Clamping jaw device and mechanical arm

Abstract

The utility model provides a clamping jaw device and a mechanical arm, and relates to the technical field of automatic production. The clamping jaw device comprises a base, the base is fixedly provided with a first reference positioning block and a second reference positioning block, the positioning planes of the first reference positioning block and the second reference positioning block form a first included angle, and the first included angle is smaller than 180 degrees; a first driving piece and a second driving piece are further fixedly mounted on the base, a first clamping jaw and a second clamping jaw are fixedly arranged on output parts of the first driving piece and the second driving piece respectively, and when the first clamping jaw and the second clamping jaw clamp a product, the movement direction of the first clamping jaw is perpendicular to the positioning plane of the first reference positioning block or deviates to a first included angle; the moving direction of the second clamping jaw is perpendicular to the positioning plane of the second reference positioning block or deviates to the first included angle. According to the clamping jaw device, the product can be pushed to the position limited by the first reference positioning block and the second reference positioning block through the first clamping jaw and the second clamping jaw, accurate positioning of the product is achieved, the four faces of the product are clamped on the basis, and in other words, the clamping jaw device can clamp the product accurately and reliably.

Description

Technical Field

[0001] The utility model relates to the technical field of automated production, in particular to a clamping device and a mechanical arm. Background Art

[0002] At present, the grippers of the robotic arms on automated equipment mostly use electric grippers or pneumatic grippers. Both electric grippers and pneumatic grippers have two oppositely set grippers, and the two grippers are centered. The electric gripper or pneumatic gripper can clamp the product by driving its two opposite grippers to retract, and can release the product by driving its two grippers to open, making it very convenient to take and put materials.

[0003] However, in the prior art, some products are not suitable for picking and placing using the centering clamping method. Moreover, the centering clamping method clamps both sides of the product during the clamping process, which has low reliability and cannot accurately position the product. Utility Model Content

[0004] The first purpose of the present utility model is to provide a clamping device to solve the technical problem in the prior art that the clamping reliability of the clamping device on the product is relatively low.

[0005] The clamping device provided by the present invention includes a base, on which a first reference positioning block and a second reference positioning block are fixedly provided, and the positioning planes of the two form a first angle, and the first angle is less than 180°; the base is also fixedly installed with a first driving member and a second driving member, and the output parts of the two are respectively fixedly provided with a first clamping jaw and a second clamping jaw, and when the first clamping jaw and the second clamping jaw clamp a product, the movement direction of the first clamping jaw is perpendicular to the positioning plane of the first reference positioning block or deviates to the first angle, and the movement direction of the second clamping jaw is perpendicular to the positioning plane of the second reference positioning block or deviates to the first angle.

[0006] Furthermore, the first angle is 90°.

[0007] Furthermore, when clamping a product, the movement direction of the first clamping jaw is perpendicular to the positioning plane of the first reference positioning block, and the movement direction of the second clamping jaw is perpendicular to the positioning plane of the second reference positioning block.

[0008] Furthermore, the first clamping jaw is connected to the output part of the first driving member through a first connecting plate, and the second clamping jaw is connected to the output part of the second driving member through a second connecting plate; the base is a substrate, the first driving member and the second driving member are arranged on one side of the substrate, and the first reference positioning block, the second reference positioning block, the first clamping jaw and the second clamping jaw are all located on the other side of the substrate.

[0009] Furthermore, the substrate includes a first substrate and a second substrate that are stacked and fixedly connected, the first substrate is an aluminum plate, and the first driving member and the second driving member are both fixedly installed on the side of the first substrate away from the second substrate; the second substrate is a POM (polyformaldehyde) plate, and the first reference positioning block and the second reference positioning block are both fixedly arranged on the side of the second substrate away from the first substrate.

[0010] Furthermore, the clamping device also includes a mounting frame, which includes a mounting plate and a third connecting plate and a fourth connecting plate arranged opposite to each other, and the mounting plate is arranged parallel to the substrate; the third connecting plate and the fourth connecting plate are both vertically connected between the mounting plate and the substrate, and the ends of the third connecting plate and the fourth connecting plate away from the mounting plate are respectively fixedly connected to the opposite sides of the substrate.

