Clamping jaw device and film grabbing equipment

Abstract

The utility model relates to the technical field of clamping devices, in particular to a clamping jaw device and thin film grabbing equipment, the clamping jaw device comprises a mounting seat, two clamping jaws and a driving mechanism, one end of each clamping jaw arm is rotatably arranged on the mounting seat, the two clamping jaw arms can move towards each other or away from each other, and the driving mechanism drives the two clamping jaws to move towards each other. The other end of the clamping jaw arm is provided with an arc-shaped hole, the clamping jaw head is located at the end, provided with the arc-shaped hole, of the clamping jaw arm, the clamping jaw head is provided with a first adjusting hole, the first adjusting hole is a long hole extending in the first direction, and the first fastener sequentially penetrates through the arc-shaped hole and the first adjusting hole so that the clamping jaw head and the clamping jaw arm can be relatively fixed; the driving mechanism can drive the two clamping jaw arms to rotate. The position of the clamping jaw head of the clamping jaw device relative to the clamping jaw arm can be adjusted, so that the clamping jaw device can better adapt to grabbing work. According to the thin film grabbing equipment provided by the utility model, through the arrangement of the clamping jaw device, the grabbing efficiency of the thin film is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping devices, in particular to a clamping claw device and a film grabbing device. Background Art

[0002] Re-roasted tobacco packaging typically consists of an inner box, an outer box, and upper and lower cardboard sections to ensure the integrity and safety of the pack during transportation and storage. Some packs are additionally wrapped in plastic film to provide moisture-proofing during long-distance transportation. Once the inner and outer boxes are unpacked, a film-cutting device transversely splits the film into two halves. Mechanical grippers then grasp each of the two halves separately, with each section being grasped twice. The first grasp separates the film from the pack, creating a preliminary bulge that facilitates the second grasp; the second grasp utilizes a staggered gripping design to ensure unique grasping points.

[0003] The film is made of plastic. When it is grabbed and released, it will naturally fall back under the dual effects of its own weight and the negative pressure in the gap between the film and the cigarette pack, and the falling distance is uncontrollable. When the highest point after it falls is lower than the second grasping point, there is a height difference between the gripping closing position of the clamp and the surface of the film, and the film cannot be grasped normally. In order to ensure the success rate of the first grasping, the distance between the clamp and the cigarette pack is set to be small, and the setting of the second grasping point is calculated based on the first grasping point. If the second grasping point is set too low, the tobacco leaves will be grabbed together and scattered on the scene. In addition, the clamp is formed in one piece, and the length of the clamp arm cannot be adjusted. Every time it misses a grasp, it is necessary to adjust the program of the robot arm, or manually open the protective door and enter the scene to remove the film that has not been grasped, which increases the workload and affects the efficiency of film grasping. Therefore, a clamp device is urgently needed. Utility Model Content

[0004] The purpose of the utility model is to provide a clamping device, wherein the relative positions of the clamping head and the clamping arm can be adjusted so that the clamping device can better adapt to the grasping work.

[0005] Another object of the present invention is to provide a film grabbing device, which improves the film grabbing efficiency by providing the above-mentioned clamping claw device.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] A gripper device comprising:

[0008] Mounting seat;

[0009] Two clamping jaws, each of the clamping jaws comprising a clamping jaw arm and a clamping jaw head, one end of the clamping jaw arm being rotatably disposed on the mounting base, the two clamping jaws being able to move toward or away from each other, the other end of the clamping jaw arm being provided with an arcuate hole, the clamping jaw head being located at the end of the clamping jaw arm provided with the arcuate hole, the clamping jaw head being provided with a first adjustment hole, the first adjustment hole being a long hole extending in a first direction, a first fastener being sequentially passed through the arcuate hole and the first adjustment hole to relatively fix the clamping jaw head and the clamping jaw arm;

[0010] A driving mechanism is used to drive the two clamping arms to rotate.

