Pick-and-place clamping jaw

Abstract

The picking and placing clamping jaw comprises a shell, a driving piece, a telescopic piece, a push plate and two clamping rods, the driving piece is installed on the shell, the two clamping rods are parallel to each other and distributed at intervals, the two clamping rods are both in sliding connection with the shell and are both in transmission connection with the driving piece, the telescopic piece is installed on the shell, and the push plate is installed on the shell. The push plate is provided with strip-shaped holes allowing the two clamping rods to penetrate through and slide, the two clamping rods perpendicularly penetrate through the strip-shaped holes, the push plate is in transmission connection with the telescopic end of the telescopic part, and the driving part is used for driving the two clamping rods to move to be close to or away from each other so as to take and place objects. Objects are pushed out, so that the taking and placing clamping jaw can be suitable for clamping a winding drum piece on the premise that coiled materials are not clamped, meanwhile, the winding drum piece can be loosened and pushed out during unwinding, the functions of the taking and placing clamping jaw are diversified, and the taking and placing clamping jaw is convenient to use. And the use is more flexible.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical claws, in particular to a pick-and-place clamping claw. Background Art

[0002] For roll-type rolls of rolled materials, a cylindrical core (usually a paper core) is coaxially arranged in the middle. For automated equipment, if the roll-type rolls of rolled materials are to be automatically taken and placed, if the clamping claws directly clamp the rolls, it may cause damage to the rolls or produce clamping marks. Taking roll film as an example, if the roll film is applied to the surface of a screen-type device, the flatness of the film surface is required to be high, so it is not suitable to be taken and placed by clamping. Therefore, for the clamping of such rolls, most of them are expanded clamping from the inside of the roll core. At present, most of them adopt an expansion structure with multiple teeth distributed annularly at intervals, such as disclosed in the document No. CN110153454B "Clamp", but its structure is complicated and can only be expanded clamping, so its function is relatively simple in actual use. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a pick-and-place clamp which has a simple structure and is convenient for taking out objects, and which can loosen and push objects away when placing them.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the utility model is as follows: a pick-and-place clamp, comprising a shell, a driving member, a telescopic member, a push plate and two clamping rods, the driving member is installed on the shell, the two clamping rods are parallel to each other and spaced apart, and the two clamping rods are both slidably connected to the shell and are both transmission connected to the driving member, the telescopic member is installed on the shell, the push plate is provided with strip holes for the two clamping rods to pass through and slide, the two clamping rods both vertically pass through the strip holes, and the push plate is transmission connected to the telescopic end of the telescopic member, the driving member is used to drive the two clamping rods to move closer to or away from each other to pick and place objects, the telescopic member is extended to drive the push plate to move relative to the clamping rod away from the shell to push out the object released by the two clamping rods.

[0005] The beneficial effect of the above technical solution is that the two clamping rods can be extended into the core of the roll piece, and the driving member drives the two clamping rods to slide away from each other to expand the roll piece from the inside of the core for clamping. At this time, the coiled material outside the roll piece is not affected. When the roll piece needs to be put down, the driving member drives the two clamping rods to slide close to each other. At this time, the two clamping rods release the core, and then the telescopic member is extended to push the roll piece out. When it is necessary to clamp the core after removing the coiled material, it is only necessary to clamp the core from the outside of the core by the two clamping rods.

[0006] In the above technical solution, the sides of the two clamping rods that are close to each other and / or away from each other are in an arc shape with the axial direction consistent with the length direction thereof, and the arc openings thereof are both facing the other clamping rod.

[0007] The beneficial effect of the above technical solution is that when the two clamping rods expand from the inside of the core to clamp the core, the side of the two clamping rods that are away from each other can fit better with the core, and the clamping effect is good. When the two clamping rods need to clamp the core from the outside, the side of the two clamping rods that are close to each other can fit better with the core and clamp.