[0011] Furthermore, along the length direction of the first driving member, the second driving member is arranged close to and perpendicular to the middle of the first driving member, and the mounting frame is arranged across both sides of the second driving member.

[0012] Furthermore, the first driving component is one of an electric slide, a pneumatic cylinder, and a hydraulic cylinder, and / or the second driving component is one of an electric slide, a pneumatic cylinder, and a hydraulic cylinder.

[0013] Furthermore, the first driving member and the second driving member are both force-controlled electric slides.

[0014] The clamping device provided by the utility model can produce the following beneficial effects:

[0015] The clamping device provided by the utility model, when clamping a product, first makes the first reference positioning block, the second reference positioning block, the first clamping jaw and the second clamping jaw all be located on the periphery of the product; then the first driving member drives the first clamping jaw to move toward the first reference positioning block, and the second driving member drives the second clamping jaw to move toward the second reference positioning block. During this process, after the first clamping jaw contacts the product, it will push the product to move toward the first reference positioning block, and after the second clamping jaw contacts the product, it will push the product to move toward the second reference positioning block; and after the product is pushed to contact both the first reference positioning block and the second reference positioning block, the product can be clamped by the first reference positioning block, the second reference positioning block, the first clamping jaw and the second clamping jaw.

[0016] From the above, it can be seen that the clamping jaw device provided by the utility model can push the product to the position defined by the first reference positioning block and the second reference positioning block through the first clamping jaw and the second clamping jaw, thereby realizing accurate positioning of the product and clamping the four sides of the product on this basis. Compared with the form in which two clamping jaws are arranged opposite to each other and clamp the product in the center, the clamping jaw device provided in this embodiment can clamp the product accurately and reliably, and the product is less likely to fall off during the process of moving the product, and is conducive to accurately moving the product to the target position.

[0017] In addition, the clamping device provided by the present invention is positioned by two intersecting planes defined by the first reference positioning block and the second reference positioning block, pushes the product by the clamping jaws with two intersecting movement directions, and clamps the product by the four. It only needs to control the movement stroke of the driving member and the clamping jaws to clamp products of different sizes. The applicable product size range is wide, that is, it has strong compatibility and versatility, can adapt to product updates and iterations, and ensure product production efficiency.

[0018] The second purpose of the present utility model is to provide a robotic arm to solve the technical problem in the prior art that the clamping reliability of the clamping claw device on the product is relatively low.

[0019] The robotic arm provided by the present invention has the above-mentioned clamping device installed at its end, so it has all the advantages of the above-mentioned clamping device, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0021] Figure 1 This is one of the structural schematic diagrams of the clamping device provided by the utility model;

[0022] Figure 2 This is the second structural diagram of the clamping device provided by the utility model.

[0023] Description of reference numerals:

[0024] 100 - base; 110 - first substrate; 120 - second substrate;

[0025] 210-first reference positioning block; 220-second reference positioning block;

[0026] 310 - first driving member; 320 - first connecting plate; 330 - first clamping claw;

[0027] 410 - second driving member; 420 - second connecting plate; 430 - second clamping claw;

[0028] 500-mounting frame; 510-mounting plate; 520-third connecting plate; 530-fourth connecting plate;

[0029] 600-Photoelectric sensor. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the following describes in detail the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] This embodiment provides a clamping device, such as Figure 1 and Figure 2 As shown, the clamping device includes a base 100, and the base 100 is fixedly provided with a first reference positioning block 210 and a second reference positioning block 220, and the positioning planes ( Figure 2 The first angle β is formed by the plane represented by the dotted line in the figure, and the first angle β is less than 180°; the base 100 is also fixedly mounted with a first driving member 310 and a second driving member 410, and the output parts of the two are respectively fixedly provided with a first clamping jaw 330 and a second clamping jaw 430. When the first clamping jaw 330 and the second clamping jaw 430 clamp the product, the movement direction of the first clamping jaw 330 ( Figure 2 The direction indicated by the arrow a in the middle) is perpendicular to the positioning plane of the first reference positioning block 210 ( Figure 2 The dotted line indicates the plane where the end of the first clamping jaw 330 is located) or deflected to the first angle β (for example Figure 2 The direction indicated by the middle arrow a'); the movement direction of the second clamping jaw 430 ( Figure 2 The direction indicated by the arrow b in the middle) is perpendicular to the positioning plane of the second reference positioning block 220 ( Figure 2 The dotted line indicates the plane where the end of the second clamping jaw 430 is located) or deviates to the first angle β (for example Figure 2 b' in the middle).

