the clamping jaw (12) moves along the first direction x.

2. The clamping mechanism according to claim 1, characterized in that: The number of the moving parts is two, and the moving parts are arranged at diagonal positions of the pressing plate (13); Alternatively, the number of the moving parts is at least three.

3. The clamping mechanism according to claim 1, characterized in that: The clamping mechanism (1) further comprises a driving member (15) and a first connecting member (16), the clamping jaw (12) being connected to the driving member (15), and the driving member (15) being capable of driving the clamping jaw (12) to move along the first direction x; In a direction perpendicular to the height direction z of the clamping mechanism (1), the first connecting member (16) is arranged opposite to one side of the driving member (15), one side of the first connecting member (16) is connected to the driving member (15), and the other side of the first connecting member (16) is connected to the connecting plate (11).

4. The clamping mechanism according to claim 3, characterized in that: The first connecting member (16) comprises a first connecting portion (161) and a second connecting portion (162), the first connecting portion (161) being connected to the driving member (15), and the second connecting portion (162) being connected to the connecting plate (11); The first connecting portion (161) extends along a height direction z of the clamping mechanism (1); in the height direction z of the clamping mechanism (1), the second connecting portion (162) is located on a side of the first connecting portion (161) close to the connecting plate (11); the second connecting portion (162) extends along a second direction y in a direction away from the driving member (15); the second direction y is perpendicular to the height direction z of the clamping mechanism (1), and a preset angle is formed between the second direction y and the first direction x.

5. The clamping mechanism according to claim 1, characterized in that: Along the second direction y, the pressing plate (13) is provided with a second notch (131), and in a plane perpendicular to the height direction z of the clamping mechanism (1), the second notch (131) passes through one side of the pressing plate (13); A through hole (132) is also provided between two adjacent moving parts, and the second notch (131) and the through hole (132) are both used to cooperate with the part to be clamped (2).

6. The clamping mechanism according to any one of claims 1 to 5, characterized in that: The clamping mechanism (1) further comprises a guide column (14) and an elastic member (17), wherein the elastic member (17) is sleeved on the guide column (14), and two ends of the elastic member (17) are respectively connected to the connecting plate (11) and the pressing plate (13), and the guide column (14) and the elastic member (17) constitute the moving member.

7. The clamping mechanism according to claim 6, characterized in that: The clamping mechanism (1) further comprises a limit member (18), wherein the limit member (18) is fixedly connected to an end of the guide column (14) away from the pressure plate (13), and when the pressure plate (13) moves relative to the connecting plate (11), the limit member (18) can abut against the connecting plate (11) to limit the travel of the pressure plate (13).

8. The clamping mechanism according to any one of claims 1 to 5, characterized in that: The moving part is a cylinder, which comprises a cylinder body and a telescopic rod, and the telescopic rod can be telescoped relative to the cylinder body along the height direction z of the clamping mechanism (1); The cylinder body is connected to the connecting plate (11), and the telescopic rod is connected to the pressing plate (13) so as to drive the pressing plate (13) to move along the height direction z of the clamping mechanism (1).

9. The clamping mechanism according to claim 3, characterized in that: The clamping claw (12) comprises a second connecting member (121) and a clamping portion (122); the clamping portion (122) is connected to the driving member (15) via the second connecting member (121); and under the drive of the driving member (15), the second connecting member (121) can drive the clamping portion (122) to move along a first direction x; Along the height direction z of the clamping mechanism (1), one end of the clamping portion (122) is in contact with the second connecting member (121), and the other end is provided with a protruding portion (122a), the protruding portion (122a) protrudes inwardly along the first direction x, and the protruding portion (122a) and the pressing plate (13) are used to clamp the to-be-clamped object (2) along the height direction z of the clamping mechanism (1).

10. A clamping device, characterized in that: The clamping device comprises: Robotic arm; A clamping mechanism (1), wherein the clamping mechanism (1) is the clamping mechanism (1) according to any one of claims 1 to 9; Wherein, the clamping mechanism (1) is mounted on the mechanical arm, and is used to drive the clamping mechanism (1) to move along the height direction z of the clamping device.

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