Clamping jaw mechanism and variable pitch module

Abstract

The clamping jaw mechanism comprises a clamping cylinder body, a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are symmetrically installed on the clamping cylinder body through a first rotating shaft and a second rotating shaft respectively. The first clamping jaw is provided with a first clamping arm located on one side of the first rotating shaft and a first clamping head located on the other side of the first rotating shaft, the second clamping jaw is provided with a second clamping arm located on one side of the second rotating shaft and a second clamping head located on the other side of the second rotating shaft, and at least one air cavity is formed in the clamping cylinder body. The air cavity comprises two sub-cavities which communicate with each other and are symmetrically distributed, and piston columns used for pushing the first clamping arm and the second clamping arm to move so as to enable the first clamping head and the second clamping head to be clamped are arranged in the two sub-cavities correspondingly. According to the utility model, the first clamping arm and the second clamping arm can be pushed to move through the plurality of piston columns in a manner of increasing the air cavities, so that the clamping force of the chuck is improved, and the operations of plugging, transferring and the like of small cylindrical workpieces are realized.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial material reclaiming equipment, in particular to a clamping claw mechanism and a variable distance module. Background Art

[0002] With the development of industrial automation technology, pneumatic grippers have emerged. These are actuators that use compressed air as a power source to grip or grasp workpieces. Compared to hydraulic and electric drives, they offer faster response times and lower operating costs.

[0003] Existing pneumatic grippers primarily consist of a cylinder, a piston rod mounted within the cylinder, and a jaw movably mounted to the end of the cylinder. The piston rod controls the opening and closing of the jaw via a connecting rod assembly. In manufacturing, workpiece insertion and removal are common. For small, smooth cylindrical workpieces, existing pneumatic grippers have limited gripping force, making them difficult to perform. Utility Model Content

[0004] The utility model aims to solve the deficiencies in the prior art and provides a clamping jaw mechanism and a variable pitch module, which can improve the clamping force of the clamping jaws and realize the insertion and extraction operations of small cylindrical workpieces.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A clamping mechanism includes a clamping cylinder, a first clamping jaw and a second clamping jaw, wherein the first clamping jaw and the second clamping jaw are symmetrically mounted on the clamping cylinder through a first rotating shaft and a second rotating shaft respectively, the first clamping jaw has a first clamping arm located on one side of the first rotating shaft and a first clamping head located on the other side of the first rotating shaft, the second clamping jaw has a second clamping arm located on one side of the second rotating shaft and a second clamping head located on the other side of the second rotating shaft, at least one air cavity is provided in the clamping cylinder, the air cavity includes two sub-cavities that are interconnected and symmetrically distributed, and the two sub-cavities are respectively provided with piston columns for pushing the first clamping arm and the second clamping arm to move so that the first clamping head and the second clamping head are clamped together. By setting at least one air cavity in the clamping cylinder and setting two symmetrically distributed sub-cavities in the air cavity, the piston columns in the two sub-cavities push the first clamping arm and the second clamping arm respectively to clamp the first clamp and the second clamp. Compared with the method of directly controlling the clamping of the clamp by the piston rod, this application can increase the air cavity and push the first clamping arm and the second clamping arm to move through multiple piston columns, thereby increasing the clamping force of the clamp and realizing operations such as insertion, extraction, and transfer of small cylindrical workpieces.

[0007] As a preferred technical solution, the first clamping arm and the second clamping arm are respectively located on both sides of the clamping cylinder in the width direction, and the first clamping head and the second clamping head are both located at the same end of the clamping cylinder in the length direction.

[0008] As a preferred technical solution, the clamping cylinder is provided with three interconnected air chambers, arranged along the extension direction of the first or second clamping arm. The clamping cylinder is provided with air pipe connectors for supplying air to the air chambers. By providing three interconnected air chambers, the piston rods within the air chambers can be controlled to operate simultaneously, simplifying the device structure.