[0032] The clamping device provided in this embodiment is as follows: Figure 2As shown, when clamping a product, first make the first reference positioning block 210, the second reference positioning block 220, the first clamping jaw 330 and the second clamping jaw 430 all be located at the periphery of the product; then make the first driving member 310 drive the first clamping jaw 330 to move toward the first reference positioning block 210, and make the second driving member 410 drive the second clamping jaw 430 to move toward the second reference positioning block 220. During this process, after the first clamping jaw 330 contacts the product, it will push the product to move toward the first reference positioning block 210, and after the second clamping jaw 430 contacts the product, it will push the product to move toward the second reference positioning block 220; and after the product is pushed to contact both the first reference positioning block 210 and the second reference positioning block 220, the product can be clamped by the first reference positioning block 210, the second reference positioning block 220, the first clamping jaw 330 and the second clamping jaw 430.

[0033] As can be seen from the above, the clamping jaw device provided in this embodiment can push the product to the position defined by the first reference positioning block 210 and the second reference positioning block 220 through the first clamping jaw 330 and the second clamping jaw 430, thereby achieving accurate positioning of the product and clamping the four sides of the product on this basis. Compared with the form of two clamping jaws arranged opposite to each other and clamping the product in the center, the clamping jaw device provided in this embodiment can clamp the product accurately and reliably, and the product is less likely to fall off during the process of moving the product, and is conducive to accurately moving the product to the target position.

[0034] In addition, the clamping device provided in this embodiment is positioned by two intersecting planes defined by the first reference positioning block 210 and the second reference positioning block 220, pushes the product by the clamping jaws with two intersecting movement directions, and clamps the product by the four. It only needs to control the movement stroke of the driving member and the clamping jaws to clamp products of different sizes. The applicable product size range is wide, that is, it has strong compatibility and versatility, can adapt to product updates and iterations, and ensure product production efficiency.

[0035] More specifically, in this embodiment, the first angle is 90°. This arrangement is well-suited for products with two mutually perpendicular sides or cylindrical products, such as rectangular parallelepiped products, where two adjacent sides are perpendicular to each other; or prism-shaped products with a regular octagonal cross-section, where two adjacent sides of each side are perpendicular to each other. Of course, in other embodiments of the present application, the first angle is not limited to 90°, but can also be other angles, such as 120°, 135°, 150°, etc., as long as it is less than 180°, thereby limiting the translational movement of the product along two linear directions.

[0036] More specifically, in this embodiment, Figure 2As shown, when clamping a product, the first clamping jaw 330 moves perpendicularly to the positioning plane of the first reference positioning block 210, while the second clamping jaw 430 moves perpendicularly to the positioning plane of the second reference positioning block 220. In this arrangement, the first angle is 90°. When clamping a product, the first clamping jaw 330 moves perpendicularly to the positioning plane of the first reference positioning block 210, i.e., in the direction indicated by arrow a. When clamping a product, the second clamping jaw 430 moves perpendicularly to the positioning plane of the second reference positioning block 220, i.e., in the direction indicated by arrow b. The movement distance between the first and second clamping jaws 330 and 430 is relatively short, enabling rapid positioning and clamping of the product. Of course, in other embodiments of the present application, the movement directions of the first clamping jaw 330 and the second clamping jaw 430 can also be biased toward the first angle. For example, the first clamping jaw 330 moves in the direction indicated by the arrow a', and the second clamping jaw 430 moves in the direction indicated by the arrow b', which can also position the product to the position defined by the first reference positioning block 210 and the second reference positioning block 220 and achieve the clamping of the product.

