Compact variable-pitch clamping device, transfer robot and conveying system

Abstract

The utility model discloses a compact variable pitch material clamping device which comprises a connecting base, a variable pitch module and a material clamping mechanism, the material clamping mechanism comprises a plurality of sliding rails and a plurality of pairs of clamping jaws, the sliding rails are arranged on the variable pitch module, are parallel to the variable pitch direction of the variable pitch module and are sequentially arranged in the variable pitch direction of the variable pitch module, and the clamping jaws are arranged on the connecting base. The adjacent sliding rails are arranged front and back in the direction perpendicular to the sliding rails, and the pairs of clamping jaws are slidably arranged on the sliding rails in a one-to-one correspondence mode and connected with opening and closing driving pieces. The utility model further discloses a transfer robot. The transfer robot comprises a mechanical arm and the compact variable-pitch material clamping device. The utility model further discloses a conveying system which comprises a first conveying mechanism, a second conveying mechanism and a transfer robot, and the first conveying mechanism is provided with a good product detection mechanism. The compact variable-pitch clamping device, the transfer robot and the conveying system have the advantages that the structure is compact, the occupied space is reduced, and the transfer and variable-pitch requirements of narrow-pitch injectors can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of food and drug packaging machinery and equipment, in particular to a compact variable-spacing material clamping device, a transfer robot and a conveying system. Background Art

[0002] During the production process of implant syringes, it is necessary to transfer between a first conveying mechanism and a second conveying mechanism, and during the transfer process, it is necessary to perform a variable-spacing operation on the syringes. This transfer process can be carried out by a transfer robot with a variable-spacing material clamping device. However, the existing variable-spacing material clamping devices generally can only meet the requirements of clamping and variable-spacing of materials at a certain interval, and it is difficult to meet the clamping and variable-spacing requirements for syringes that are closely arranged side by side. For example, a variable-spacing material clamping device with an application number of 201920562711.6 has mounting plates with chutes arranged side by side in a straight line, which requires a relatively wide space, resulting in too wide a spacing between adjacent pairs of clamping jaws and unable to meet the transfer and variable-spacing requirements for narrow-spacing syringes; moreover, the opening and closing direction of the paired clamping jaws is perpendicular to the interval direction of the adjacent clamping jaws, making it difficult to meet the requirement of clamping syringes from one side. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a compact variable-spacing material clamping device, a transfer robot and a conveying system with a compact structure, reduced occupied space, and capable of meeting the transfer and variable-spacing requirements for narrow-spacing syringes.

[0004] To solve the above technical problems, the utility model adopts the following technical solutions:

[0005] A compact variable-spacing material clamping device includes a connecting seat, a variable-spacing module and a material clamping mechanism. The material clamping mechanism includes a plurality of slide rails and multiple pairs of clamping jaws. Each slide rail is arranged on the variable-spacing module, parallel to the variable-spacing direction of the variable-spacing module, and arranged in sequence along the variable-spacing direction of the variable-spacing module. Adjacent slide rails are arranged front and back in a direction perpendicular to the slide rails. Each pair of clamping jaws is slidably arranged on each slide rail respectively, and is connected with an opening and closing driving part for driving the pair of clamping jaws to open and close.

[0006] As a further improvement of the above technical solution:

[0007] The clamping jaw extends from one side of the slide rail.

[0008] A clamping groove is provided at the extending end of the clamping jaw, and the clamping grooves of the paired clamping jaws are arranged oppositely.

[0009] The clamping grooves of each pair of clamping jaws are arranged side by side along the variable-spacing direction of the variable-spacing module.

[0010] The clamping groove is arc-shaped.

[0011] The central axis of the clamping groove is perpendicular to the sliding rail.

[0012] A plurality of mounting brackets are provided on the variable pitch module, and each of the sliding rails and each opening and closing driving member are correspondingly arranged on each mounting bracket.

[0013] A housing is provided on the connecting seat, the variable pitch module, the sliding rail, and the opening and closing driving member are all located inside the housing, and the clamping jaws extend outside the housing.

[0014] A transfer robot includes a robotic arm and the above-mentioned compact variable pitch clamping device, and the connecting seat is arranged at the front end of the robotic arm.

[0015] A conveying system includes a first conveying mechanism, a second conveying mechanism, and the above-mentioned transfer robot. The transfer robot is used for variably pitching and transferring materials between the first conveying mechanism and the second conveying mechanism. A good product detection mechanism is provided on the first conveying mechanism, and a defective product collection mechanism is provided between the first conveying mechanism and the second conveying mechanism.

[0016] Compared with the prior art, the advantages of the present utility model are as follows:

[0017] For the compact variable pitch clamping device of the present utility model, each sliding rail is arranged on the variable pitch module, parallel to the variable pitch direction of the variable pitch module, and arranged in sequence along the variable pitch direction of the variable pitch module. Adjacent sliding rails are arranged front and back in the direction perpendicular to the sliding rail. Each sliding rail is arranged side by side along a straight line, with a compact structure, reducing the occupied space, and capable of meeting the requirements for transferring and variable pitching of syringes with narrow spacing.