[0009] As a preferred technical solution, a centering assembly is provided in the clamping cylinder, and the centering assembly includes a positioning column, a first connecting rod, and a second connecting rod. The positioning column is slidably arranged in the clamping cylinder, one end of the first connecting rod is rotatably connected to the first chuck via a third rotating shaft, the other end of the first connecting rod is rotatably connected to the end of the positioning column via a fourth rotating shaft, one end of the second connecting rod is rotatably connected to the second chuck via a fifth rotating shaft, and the other end of the second connecting rod is rotatably connected to the end of the positioning column via a sixth rotating shaft. The first connecting rod and the second connecting rod are symmetrically distributed in an eight-shaped shape. A reset spring that keeps the first chuck and the second chuck open is also provided in the clamping cylinder. By providing the centering assembly, the centering assembly can ensure that the first chuck and the second chuck are clamped synchronously during clamping, thereby improving the clamping accuracy.

[0010] As an optimal technical solution, a sliding sleeve is provided in the clamping cylinder, and the positioning column can be slidably passed through the sliding sleeve. A accommodating groove corresponding to the reset spring is provided in the clamping cylinder, and one end of the positioning column extends into the accommodating groove. One end of the reset spring conflicts with the bottom wall of the accommodating groove away from the positioning column, and the other end conflicts with the positioning column.

[0011] As a preferred technical solution, the clamping cylinder is provided with a first connecting plate at one end away from the first clamp and the second clamp, and the first connecting plate is provided with a proximity switch for detecting the opening or clamping of the first clamp and the second clamp, and the first clamp arm or the second clamp arm is provided with a first sensing metal part that cooperates with the proximity switch.

[0012] As a preferred technical solution, a slide cylinder for driving the clamping cylinder body is further included. The slide cylinder comprises a slide cylinder body and a drive seat whose movement is controlled by the slide cylinder body. The clamping cylinder body is fixedly connected to the drive seat via a first connecting plate. The slide cylinder body is provided with a photoelectric sensor for detecting the position of the drive seat, and the drive seat is provided with a second sensing metal member that cooperates with the photoelectric sensor. In actual use, multiple air chambers arranged side by side can be provided in the slide cylinder body according to the required insertion and extraction force, and the movement of the drive seat can be controlled by multiple movable rods.

[0013] As a preferred technical solution, the drive seat is L-shaped, including a vertical portion extending along the width direction of the slide cylinder body and a transverse portion extending along the length direction of the slide cylinder body. The first connecting plate has a connecting portion extending downward, and the connecting portion is fixedly connected to the vertical portion of the drive seat. The slide cylinder body is provided with a guide rail extending along the length direction of the slide cylinder body, and the transverse portion of the drive seat is slidably connected to the guide rail.

[0014] The utility model also provides a variable pitch module, including a main body seat, a worm and a plurality of slides, wherein the worm is rotatably mounted on the main body seat, and the plurality of slides are slidably mounted on the main body seat and can be controlled by the worm to move back and forth along the axial direction of the worm, and the slide is provided with the aforementioned clamping mechanism.

[0015] As a preferred technical solution, the circumferential surface of the worm is provided with a drive bevel corresponding to each slide, and the slide is provided with an extension extending into the drive bevel. The drive bevel extends spirally around the circumferential surface of the worm. Both ends of the drive bevel are provided with a positioning groove, and the positioning groove is connected to the corresponding drive bevel. The configuration of the positioning groove is such that after the extension of the slide enters the positioning groove, the slide cannot be moved by pushing the slide. One side of the slide is provided with a clearance groove for the adjacent slide to be inserted. By providing the positioning groove, the slide can be prevented from accidentally touching the slide after it moves into place, thereby improving the stability of the equipment. By providing the clearance groove on the slide, the arrangement spacing of the clamping mechanism can be reduced when the slides are close together.

[0016] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, by providing at least one air cavity in the clamping cylinder and two symmetrically distributed sub-cavities in the air cavity, the piston columns in the two sub-cavities respectively push the first clamping arm and the second clamping arm to clamp the first clamp and the second clamp. Compared with the method of directly controlling the clamping of the clamps by the piston rod, the present application can increase the air cavity and push the first clamping arm and the second clamping arm to move by multiple piston columns, thereby increasing the clamping force of the clamp and realizing operations such as insertion, extraction, and transfer of small cylindrical workpieces.