[0008] The above technical solution also includes two sliders, and the two sliders correspond to the two clamping rods one by one. The two sliders are slidably installed on one side of the shell, and the two clamping rods are vertically installed on the corresponding sliders. The shell is provided with a strip sliding hole at the sliding track of the slider, and the slider has a connecting part that penetrates into the shell through the strip sliding hole. The driving member is installed in the shell, and the two connecting parts are transmission connected to the driving member. The driving member drives the two sliders to drive the two clamping rods to move closer to each other or away from each other.

[0009] The beneficial effect of the above technical solution is that the two clamping rods have better stability when sliding relative to the housing.

[0010] The driving member in the above technical solution has two driving ends, and the driving member is used to drive its two driving ends to move synchronously to approach or move away from each other, and the two clamping rods correspond one-to-one to the two driving ends of the driving member, and each clamping rod is driven to reciprocate by the corresponding driving end.

[0011] The beneficial effects of the above technical solution are: its structure is simple and its operation efficiency is high.

[0012] The driving member described in the above technical solution is a double-head telescopic cylinder or an electric bidirectional screw driving member.

[0013] The beneficial effects of the above technical solution are: its structure is simple, and the movement synchronization of the two clamping rods is good, and the movement directions are always opposite.

[0014] In the above technical solution, the shell is a cubic shell, the two clamping rods are arranged at one end of the shell, and the telescopic member is arranged at one side of the shell.

[0015] The beneficial effect of the above technical solution is that its structure is simple and compact.

[0016] The middle part of the strip-shaped hole in the above technical solution is expanded toward both sides to form a receiving hole.

[0017] The beneficial effect of the above technical solution is that when the two clamping rods clamp the core of the removed coil, one end of the core can be inserted into the accommodating hole for limiting, which makes the clamping effect better.

[0018] In the above technical solution, the push plate is a strip-shaped plate, and the strip-shaped holes are arranged along the length direction of the push plate.

[0019] The beneficial effects of the above technical solution are: it has a simple structure and a compact volume, and does not affect the pushing out of the roll member.

[0020] In the above technical solution, the connection between the telescopic end of the telescopic member and the push plate is located in the middle of the long side of the push plate.

[0021] The beneficial effect of the above technical solution is that when the push plate pushes out the reel, the force applied to each part of the push plate is relatively uniform.

[0022] The above technical solution also includes a camera, which is mounted on the shell, and its imaging part is in the same direction as the extension of the telescopic member.

[0023] The beneficial effect of the above technical solution is that the inner hole and / or the winding core of the winding drum can be identified and located by the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a vertical view of the pick-and-place clamping claw in a lying state according to an embodiment of the utility model;

[0025] Figure 2 This is a vertical view of the pick-and-place clamp in an upright state according to an embodiment of the utility model;

[0026] Figure 3 A side view of the pick-and-place clamping claw according to an embodiment of the utility model;

[0027] Figure 4 This is a schematic diagram of the structure of the housing cut away in the embodiment of the utility model;

[0028] Figure 5 Another schematic diagram of the structure of the housing in the embodiment of the utility model is cut away;

[0029] Figure 6 This is a schematic diagram of the installation of the telescopic member and the camera on the housing in an embodiment of the utility model;

[0030] Figure 7 It is a schematic diagram of the structure of the clamping pole and pulp drum member for expansion in the embodiment of the utility model;

[0031] Figure 8 It is a schematic diagram of the structure of the clamping rod clamping the winding core in the embodiment of the utility model.

[0032] In the figure: 1 housing; 11 strip-shaped sliding hole; 2 driving member; 21 screw rod; 22 driving motor; 23 driving block; 3 telescopic member; 4 push plate; 41 strip-shaped hole; 42 receiving hole; 5 clamping rod; 6 slider; 61 connecting part; 7 camera; 8 mounting seat; 9 reel member; 91 coil; 92 reel core. DETAILED DESCRIPTION