[0018] The transfer robot of the present utility model includes a compact variable pitch clamping device and has all the advantages of the compact variable pitch clamping device.

[0019] The conveying system of the present utility model includes a compact variable pitch clamping device and has all the advantages of the compact variable pitch clamping device. Description of the Drawings

[0020] Figure 1 It is a schematic three-dimensional structure diagram of the compact variable pitch clamping device of the present utility model.

[0021] Figure 2 It is a schematic internal structure diagram of the compact variable pitch clamping device of the present utility model (the housing is not shown).

[0022] Figure 3 It is a schematic structure diagram of the clamping mechanism of the compact variable pitch clamping device of the present utility model.

[0023] Figure 4 It is a schematic structure diagram of the transfer robot and the conveying system of the present utility model.

[0024] Each label in the figure represents:

[0025] 1. Connecting seat; 2. Variable pitch module; 3. Clamping mechanism; 31. Slide rail; 32. Claw; 321. Clamping groove; 33. Opening and closing driving part; 4. Mounting rack; 5. Housing; 6. Robot arm; 7. First conveying mechanism; 71. Good product detection mechanism; 8. Second conveying mechanism; 9. Defective product collection mechanism. Specific embodiments

[0026] The following further describes the present utility model in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0027] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0028] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality" means two or more, unless otherwise specifically defined.

[0029] In the present utility model, unless otherwise clearly defined and limited, the terms "assembled", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0030] Embodiment 1:

[0031] Figures 1 to 3An embodiment of the compact variable pitch material clamping device of the present utility model is shown. The compact variable pitch material clamping device of this embodiment includes a connecting seat 1, a variable pitch module 2, and a material clamping mechanism 3. The material clamping mechanism 3 includes a plurality of slide rails 31 and multiple pairs of clamping jaws 32. Each slide rail 31 is arranged on the variable pitch module 2, parallel to the variable pitch direction of the variable pitch module 2, and arranged in sequence along the variable pitch direction of the variable pitch module 2. Adjacent slide rails 31 are arranged front and back in a direction perpendicular to the slide rails 31. Each pair of clamping jaws 32 is slidably arranged on each slide rail 31 correspondingly, and is connected with an opening and closing driving member 33 for driving the pair of clamping jaws 32 to open and close.

[0032] In this compact variable pitch material clamping device, each slide rail 31 is arranged on the variable pitch module 2, parallel to the variable pitch direction of the variable pitch module 2, and arranged in sequence along the variable pitch direction of the variable pitch module 2. Adjacent slide rails 31 are arranged front and back in a direction perpendicular to the slide rails 31. Each slide rail 31 is arranged side by side along a straight line, with a compact structure, reducing the occupied space, and can meet the requirements of transferring and variable pitch of syringes with narrow pitch.

[0033] Preferably, each slide rail 31 faces the same direction and is arranged in two rows, that is, in a direction perpendicular to the slide rail 31, the slide rails 31 located in the front are arranged in a row along the variable pitch direction of the variable pitch module 2, and the slide rails 31 located in the back are arranged in a row along the variable pitch direction of the variable pitch module 2. The variable pitch module 2 is an existing component, used to adjust the distance between each slide rail 31, so as to adjust the distance between each pair of clamping jaws 32, thereby realizing variable pitch for the clamped syringes.

[0034] Furthermore, as Figure 3 shown, in this embodiment, the clamping jaw 32 extends from one side of the slide rail 31. It is convenient to clamp the syringe from one side of the syringe, meeting the requirement of clamping the syringe from one side. Preferably, the clamping groove 321 is arc-shaped.

[0035] Furthermore, in this embodiment, a clamping groove 321 is provided at the extending end of the clamping jaw 32, and the clamping grooves 321 of the paired clamping jaws 32 are arranged oppositely. The clamping groove 321 is adapted to the syringe, improving the clamping stability.

[0036] Furthermore, in this embodiment, the clamping grooves 321 of each pair of clamping jaws 32 are arranged side by side along the variable pitch direction of the variable pitch module 2. In this way, a row of syringes can be clamped at one time.

[0037] Furthermore, in this embodiment, the central axis of the clamping groove 321 is perpendicular to the slide rail 31. Specifically, the central axis of the clamping groove 321 is perpendicular to the length direction of the slide rail 31, with a reasonable overall layout, which is more conducive to clamping the syringe from one side of the syringe.

[0038] Furthermore, as Figure 2 and Figure 3As shown in the figure, in this embodiment, a plurality of mounting brackets 4 are provided on the variable pitch module 2, and each slide rail 31 and each opening and closing driving member 33 are correspondingly arranged on each mounting bracket 4. The variable pitch module 2 is an existing component, which is used to adjust the distance between each mounting bracket 4 and each slide rail 31, so as to adjust the distance between each pair of clamping jaws 32, thereby realizing variable pitch for the clamped syringe.