[0037] Specifically, in this embodiment, Figure 1 and Figure 2 As shown, the first clamping jaw 330 is connected to the output portion of the first driver 310 via the first connecting plate 320, and the second clamping jaw 430 is connected to the output portion of the second driver 410 via the second connecting plate 420. The base 100 is a substrate, and the first and second drivers 310 and 410 are arranged on one side of the substrate. The first and second reference positioning blocks 210 and 220, as well as the first and second clamping jaws 330 and 430, are all located on the other side of the substrate. In this configuration, the plate-shaped base 100 occupies relatively little space and is convenient for arranging the reference positioning blocks and driver components. The surfaces on which the two reference positioning blocks are arranged can also position and limit the product. The two driver components, the reference positioning blocks, and the clamping jaws are located on either side of the substrate, effectively preventing the driver components from interfering with the product. Of course, in other embodiments of the present application, the configuration of the base 100 is not limited to a plate-shaped configuration, as long as it can accommodate the reference positioning blocks and driver components and leaves sufficient space for the product to be clamped.

[0038] Specifically, in this embodiment, Figure 1 and Figure 2As shown, the substrate includes a first substrate 110 and a second substrate 120 that are stacked and fixedly connected. The first substrate 110 is an aluminum plate, and the first and second driving members 310 and 410 are fixedly mounted on the side of the first substrate 110 away from the second substrate 120. The second substrate 120 is a POM plate, and the first and second reference positioning blocks 210 and 220 are fixedly mounted on the side of the second substrate 120 away from the first substrate 110. The aluminum plate is relatively light but strong enough, so the heavier driving member is placed on the aluminum plate. The POM plate is sufficiently hard and not prone to damage the product, so the two reference positioning blocks are placed on the POM plate, so that the product is located on the side of the POM plate.

[0039] Specifically, in this embodiment, Figure 1 As shown, the gripper device also includes a mounting frame 500, which includes a mounting plate 510 and oppositely arranged third and fourth connecting plates 520 and 530. The mounting plate 510 is arranged parallel to the base plate. The third and fourth connecting plates 520 and 530 are both perpendicularly connected between the mounting plate 510 and the base plate, and the ends of the third and fourth connecting plates 520 and 530 that are away from the mounting plate 510 are fixedly connected to opposite sides of the base plate. In this arrangement, the gripper device can be mounted to a target location such as the end of a robotic arm via the mounting plate 510. In addition, the spacing between the third and fourth connecting plates 520 and 530 is relatively large, so the connection between the mounting plate 510 and the base plate is relatively stable and reliable.

[0040] Specifically, in this embodiment, the second driving member 410 is positioned near and perpendicular to the middle of the first driving member 310 along the length of the first driving member 310, and the mounting frame 500 is positioned on both sides of the second driving member 410. This arrangement creates a compact and symmetrical structure for the gripping device, and the mounting frame 500 is subjected to a more balanced force. Therefore, the mounting frame 500 is less susceptible to damage during movement, and the overall movement is relatively smooth.

[0041] Specifically, in this embodiment, both the first drive member 310 and the second drive member 410 are electric slides. In this configuration, when the two electric slides extend, they drive the corresponding clamps to release the product; when the two electric slides retract, they drive the corresponding clamps to retract, pushing and clamping the product.

[0042] More specifically, in this embodiment, both the first drive member 310 and the second drive member 410 are force-controlled electric slides. Force-controlled electric slides provide feedback on the clamping force applied to the product, allowing operators to monitor the clamping force in real time to prevent damage to the product caused by excessive force when clamping.

[0043] It should be noted that in other embodiments of the present application, the first drive member 310 and the second drive member 410 are not limited to electric slides. For example, both can also be air cylinders or hydraulic cylinders, and the corresponding clamping jaws can be extended or retracted by the air rod of the air cylinder or the piston rod of the hydraulic cylinder. Of course, in other embodiments of the present application, even if the first drive member 310 and the second drive member 410 are electric slides, they are not limited to force-controlled electric slides, but can also be ordinary electric slides or other types of electric slides, as long as they can drive the corresponding clamping jaws to move in a set direction.

[0044] Specifically, in this embodiment, Figure 2 As shown, a detection component is further provided on the side of the second substrate 120 away from the first substrate 110, which is used to detect whether the product is already located in the space surrounded by the reference positioning block and the clamping claw of the clamping device, and whether the product falls during the process of moving the product. More specifically, in this embodiment, the detection component is a photoelectric sensor 600, and further, the detection component can be a through-beam photoelectric sensor. In other embodiments of the present application, the detection component is not limited to this, as long as it can detect whether there is a product in the space surrounded by the reference positioning block and the clamping claw of the clamping device. Of course, the setting position of the detection component needs to match the size of the product, that is, the detection component should be able to detect the presence of the product when the product is located at the position defined by the first reference positioning block 210 and the second reference positioning block 220.