[0011] Furthermore, a second adjustment hole is provided on the clamping jaw head, and the second adjustment hole is a long hole extending along the first direction. A round hole is provided on the clamping jaw arm, and a second fastener is sequentially passed through the second adjustment hole and the round hole.

[0012] Furthermore, the clamping jaw head includes a connecting portion and a clamping portion, the connecting portion and the clamping portion are arranged in an L-shape, the first adjustment hole is arranged in the connecting portion, and the two clamping portions on the two clamping jaw heads are arranged opposite to each other.

[0013] Furthermore, one end of the clamping jaw arm provided with the arc-shaped hole is provided with a notch, the connecting portion is accommodated in the notch, and one side of the connecting portion abuts against the bottom wall of the notch.

[0014] Furthermore, the opening directions of the notches on the two clamping jaw arms are opposite.

[0015] Furthermore, the driving mechanism includes a driving member and a transmission assembly, wherein the transmission assembly includes a rack and pinion pair, a first transmission shaft, a gear pair, and a second transmission shaft that are sequentially connected in transmission;

[0016] The rack and gear pair includes a rack and a first gear, the rack is in transmission connection with the driving member, the first gear is fixedly sleeved on the first transmission shaft, the clamping arm of one of the clamping jaws is in transmission connection with the first transmission shaft, and the rack is meshed with the first gear;

[0017] The gear pair includes a second gear and a third gear, the second gear is fixedly sleeved on the first transmission shaft, the third gear is fixedly sleeved on the second transmission shaft, the clamping arm of the other clamping jaw is transmission-connected to the second transmission shaft, and the second gear is meshed with the third gear.

[0018] Furthermore, the driving member is a cylinder.

[0019] Furthermore, the first transmission shaft and the second transmission shaft are arranged in parallel.

[0020] Furthermore, the clamping device further includes a buffer block, which is arranged between the two clamping arms.

[0021] A film gripping device comprises a robot arm and a gripping device as described in any of the above schemes, wherein the gripping device is arranged on the robot arm.

[0022] Beneficial effects of the utility model:

[0023] The utility model provides a clamping jaw device, which includes a mounting base, two clamping jaws and a driving mechanism, wherein the clamping jaw includes a clamping jaw arm and a clamping jaw head, one end of the clamping jaw arm is rotatably arranged on the mounting base, and the two clamping jaws can move in a direction of approaching or moving away from each other, the other end of the clamping jaw arm is provided with an arc hole, the clamping jaw head is located at the end of the clamping jaw arm provided with the arc hole, the clamping jaw head is provided with a first adjustment hole, the first adjustment hole is a long hole extending along a first direction, a first fastener is sequentially penetrated through the arc hole and the first adjustment hole to relatively fix the clamping jaw head and the clamping jaw arm; the driving mechanism can drive the two clamping jaws to rotate. The clamping device is provided with an arc hole on the clamping arm and a first adjustment hole on the clamping head, so that the position of the clamping head relative to the clamping arm can be adjusted. When performing the second grasping, if there is a height difference between the position of the clamping jaw and the position of the film, the position of the clamping jaw head is adjusted, and the length and angle of the clamping jaw are changed, so that the clamping device can better adapt to the grasping work, avoid the situation where the film is missed due to the large falling distance of the film during the second grasping, avoid the need to adjust the control system program due to each missed grasping, and improve the grasping efficiency of the film.

[0024] The utility model also provides a film grabbing device, which includes a manipulator and a clamping device. The clamping device is arranged on the manipulator, and the film is grabbed by controlling the movement of the manipulator, thereby improving the grabbing efficiency of the film. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of a clamping device provided by an embodiment of the present utility model;

[0026] Figure 2 This is a schematic structural diagram of a clamping jaw head provided by an embodiment of the present utility model;

[0027] Figure 3 It is a structural schematic diagram of the clamping arm provided by an embodiment of the utility model.