[0039] Further, in this embodiment, a housing 5 is provided on the connecting seat 1. The variable pitch module 2, the slide rail 31, and the opening and closing driving member 33 are all located inside the housing 5, and the clamping jaws 32 extend outside the housing 5. On the one hand, the housing 5 has a protective effect on the internal components. On the other hand, the housing 5 prevents internal impurities from falling onto the clamped syringe.

[0040] Further, the opening and closing driving member 33 is an existing driving member, such as a cylinder or an oil cylinder.

[0041] Embodiment Two:

[0042] Figure 4 An embodiment of the transfer robot of the present utility model is shown. The transfer robot of this embodiment includes a robotic arm 6 and the compact variable pitch clamping device of Embodiment One, and the connecting seat 1 is arranged at the front end of the robotic arm 6. This transfer robot includes a compact variable pitch clamping device and has all the advantages of the compact variable pitch clamping device.

[0043] Embodiment Three:

[0044] Figure 4 An embodiment of the conveying system of the present utility model is also shown. The conveying system of this embodiment includes a first conveying mechanism 7, a second conveying mechanism 8, and the transfer robot of Embodiment Two. The transfer robot is used for variable pitch transfer of materials between the first conveying mechanism 7 and the second conveying mechanism 8. A good product detection mechanism 71 is provided on the first conveying mechanism 7, and a defective product collection mechanism 9 is provided between the first conveying mechanism 7 and the second conveying mechanism 8. This conveying system includes a compact variable pitch clamping device and has all the advantages of the compact variable pitch clamping device.

[0045] Preferably, the first conveying mechanism 7 is used for vertically conveying syringes. For example, the first conveying mechanism 7 is an annular vertical conveying mechanism, and the second conveying mechanism 8 is used for horizontally conveying syringes.

[0046] Although the present utility model has been disclosed above with the preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present utility model by using the technical content disclosed above without departing from the scope of the technical solution of the present utility model, or modify it into equivalent embodiments with equivalent changes. Therefore, all simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model shall fall within the scope of protection of the technical solution of the present utility model.

Claims

1. A compact variable-pitch clamping device, comprising a connecting seat (1), a variable-pitch module (2) and a clamping mechanism (3), wherein the clamping mechanism (3) comprises a plurality of slide rails (31) and a plurality of pairs of clamping claws (32), characterized in that: Each of the slide rails (31) is provided on the pitch-changing module (2), is parallel to the pitch-changing direction of the pitch-changing module (2), and is arranged in sequence along the pitch-changing direction of the pitch-changing module (2); adjacent slide rails (31) are arranged front and back in a direction perpendicular to the slide rails (31); each pair of the clamping jaws (32) is slidably provided on each of the slide rails (31) in a one-to-one correspondence, and each pair of the clamping jaws (32) is connected to an opening and closing driving member (33) for driving the pair of clamping jaws (32) to open and close.

2. The compact variable-length clamping device according to claim 1, characterized in that: The clamping claw (32) extends from one side of the slide rail (31).

3. The compact variable-length clamping device according to claim 2, characterized in that: The protruding ends of the clamping jaws (32) are provided with clamping grooves (321), and the clamping grooves (321) of the paired clamping jaws (32) are arranged opposite to each other.

4. The compact variable-length clamping device according to claim 3 is characterized in that: The clamping grooves (321) of each pair of the clamping jaws (32) are arranged side by side along the pitch changing direction of the pitch changing module (2).

5. The compact variable-length clamping device according to claim 3 is characterized in that: The clamping groove (321) is arc-shaped.

6. The compact variable-length clamping device according to claim 5, characterized in that: The central axis of the clamping groove (321) is perpendicular to the slide rail (31).

7. The compact variable-length clamping device according to any one of claims 1 to 6, characterized in that: A plurality of mounting frames (4) are provided on the pitch-changing module (2), and each of the slide rails (31) and each of the opening and closing drive members (33) are arranged on each of the mounting frames (4) in a one-to-one correspondence.

8. The compact variable-length clamping device according to claim 7, characterized in that: A shell (5) is provided on the connecting seat (1); the variable pitch module (2), the slide rail (31), and the opening and closing driving member (33) are all located inside the shell (5); and the clamping claw (32) extends outside the shell (5).

9. A transfer robot, characterized in that: It comprises a mechanical arm (6) and the compact variable-length clamping device according to any one of claims 1 to 8, wherein the connecting seat (1) is arranged at the front end of the mechanical arm (6).

10. A conveying system, characterized in that: The invention comprises a first conveying mechanism (7), a second conveying mechanism (8) and a transfer robot as claimed in claim 9, wherein the transfer robot is used for performing variable-distance material transfer between the first conveying mechanism (7) and the second conveying mechanism (8), a good product detection mechanism (71) is provided on the first conveying mechanism (7), and a defective product collection mechanism (9) is provided between the first conveying mechanism (7) and the second conveying mechanism (8).

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