[0033] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0034] like Figures 1 - 3 As shown, this embodiment provides a pick-and-place clamp, comprising a shell 1, a driving member 2, a telescopic member 3, a push plate 4 and two clamping rods 5, wherein the driving member 2 is mounted on the shell 1, the two clamping rods 5 are parallel to each other and spaced apart, and the two clamping rods 5 are both slidably connected to the shell 1 and are both transmission-connected to the driving member 2, the telescopic member 3 is mounted on the shell 1, and the push plate 4 is provided with a strip hole 41 for the two clamping rods 5 to pass through and slide, the two clamping rods 5 both vertically pass through the strip hole 41, and the push plate 4 is transmission-connected to the telescopic end of the telescopic member 3, and the driving member 2 is used to drive the two clamping rods 5 to move closer to or farther from each other. In order to take and place objects, the telescopic member 3 is extended to drive the push plate 4 to move relative to the clamping rod 5 away from the shell body 1 to push out the objects released by the two clamping rods 5, so that the two clamping rods can be extended into the core of the roll member, and the two clamping rods are driven by the driving member to slide away from each other to expand the roll member from the inside of the roll core for clamping, which does not affect the coiled material outside the roll member. When the roll member needs to be put down, the driving member drives the two clamping rods to slide close to each other. At this time, the two clamping rods release the roll core, and then the telescopic member is extended to push out the roll member. When the roll core after the roll material needs to be clamped and removed, it is only necessary to clamp the roll core from the outside of the roll core by the two clamping rods.

[0035] like Figure 1 , Figure 2 , Figure 7 and Figure 8As shown, in the above technical solution, the mutually approaching and / or mutually separating sides of the two clamping rods 5 are arc-shaped with an axis consistent with their length direction, and their arc openings all face the other clamping rod 5. At this time, when the two clamping rods expand from the inside of the core to clamp the core, the mutually separating sides of the two clamping rods can better fit the core, and the clamping effect is good. When the two clamping rods need to clamp the core from the outside, at this time, the mutually approaching sides of the two clamping rods can better fit and clamp the core.

[0036] As Figures 1 - 5 shown, the above technical solution further includes two sliders 6. The two sliders 6 correspond to the two clamping rods 5 one by one. The two sliders 6 are both slidably installed on one side of the housing 1, and the two clamping rods 5 are both vertically installed on the corresponding sliders 6. The housing 1 is provided with strip-shaped sliding holes 11 at the sliding tracks of the sliders 6. The sliders 6 have connecting parts 61 that penetrate into the housing 1 through the strip-shaped sliding holes 11. The driving member 2 is installed in the housing 1, and the two connecting parts 61 are both in transmission connection with the driving member 2. The driving member 2 drives the two sliders 6 to drive the two clamping rods 5 to move closer to or away from each other, so that the stability of the two clamping rods relative to the housing during sliding is better.

[0037] As Figures 1 - 4 shown, the driving member 2 in the above technical solution has two driving ends, and the driving member 2 is used to drive its two driving ends to synchronously move closer to or away from each other. The two clamping rods 5 correspond to the two driving ends of the driving member 2 one by one. Each clamping rod 5 is driven by the corresponding driving end to reciprocate. Its structure is simple and the operating efficiency is high.

[0038] In the above technical solution, the driving member 2 is a double-headed telescopic cylinder (as Figure 5 shown, it can be similar to a double-axis double-rod sliding table cylinder, which has two synchronously telescopic telescopic ends. Therefore, the double-headed telescopic cylinder is an existing product and will not be elaborated here. It is an existing product and will not be elaborated here) or an electric bidirectional lead screw driving member. Its structure is simple, the synchronism of the movement of the two clamping rods is good, and the moving directions are always opposite. For details, see Figure 4As shown, the electric bidirectional lead screw driving member includes a lead screw 21, a driving motor 22, and two driving blocks 23. The thread directions at both ends of the lead screw are opposite, and the two driving blocks are respectively threadedly connected to both ends of the lead screw. The two driving blocks correspond to the two sliders one by one and are respectively connected to the connecting parts on the corresponding sliders. The driving motor is drivingly connected to one end of the lead screw. When the driving motor rotates forward, it drives the two driving blocks to drive the two clamping rods to move closer to each other. When the driving motor rotates in reverse, it drives the two driving blocks to drive the two clamping rods to move away from each other. The two driving blocks respectively constitute the two driving ends of the driving member.