[0028] In the picture:

[0029] 1. Mounting seat;

[0030] 2. Clamping jaw; 21. Clamping jaw arm; 211. Arc-shaped hole; 212. Round hole; 22. Clamping jaw head; 221. Connecting portion; 2211. First adjustment hole; 2212. Second adjustment hole; 222. Clamping portion;

[0031] 31. Driving member; 32. Transmission assembly; 321. Rack; 322. First gear; 323. Second gear; 324. Third gear; 325. First transmission shaft; 326. Second transmission shaft;

[0032] 4. Buffer block. DETAILED DESCRIPTION

[0033] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0036] In the description of the present utility model, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0037] It should also be noted that, in the description of this utility model, unless otherwise specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0038] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0039] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0040] The following combination Figure 1-Figure 3 The technical solution of the utility model is further illustrated through specific implementation methods.

[0041] The utility model provides a clamping jaw device, which includes a mounting base 1, two clamping jaws 2 and a driving mechanism, wherein the clamping jaw 2 includes a clamping jaw arm 21 and a clamping jaw head 22, one end of the clamping jaw arm 21 is rotatably set on the mounting base 1, and the two clamping jaws 21 can move in a direction of approaching or moving away from each other, and the other end of the clamping jaw arm 21 is provided with an arc hole 211, the clamping jaw head 22 is located at the end of the clamping jaw arm 21 provided with the arc hole 211, and the clamping jaw head 22 is provided with a first adjustment hole 2211, the first adjustment hole 2211 is a long hole extending along a first direction, and a first fastener is sequentially penetrated through the arc hole 211 and the first adjustment hole 2211 to relatively fix the clamping jaw head 22 and the clamping jaw arm 21; the driving mechanism can drive the two clamping jaw arms 21 to rotate. Specifically, when grasping the film on a cigarette pack, the control system controls the movement of the drive mechanism, which drives the two jaws 2 to rotate toward each other. The two jaws 2 close to complete the first grasp. After the first grasp is completed, the two jaws 2 open, and then a second grasp is performed. The second grasping point is set based on the first grasping point, avoiding duplication of the two grasping points. After the second grasp, the film is sent to a designated location for recovery, thus completing the grasping of the film on the cigarette pack. The jaw arm 21 is provided with an arc-shaped hole 211, and the jaw head 22 is provided with a first adjustment hole 2211, allowing the position of the jaw head 22 relative to the jaw arm 21 to be adjusted. During the second grasp, if there is a height difference between the position of the jaw 2 and the position of the film, the position of the jaw head 22 is adjusted, changing the length and angle of the jaws 2, making the jaw device more adaptable to the grasping operation. This avoids the film being missed due to a large drop distance during the second grasp and the need to adjust the control system program each time a missed grasp is missed, thereby improving the grasping efficiency of the film. In this embodiment, the first fastener includes a bolt and a nut that cooperates with the bolt. It should be noted that, in this embodiment, the first direction is a direction from one end of the clamping jaw head 22 provided on the clamping jaw arm 21 to the other end.

[0042] Furthermore, if Figure 2 As shown, the jaw head 22 is provided with a second adjustment hole 2212, which is a long hole extending along the first direction. The jaw arm 21 is provided with a circular hole 212, and the second fastener is sequentially inserted through the second adjustment hole 2212 and the circular hole 212. In this embodiment, the first adjustment hole 2211 and the second adjustment hole 2212 are spaced apart along the first direction on the jaw head 22, and the second adjustment hole 2212 extends in the same direction as the first adjustment hole 2211. The first fastener is inserted through the first adjustment hole 2211 and the arc-shaped hole 211, and the second fastener is inserted through the second adjustment hole 2212 and the circular hole 212 to fix the jaw head 22 and the jaw arm 21 together. This makes the connection between the jaw head 22 and the jaw arm 21 more secure, thereby improving the stability of the jaw in gripping the film. In this embodiment, the second fastener includes a bolt and a nut that cooperates with the bolt.