[0017] In order to more clearly illustrate the structural features, technical means and specific purposes and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a diagram of the assembly structure of the clamping mechanism of the first embodiment of the present utility model;

[0019] Figure 2 This is a diagram showing the internal structure of the clamping cylinder of the first embodiment of the present utility model;

[0020] Figure 3 yes Figure 2 A magnified schematic diagram of point A in the middle;

[0021] Figure 4 This is a diagram showing the assembly structure of the clamping mechanism of the second embodiment of the present utility model;

[0022] Figure 5 This is a schematic diagram of the variable pitch module of the present invention in the open state;

[0023] Figure 6 This is a diagram of the slide installation structure of the variable pitch module of the present utility model;

[0024] Figure 7 This is a schematic diagram of the exploded structure of the slide and worm of the variable pitch module of the present invention;

[0025] Figure 8 This is a schematic diagram of the closed state of the variable pitch module of the present invention.

[0026] Description of the accompanying drawings:

[0027] 10. Clamping cylinder 11, sub-cavity 12, piston rod

[0028] 13. Positioning column 14. First connecting rod 141. Third rotating shaft

[0029] 142, fourth rotating shaft 15, second connecting rod 151, fifth rotating shaft

[0030] 152, sixth rotating shaft 16, sliding sleeve 17, receiving groove

[0031] 18. First connecting plate 181, proximity switch 182, tracheal joint

[0032] 20, first clamping jaw 21, first clamping arm 22, first clamping head

[0033] 23, first rotating shaft 24, first inductive metal member 30, second clamping jaw

[0034] 31, second clamping arm 32, second clamping head 33, second rotating shaft

[0035] 40, slide cylinder 41, slide cylinder body 42, drive seat

[0036] 43. Guide rail 44. Photoelectric sensor 45. Second sensing metal part

[0037] 50, main seat 51, side guide 52, upper guide

[0038] 53, driving motor 54, first clearance groove 60, worm

[0039] 61, driving chute 62, positioning groove 70, slide

[0040] 71. Bearing 72. Second clearance groove. DETAILED DESCRIPTION

[0041] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0042] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0043] like Figure 1-3 As shown, a clamping mechanism of embodiment 1 of the present invention includes a clamping cylinder 10, a first clamping jaw 20 and a second clamping jaw 30, wherein the first clamping jaw 20 and the second clamping jaw 30 are symmetrically mounted on the clamping cylinder 10 through a first rotating shaft 23 and a second rotating shaft 33 respectively, the first clamping jaw 20 has a first clamping arm 21 located on one side of the first rotating shaft 23 and a first clamping head 22 located on the other side of the first rotating shaft 23, the second clamping jaw 30 has a second clamping arm 31 located on one side of the second rotating shaft 33 and a second clamping head 32 located on the other side of the second rotating shaft 33. The clamping cylinder 10 is provided with three mutually connected air cavities, each of which includes two sub-cavities 11 that are interconnected and symmetrically distributed, and the two sub-cavities 11 are respectively provided with piston rods 12 for pushing the first clamping arm 21 and the second clamping arm 31 to move so that the first clamping head 22 and the second clamping head 32 are clamped together, and the first clamping head 22 and the second clamping head 32 are provided with clamping grooves (not shown) adapted to the work to be clamped on the opposite side.

[0044] Specifically, the first clamping arm 21 and the second clamping arm 31 are respectively located on both sides of the width direction of the clamping cylinder 10, and the first clamping head 22 and the second clamping head 32 are both located at the same end of the length direction of the clamping cylinder 10. The three air cavities are arranged along the extension direction of the first clamping arm 21 or the second clamping arm 31, and the clamping cylinder 10 is provided with an air pipe joint 182 for supplying air to the air cavity. By providing three interconnected air cavities, the piston rods 12 in the air cavities can be controlled to work simultaneously, simplifying the equipment structure. It should be understood that in actual use, the number of air cavities can be set as needed and is not limited to three. It can also be one or two, or more than three.