[0045] This embodiment also provides a robotic arm, the end of which is equipped with the above-mentioned clamping device, so it has all the advantages of the above-mentioned clamping device, which will not be repeated here.

[0046] It should be noted here that the gripper device provided in this embodiment can be applied not only to a robotic arm, but also to a structure constructed by a linear module or a structure constructed by a pneumatic actuator, etc.

[0047] Finally, it should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include," "comprise," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, product, or apparatus.

[0048] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A clamping device, characterized in that: The invention comprises a base (100), wherein the base (100) is fixedly provided with a first reference positioning block (210) and a second reference positioning block (220), wherein positioning planes of the two form a first angle, and the first angle is less than 180°; The base (100) is also fixedly mounted with a first driving member (310) and a second driving member (410), and the output parts of the two are respectively fixedly provided with a first clamping jaw (330) and a second clamping jaw (430). When the first clamping jaw (330) and the second clamping jaw (430) clamp a product, the movement direction of the first clamping jaw (330) is perpendicular to the positioning plane of the first reference positioning block (210) or deviates to the first angle, and the movement direction of the second clamping jaw (430) is perpendicular to the positioning plane of the second reference positioning block (220) or deviates to the first angle.

2. The clamping device according to claim 1, characterized in that The first angle is 90°.

3. The clamping device according to claim 2, characterized in that When clamping a product, the movement direction of the first clamping jaw (330) is perpendicular to the positioning plane of the first reference positioning block (210), and the movement direction of the second clamping jaw (430) is perpendicular to the positioning plane of the second reference positioning block (220).

4. The clamping device according to any one of claims 1 to 3, characterized in that: The first clamping jaw (330) is connected to the output portion of the first driving member (310) via a first connecting plate (320), and the second clamping jaw (430) is connected to the output portion of the second driving member (410) via a second connecting plate (420); The base (100) is a substrate, the first driving member (310) and the second driving member (410) are arranged on one side of the substrate, and the first reference positioning block (210), the second reference positioning block (220), the first clamping jaw (330) and the second clamping jaw (430) are all located on the other side of the substrate.

5. The clamping device according to claim 4, characterized in that: The substrate comprises a first substrate (110) and a second substrate (120) which are stacked and fixedly connected, the first substrate (110) being an aluminum plate, the first driving member (310) and the second driving member (410) being fixedly mounted on a side of the first substrate (110) away from the second substrate (120); the second substrate (120) being a POM plate, the first reference positioning block (210) and the second reference positioning block (220) being fixedly mounted on a side of the second substrate (120) away from the first substrate (110).

6. The clamping device according to claim 4, characterized in that: The clamping device also includes a mounting frame (500), the mounting frame (500) includes a mounting plate (510) and a third connecting plate (520) and a fourth connecting plate (530) arranged opposite to each other, the mounting plate (510) is arranged parallel to the base plate; the third connecting plate (520) and the fourth connecting plate (530) are both vertically connected between the mounting plate (510) and the base plate, and the ends of the third connecting plate (520) and the fourth connecting plate (530) away from the mounting plate (510) are respectively fixedly connected to the opposite sides of the base plate.

7. The clamping device according to claim 6, characterized in that Along the length direction of the first driving member (310), the second driving member (410) is arranged close to and perpendicular to the middle of the first driving member (310), and the mounting frame (500) is arranged across both sides of the second driving member (410).

8. The clamping device according to any one of claims 1 to 3, characterized in that: The first driving member (310) is one of an electric slide, an air cylinder, and a hydraulic cylinder, and / or the second driving member (410) is one of an electric slide, an air cylinder, and a hydraulic cylinder.

9. The clamping device according to claim 8, characterized in that The first driving member (310) and the second driving member (410) are both force-controlled electric slides.

10. A robotic arm, characterized in that: The end of the robotic arm is equipped with a gripper device according to any one of claims 1 to 9.

Images