[0043] Furthermore, the clamping jaw head 22 includes a connecting portion 221 and a clamping portion 222. The connecting portion 221 and the clamping portion 222 are arranged in an L-shape. The first adjustment hole 2211 is provided on the connecting portion 221, and the clamping portions 222 on the two clamping jaw heads 22 are arranged opposite each other. In this embodiment, the first adjustment hole 2211 and the second adjustment hole 2212 are both provided on the connecting portion 221. The connecting portion 221 is used to connect to the clamping jaw arm 21. The clamping portion 222 is provided at one end of the connecting portion 221 away from the clamping jaw arm 21 and is used to clamp the film. The clamping portions 222 on the two clamping jaws 2 are arranged opposite each other. When clamping the film, the two clamping jaws 2 rotate in a direction toward each other, and the two clamping portions 222 at least partially overlap along the thickness direction of the clamping portions 222, making the clamping more secure.

[0044] like Figure 3 As shown, one end of the clamping arm 21 having the arc-shaped hole 211 is provided with a notch, and the connecting portion 221 is accommodated in the notch. One side of the connecting portion 221 abuts against the bottom wall of the notch, providing a mounting position for the clamping arm 21. Furthermore, the opening directions of the notches on the two clamping arms 21 are opposite. This arrangement can prevent the two clamping portions 222 from colliding when clamping a film, resulting in the two clamping jaws 2 being unable to close, thereby affecting the film clamping.

[0045] Furthermore, the driving structure includes a driving member 31 and a transmission assembly 32, the transmission assembly 32 includes a gear rack pair, a first transmission shaft 325, a gear pair and a second transmission shaft 326 that are sequentially connected, the gear rack pair includes a rack 321 and a first gear 322, the rack 321 and the driving member 31 are transmission connected, the first gear 322 is fixedly mounted on the first transmission shaft 325, the clamping arm 21 of one clamping jaw 2 is transmission connected to the first transmission shaft 325, and the rack 321 and the first gear 322 are meshed; the gear pair includes a second gear 323 and a third gear 324, the second gear 323 is fixedly mounted on the first transmission shaft 325, the third gear 324 is fixedly mounted on the second transmission shaft 326, the clamping arm 21 of the other clamping jaw 2 is transmission connected to the second transmission shaft 326, and the second gear 323 and the third gear 324 are meshed. Specifically, when a film needs to be grasped, the control system controls the movement of the driver 31, which drives the rack 321 in linear motion. The rack 321 meshes with the first gear 322, causing the first gear 322 to rotate. The first gear 322 then rotates the first transmission shaft 325, which in turn rotates one of the gripping jaws 2. Simultaneously, the second gear 323, fixed to the first transmission shaft 325, rotates. The second gear 323 meshes with the third gear 324, which rotates, thereby rotating the second transmission shaft 326. The second transmission shaft 326 then rotates the other gripping jaw 2. The two gripping jaws 2 rotate toward each other, thus grasping the film.

[0046] Optionally, the driving member 31 is a cylinder, which has a simple structure and is easy to install and maintain. The piston rod of the cylinder is fixedly connected to the rack 321 through a connecting block, and the rack 321 is driven to reciprocate by the piston rod to realize the opening and closing of the two clamping jaws.

[0047] Furthermore, the first transmission shaft 325 and the second transmission shaft 326 are arranged in parallel, so that the two jaws rotate in unison, improving the stability of the grip. In this embodiment, two sets of mounting bases 1 are provided, and both ends of the first transmission shaft 325 and the second transmission shaft 326 are rotatably mounted on the two mounting bases 1, making the transmission stable and reliable.

[0048] In this embodiment, the clamping device further includes a buffer block 4 , which is disposed between the two clamping arms 21 and has a buffering effect, thereby preventing the two clamping jaws 2 from colliding and damaging the clamping jaws 2 when closing to grasp the film.