[0045] In the present invention, a centering assembly is provided in the clamping cylinder 10, and the centering assembly includes a positioning column 13, a first connecting rod 14 and a second connecting rod 15. The positioning column 13 is slidably arranged in the clamping cylinder 10, one end of the first connecting rod 14 is rotatably connected to the first chuck 22 through a third rotating shaft 141, and the other end of the first connecting rod 14 is rotatably connected to the end of the positioning column 13 through a fourth rotating shaft 142. One end of the second connecting rod 15 is rotatably connected to the second chuck 32 through a fifth rotating shaft 151, and the other end of the second connecting rod 15 is rotatably connected to the end of the positioning column 13 through a sixth rotating shaft 152. The first connecting rod 14 and the second connecting rod 15 are symmetrically distributed in an eight-shaped shape. A return spring (not shown) is also provided in the clamping cylinder 10 to keep the first chuck 22 and the second chuck 32 open. By providing the centering assembly, the first chuck 22 and the second chuck 32 can be synchronously clamped by the linkage of the centering assembly during clamping, thereby improving the clamping accuracy. In the present invention, the fourth rotating shaft 142 and the sixth rotating shaft 152 are the same rotating shaft. A sliding sleeve 16 is provided in the clamping cylinder 10, and the sliding sleeve 16 is located between the first rotating shaft 23 and the second rotating shaft 33. The positioning post 13 is slidably provided in the sliding sleeve 16. The clamping cylinder 10 is provided with a receiving groove 17 corresponding to the return spring. One end of the positioning post 13 extends into the receiving groove 17. One end of the return spring contacts the bottom wall of the receiving groove 17 away from the positioning post 13, and the other end contacts the positioning post 13.

[0046] In the present invention, a first connecting plate 18 is provided at one end of the clamping cylinder 10 away from the first and second clamping heads 22, 32. The air pipe connector 182 is disposed on the first connecting plate 18. The first connecting plate 18 is provided with a proximity switch 181 for detecting the opening or closing of the first and second clamping heads 22, 32. The first clamping arm 21 is provided with a first sensing metal member 24 that cooperates with the proximity switch 181. It should be understood that the mounting positions of the proximity switch 181 and the first sensing metal member 24 can also be adjusted as needed.

[0047] like Figure 4As shown, embodiment 2 of the present invention also includes a slide cylinder 40 for pushing the clamping cylinder body 10 to move, the slide cylinder 40 includes a slide cylinder body 41 and a drive seat 42 whose movement is controlled by the slide cylinder body 41, and the clamping cylinder body 10 is fixedly connected to the drive seat 42 through the first connecting plate 18, and the slide cylinder body 41 is provided with a photoelectric sensor 44 for detecting the position of the drive seat 42, and the drive seat 42 is provided with a second sensing metal part 45 that cooperates with the photoelectric sensor 44. In the utility model, two groups of photoelectric sensors 44 are provided, and the two groups of photoelectric sensors 44 are respectively located on both sides of the upper end of the slide cylinder body 41, and the second sensing metal part 45 is in the shape of a long strip, and the second sensing metal part 45 is provided with an air avoidance groove for one group of photoelectric sensors 44 to move. By setting the photoelectric sensor 44, the position of the clamping mechanism can be more accurately located. At the same time, the proximity switch 181 can be used to determine whether the clamping mechanism is clamping the workpiece. In actual use, a plurality of air cavities arranged side by side can be provided in the slide cylinder body 41 according to the requirements of the plugging and unplugging force, and the movement of the driving seat 42 can be controlled by a plurality of movable rods.