[0039] In the above technical solution, the housing 1 is a cubic housing, and the two clamping rods 5 are arranged at one end of the housing 1, and the telescopic member 3 is arranged on one side of the housing 1, and its structure is simple and compact.

[0040] As Figure 1 and Figure 2 shown, in the above technical solution, the middle part of the strip-shaped hole 41 expands towards both sides to form a receiving hole 42. In this way, when the two clamping rods clamp and remove the core of the coil, one end of the core can be inserted into the receiving hole for limiting, so that the clamping effect is better.

[0041] As Figure 1 and Figure 2 shown, in the above technical solution, the push plate 4 is a strip-shaped plate, and the strip-shaped hole 41 is arranged along the length direction of the push plate 4. Its structure is simple, and the volume is compact, and it does not affect the pushing out of the reel member.

[0042] In the above technical solution, the connection position between the telescopic end of the telescopic member 3 and the push plate 4 is located at the middle position of the long side of the push plate 4. In this way, when the push plate pushes out the reel member, the force on each part is relatively uniform.

[0043] As Figures 1 - 3 and Figure 6 shown, the above technical solution further includes a camera 7. The camera 7 is installed on the housing 1, and its imaging part is in the same direction as the elongation direction of the telescopic member 3. In this way, the inner hole and / or the core of the reel member can be identified and positioned by the camera.

[0044] As Figures 1 - 3 shown, in this embodiment, an installation seat 8 can also be arranged on the housing, and the installation seat is used to connect with a robotic arm.

[0045] Specifically, in this embodiment, the housing 1 is cuboid-shaped with a hollow interior. The driving member is installed inside the housing. The mounting base and the two clamping rods are respectively installed at both ends of the housing. The camera and the telescopic member are respectively installed on both sides of the housing. The telescopic member can be a slide cylinder.

[0046] In this embodiment, the camera can be a binocular camera (The method of identifying the core and positioning the core based on a binocular camera belongs to the prior art in this field. For example, the method disclosed in the patent document with the document number CN115049731B, "A Visual Mapping and Positioning Method Based on a Binocular Camera", can be referred to, so it will not be elaborated here).

[0047] As Figure 7 shown, for the reel member 9, it includes a core 92 and a web 91 wound around the core 92. The target location where the reel member is placed is usually on a shaft expansion member. When the pick-and-place gripper provided in this embodiment picks up the reel member, both clamping rods are inserted into one end of the core and move away from each other to expand and tighten the core. Then, the reel member is sent to the other end and inserted onto the shaft expansion member. Then, the two clamping rods move closer to each other to loosen the core. At this time, the telescopic member extends and pushes out the push plate to push the reel member until it is fully sleeved on the shaft expansion member. Then, the telescopic member contracts to drive the push plate to return to its original position (in the retracted state, the push plate fits against the two sliders).

[0048] As Figure 8 shown, after the web on the reel member on the shaft expansion member is unwound, only the core remains on the shaft expansion member. The two clamping rods can clamp one end of the core (the axial direction of the core is consistent with the length direction of the two clamping rods) and pull the core off the shaft expansion member (Since the shaft expansion member is inserted into the core when the core is removed from the shaft expansion member, the two clamping rods can no longer be inserted into the core. At this time, only the two clamping rods can clamp the core from the outside). In this embodiment, after the pick-and-place gripper clamps the core, the telescopic member can extend to drive the push plate to move to the end where the core is clamped and insert it into the receiving hole. Then, the entire pick-and-place gripper can be driven by a robotic arm to pull the core off the shaft expansion member. At this time, the core is not easily loosened from between the two clamping rods under the limitation of the push plate. When the core needs to be placed, the telescopic member first contracts to make the push plate retract to its original position, and then the driving member drives the two clamping rods to move away from each other to loosen the core (in this embodiment, the overall shape of the receiving hole can be circular, and its aperture is slightly larger than the outer diameter of the core).