[0049] The embodiment of the present utility model also provides a film grabbing device, including a manipulator and a clamping device, wherein the clamping device is arranged on the manipulator, and the film is grabbed by controlling the movement of the manipulator, thereby improving the grabbing efficiency of the film.

[0050] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A clamping device, characterized in that: include: Mounting seat (1); Two clamping jaws (2), the clamping jaws (2) comprising a clamping jaw arm (21) and a clamping jaw head (22), one end of the clamping jaw arm (21) being rotatably arranged on the mounting seat (1), the two clamping jaw arms (21) being able to move in a direction of approaching or moving away from each other, the other end of the clamping jaw arm (21) being provided with an arc-shaped hole (211), the clamping jaw head (22) being located at the end of the clamping jaw arm (21) provided with the arc-shaped hole (211), the clamping jaw head (22) being provided with a first adjustment hole (2211), the first adjustment hole (2211) being a long hole extending along a first direction, a first fastener being sequentially passed through the arc-shaped hole (211) and the first adjustment hole (2211) so as to relatively fix the clamping jaw head (22) and the clamping jaw arm (21); A driving mechanism is provided, wherein the driving mechanism is used for driving the two clamping arms (21) to rotate.

2. The clamping device according to claim 1, characterized in that The clamping jaw head (22) is provided with a second adjustment hole (2212), which is a long hole extending along the first direction; the clamping jaw arm (21) is provided with a circular hole (212), and the second fastener is sequentially passed through the second adjustment hole (2212) and the circular hole (212).

3. The clamping device according to claim 1, characterized in that The clamping jaw head (22) comprises a connecting portion (221) and a clamping portion (222); the connecting portion (221) and the clamping portion (222) are arranged in an L-shape; the first adjustment hole (2211) is arranged in the connecting portion (221); and the two clamping portions (222) on the two clamping jaw heads (22) are arranged opposite to each other.

4. The clamping device according to claim 3, characterized in that One end of the clamping claw arm (21) provided with the arc-shaped hole (211) is provided with a notch, the connecting portion (221) is accommodated in the notch, and one side of the connecting portion (221) abuts against the bottom wall of the notch.

5. The clamping device according to claim 4, characterized in that: The opening directions of the notches on the two clamping jaw arms (21) are opposite.

6. The clamping device according to claim 1, characterized in that The driving mechanism includes a driving member (31) and a transmission assembly (32), wherein the transmission assembly (32) includes a rack and pinion pair, a first transmission shaft (325), a gear pair, and a second transmission shaft (326) which are sequentially connected in transmission. The rack and gear pair comprises a rack (321) and a first gear (322), the rack (321) and the driving member (31) are in transmission connection, the first gear (322) is fixedly sleeved on the first transmission shaft (325), the clamping jaw arm (21) of one of the clamping jaws (2) is in transmission connection with the first transmission shaft (325), and the rack (321) and the first gear (322) are meshed; The gear pair comprises a second gear (323) and a third gear (324), wherein the second gear (323) is fixedly sleeved on the first transmission shaft (325), and the third gear (324) is fixedly sleeved on the second transmission shaft (326). The clamping arm (21) of the other clamping jaw (2) is transmission-connected to the second transmission shaft (326), and the second gear (323) and the third gear (324) are meshed.

7. The clamping device according to claim 6, characterized in that The driving member (41) is a cylinder.

8. The clamping device according to claim 6, characterized in that: The first transmission shaft (325) and the second transmission shaft (326) are arranged in parallel.

9. The clamping device according to claim 1, characterized in that: The clamping device further comprises a buffer block (4), and the buffer block (4) is arranged between the two clamping arms (21).

10. Film grabbing equipment, characterized in that, It comprises a manipulator and a gripper device as claimed in any one of claims 1 to 9, wherein the gripper device is arranged on the manipulator.

Images