[0048] Specifically, the drive seat 42 is L-shaped, comprising a vertical portion extending along the width of the slide cylinder 41 and a transverse portion extending along the length of the slide cylinder 41. The first connecting plate 18 has a downwardly extending connecting portion that is fixedly connected to the vertical portion of the drive seat 42. The slide cylinder 41 is provided with a guide rail 43 extending along the length of the slide cylinder 41, and the transverse portion of the drive seat 42 is slidably connected to the guide rail 43. In the present utility model, both the clamping cylinder 10 and the slide cylinder 41 are flat cylinders, which can reduce the lateral size of the clamping mechanism and facilitate the clamping of small workpieces.

[0049] like Figure 5-8 As shown, the utility model also provides a variable pitch module, including a main body seat 50, a worm 60 and a plurality of slides 70, wherein the worm 60 is rotatably mounted on the main body seat 50, and the plurality of slides 70 are slidably mounted on the main body seat 50, and can be controlled by the worm 60 to move back and forth along the axial direction of the worm 60, and the slide 70 is provided with the aforementioned clamping mechanism.

[0050] In the present invention, the circumferential surface of the worm 60 is provided with a drive chute 61 corresponding to each slide 70. The slide 70 has an extension portion that extends into the drive chute 61. The main body 50 is provided with a first clearance groove 54 for the extension portion to extend into the drive chute 61. The extension portion is provided with a bearing 71 to reduce friction when the extension portion moves within the drive chute 61. It should be understood that the bearing 71 can also be replaced by a roller. The drive chute 61 extends helically around the circumferential surface of the worm 60. Each end of the drive chute 61 is provided with a positioning groove 62, which is connected to the corresponding drive chute 61. The positioning groove 62 is a straight groove extending along the circumference of the worm 60. The configuration of the positioning groove 62 prevents the slide 70 from moving by pushing the extension portion after entering the positioning groove 62. A second clearance groove 72 is provided on one side of the slide 70 for the adjacent slide 70 to fit into. By providing a positioning groove 62, the slide 70 can be prevented from accidentally touching the guide rail after it moves into position, thereby improving the stability of the device. In order to improve the accuracy of the slide 70 movement, in the utility model, the main body 50 is provided with a mutually parallel side guide rail 51 and an upper guide rail 52. The slide 70 is slidably connected to the side guide rail 51 and the upper guide rail 52. By providing a second clearance groove 72 on the slide 70, the arrangement spacing of the clamping mechanism can be reduced when the slide 70 is close together while increasing the area of the slide 70. This is practical for batch clamping operations of small workpieces. At the same time, the larger area of the slide 70 can increase the contact area between the slide 70 and the guide rail, reduce the space for the slide 70 to swing, and improve the stability of the device operation. A drive motor 53 is provided at one end of the main body 50. The output end of the drive motor 53 and the worm 60 are both provided with a synchronous wheel. The synchronous wheel is covered with a synchronous belt. The drive motor 53 drives the worm 60 to rotate through the synchronous belt.

[0051] To sum up, the utility model sets at least one air cavity in the clamping cylinder and sets two symmetrically distributed sub-cavities in the air cavity, and pushes the first clamping arm and the second clamping arm respectively through the piston rods in the two sub-cavities to clamp the first clamp and the second clamp. Compared with the method of directly controlling the clamping of the clamps by the piston rod, the utility model can increase the air cavity and push the first clamping arm and the second clamping arm to move through multiple piston rods, thereby increasing the clamping force of the clamp and realizing operations such as insertion, extraction, and transfer of small cylindrical workpieces.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made to the above embodiments based on the technical practice of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A clamping mechanism, characterized in that: It includes a clamping cylinder, a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are symmetrically installed on the clamping cylinder through the first rotating shaft and the second rotating shaft respectively, the first clamping jaw has a first clamping arm located on one side of the first rotating shaft and a first clamping head located on the other side of the first rotating shaft, the second clamping jaw has a second clamping arm located on one side of the second rotating shaft and a second clamping head located on the other side of the second rotating shaft, at least one air cavity is provided in the clamping cylinder, the air cavity includes two sub-cavities that are interconnected and symmetrically distributed, and the two sub-cavities are respectively provided with piston columns for pushing the first clamping arm and the second clamping arm to move so that the first clamping head and the second clamping head are clamped together.