[0049] In this embodiment, the maximum stroke of the push plate sliding under the drive of the telescopic member is greater than the length of the clamping rod (that is, when the telescopic member extends, both clamping rods are withdrawn from the strip-shaped hole or the receiving hole).

[0050] The above are only the preferred embodiments of the present utility model, and do not impose any form of limitation on the present utility model; any ordinary technician in the industry can smoothly implement the present utility model according to what is shown in the accompanying drawings of the specification and the above; however, any slight changes, modifications and equivalent variations made by those skilled in the art within the scope of the technical solution of the present utility model by using the technical content disclosed above are all equivalent embodiments of the present utility model; at the same time, any changes, modifications and equivalent variations made to the above embodiments based on the substantial technology of the present utility model still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A pick-and-place clamp, characterized in that: The invention comprises a housing (1), a driving member (2), a telescopic member (3), a push plate (4) and two clamping rods (5), wherein the driving member (2) is mounted on the housing (1), the two clamping rods (5) are parallel to each other and are spaced apart, and the two clamping rods (5) are both slidably connected to the housing (1) and are both transmission-connected to the driving member (2), the telescopic member (3) is mounted on the housing (1), and the push plate (4) is provided with a slot for the two clamping rods (5) to pass through and slide. The two clamping rods (5) are vertically passed through the strip holes (41), and the push plate (4) is transmission-connected to the telescopic end of the telescopic member (3). The driving member (2) is used to drive the two clamping rods (5) to move closer to or farther away from each other to take or place objects. The telescopic member (3) is extended to drive the push plate (4) to move relative to the clamping rods (5) away from the housing (1) to push out the objects released by the two clamping rods (5).

2. The pick-and-place clamp according to claim 1, characterized in that: The sides of the two clamping rods (5) that are close to each other and / or away from each other are in an arc shape with the axial direction being consistent with the length direction thereof, and the arc openings thereof are both facing the other clamping rod (5).

3. The pick-and-place clamp according to claim 2, characterized in that: The invention also comprises two sliders (6), the two sliders (6) correspond to the two clamping rods (5) one by one, the two sliders (6) are slidably mounted on one side of the shell (1), and the two clamping rods (5) are vertically mounted on the corresponding sliders (6), the shell (1) is provided with a strip-shaped sliding hole (11) at the sliding track of the sliders (6), the sliders (6) have a connecting portion (61) which penetrates into the shell (1) through the strip-shaped sliding hole (11), the driving member (2) is mounted in the shell (1), and the two connecting portions (61) are transmission-connected to the driving member (2), and the driving member (2) drives the two sliders (6) to drive the two clamping rods (5) to move closer to each other or farther away from each other.

4. The pick-and-place clamp according to claim 1, characterized in that: The driving member (2) has two driving ends, and the driving member (2) is used to drive the two driving ends to move synchronously to approach or move away from each other, and the two clamping rods (5) correspond to the two driving ends of the driving member (2) one by one, and each clamping rod (5) is driven to reciprocate by the corresponding driving end.

5. The pick-and-place clamp according to claim 4, characterized in that: The driving member (2) is a double-head telescopic cylinder or an electric bidirectional screw driving member.

6. The pick-and-place clamp according to claim 1, characterized in that: The shell (1) is a cubic shell, the two clamping rods (5) are arranged at one end of the shell (1), and the telescopic member (3) is arranged at one side of the shell (1).

7. The pick-and-place clamp according to claim 1, characterized in that: The middle portion of the strip-shaped hole (41) is expanded toward both sides to form a receiving hole (42).

8. The pick-and-place clamp according to claim 7, characterized in that: The push plate (4) is a strip-shaped plate, and the strip-shaped holes (41) are arranged along the length direction of the push plate (4).

9. The pick-and-place clamp according to claim 7, characterized in that: The connection point between the telescopic end of the telescopic member (3) and the push plate (4) is located in the middle of the long side of the push plate (4).

10. The pick-and-place clamp according to any one of claims 1 to 9, characterized in that: It also comprises a camera (7), which is mounted on the housing (1), and an imaging portion thereof is in the same direction as the extension of the telescopic member (3).

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