2. A clamping mechanism according to claim 1, characterized in that: The first clamping arm and the second clamping arm are respectively located on both sides of the clamping cylinder in the width direction, and the first clamping head and the second clamping head are both located at the same end of the clamping cylinder in the length direction.

3. A clamping mechanism according to claim 1, characterized in that: The clamping cylinder is provided with three mutually connected air cavities, and the three air cavities are arranged along the extension direction of the first clamping arm or the second clamping arm. The clamping cylinder is provided with an air pipe joint for supplying air to the air cavities.

4. A clamping mechanism according to claim 1, characterized in that: A centering component is provided in the clamping cylinder body, and the centering component includes a positioning column, a first connecting rod and a second connecting rod. The positioning column is slidably arranged in the clamping cylinder body, one end of the first connecting rod is rotatably connected to the first chuck via a third rotating shaft, the other end of the first connecting rod is rotatably connected to the end of the positioning column via a fourth rotating shaft, one end of the second connecting rod is rotatably connected to the second chuck via a fifth rotating shaft, and the other end of the second connecting rod is rotatably connected to the end of the positioning column via a sixth rotating shaft. A reset spring is also provided in the clamping cylinder body to keep the first chuck and the second chuck open.

5. A clamping mechanism according to claim 4, characterized in that: A sliding sleeve is provided in the clamping cylinder body, and the positioning column can be slidably passed through the sliding sleeve. A accommodating groove corresponding to the reset spring is provided in the clamping cylinder body, and one end of the positioning column extends into the accommodating groove. One end of the reset spring conflicts with the bottom wall of the accommodating groove away from the positioning column, and the other end conflicts with the positioning column.

6. The clamping mechanism according to claim 1, characterized in that: A first connecting plate is provided at one end of the clamping cylinder away from the first clamp and the second clamp, and a proximity switch is provided on the first connecting plate for detecting the opening or clamping of the first clamp and the second clamp, and a first induction metal part that cooperates with the proximity switch is provided on the first clamp arm or the second clamp arm.

7. A clamping mechanism according to claim 6, characterized in that: It also includes a sliding cylinder for pushing the clamping cylinder body to move, the sliding cylinder includes a sliding cylinder body and a driving seat whose movement is controlled by the sliding cylinder body, the clamping cylinder body is fixedly connected to the driving seat through a first connecting plate, the sliding cylinder body is provided with a photoelectric sensor for detecting the position of the driving seat, and the driving seat is provided with a second sensing metal part that cooperates with the photoelectric sensor.

8. The clamping mechanism according to claim 7, characterized in that: The drive seat is L-shaped, including a vertical portion extending along the width direction of the slide cylinder body and a transverse portion extending along the length direction of the slide cylinder body. The first connecting plate has a connecting portion extending downward, and the connecting portion is fixedly connected to the vertical portion of the drive seat. The slide cylinder body is provided with a guide rail extending along the length direction of the slide cylinder body, and the transverse portion of the drive seat is slidably connected to the guide rail.

9. A pitch-changing module, comprising a main body, a worm, and a plurality of slides, wherein the worm is rotatably mounted on the main body, and the plurality of slides are slidably mounted on the main body and can be controlled by the worm to reciprocate along the axial direction of the worm, characterized in that: The slide seat is provided with a clamping mechanism according to any one of claims 1 to 8.

10. The variable pitch module according to claim 9, characterized in that: The circumferential surface of the worm is provided with a driving inclined groove corresponding to each slide seat, and the slide seat is provided with an extension portion extending into the driving inclined groove. The driving inclined groove extends spirally around the circumferential surface of the worm. Both ends of the driving inclined groove are provided with positioning grooves, and the positioning grooves are connected with the corresponding driving inclined grooves. The configuration of the positioning grooves makes it impossible for the slide seat to be moved by pushing the slide seat after the extension portion of the slide seat enters the positioning groove. A clearance groove is provided on one side of the slide seat for the adjacent slide seat to be embedded.

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