Grabbing and supporting clamping jaw

Abstract

An output shaft of a clamping jaw air cylinder downwards penetrates through an air cylinder installation hole to be connected with a middle connecting shaft rod, and the left end of a right front sub-jaw and the right end of a left front sub-jaw are both connected to the front end of the middle connecting shaft rod in a rotating mode. The left end of the right rear sub-claw and the right end of the left rear sub-claw are both rotationally connected to the rear end of the middle connecting shaft rod, the front end of the right connecting shaft rod fixedly penetrates through a right front fixing insertion hole in an inserted mode to be rotationally connected with the right front sub-claw, and the rear end of the right connecting shaft rod fixedly penetrates through a right rear fixing insertion hole in an inserted mode to be rotationally connected with the right rear sub-claw. The left connecting shaft rod is fixedly inserted and penetrates through the left fixing insertion hole, the front end and the rear end of the left connecting shaft rod are rotationally connected with the left front sub-claw and the left rear sub-claw respectively, the right front sub-claw and the right rear sub-claw are both bent downwards in an arc shape from left to right, and the left front sub-claw and the left rear sub-claw are both bent downwards in an arc shape from right to left. The PVC strip grabbing device is large in grabbing range, a plurality of PVC strips can be effectively grabbed and supported, and cutting of the PVC strips can be smoothly completed.

Description

Technical Field

[0001] The utility model relates to the field of mechanical automation, in particular to a grasping and supporting clamping claw. Background Art

[0002] Decorative Christmas trees have become a very common decorative item at Christmas, which makes the festive atmosphere better set off and meets people's needs. In the process of making Christmas tree branches and leaves, it is necessary to cut the long PVC strips with Christmas tree branches and leaves connected to them into sections according to the specified length. Currently, several PVC strips are usually manually grasped into a bundle and then placed into a cutter for cutting. On the one hand, the cutting efficiency is low, and on the other hand, the length accuracy of the cutting cannot be guaranteed. At the same time, manual cutting poses a safety hazard to the staff. Therefore, an automatic leaf cutter that can automatically complete the cutting is urgently needed to solve the above problems. During the design process of the automatic leaf cutter, when cutting several PVC strips, a clamping mechanism needs to be designed at the discharge end of the cutter to grasp the PVC strips to serve as a force support for cutting. The overall diameter of the several PVC strips is large and they are composed of scattered PVC strips. Therefore, it is necessary to design a clamping mechanism with a large grasping range and capable of supporting the PVC strips to meet the above requirements. Utility Model Content

[0003] The purpose of this utility model is to provide a gripping and supporting clamping claw to solve the above problems.

[0004] The technical solution of the present utility model is achieved as follows:

[0005] The pneumatic support is designed as follows: a pneumatic support is designed, comprising a pneumatic support cylinder, a cylinder seat, a cylinder connecting piece, a right front pneumatic support, a right rear pneumatic support, a left front pneumatic support, a left connecting rod, an intermediate connecting shaft, a right connecting shaft, a right front connecting rod, a right rear connecting rod, a left connecting shaft and a left connecting vertical rod, a cylinder mounting hole is provided on the cylinder seat which runs through the cylinder seat from top to bottom, the pneumatic support cylinder is fixedly mounted on the cylinder seat, and the output shaft of the pneumatic support cylinder passes downward through the cylinder mounting hole and connects with the intermediate connecting shaft, the left end of the right front pneumatic support and the right end of the left front pneumatic support are both rotatably connected to the front end of the intermediate connecting shaft, the left end of the right rear pneumatic support and the right end of the left rear pneumatic support are both rotatably connected to the rear end of the intermediate connecting shaft, the upper end of the right front connecting rod is fixed to the right front part of the cylinder seat, and the right front connecting rod is fixed to the right front part of the cylinder seat. The rear end of the right connecting shaft is fixedly inserted through the right rear fixed socket and is rotatably connected to the right rear claw. The upper end of the left connecting vertical rod is fixedly fixed with the left part of the cylinder seat, and the lower end of the left connecting vertical rod is provided with a left fixed socket, and the left connecting shaft is fixedly inserted through the left fixed socket and is rotatably connected to the right rear claw. The right front claw and the right rear claw are both curved downward from left to right, and the left front claw and the left rear claw are both curved downward from right to left.

[0006] Preferably, a circular movable hole is provided at the lower end of the output shaft of the clamping cylinder, and a spherical movable head is provided in the middle of the intermediate connecting shaft, which is inserted into the movable hole, so that the intermediate connecting shaft is movably connected to the lower end of the output shaft of the clamping cylinder.

[0007] Compared with the prior art, the grabbing and supporting clamping claw of the utility model has a simple and compact structure and a large grabbing range, and can effectively grab and support a plurality of PVC strips, so that the cutting of the PVC strips can be completed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a structural diagram of an automatic leaf cutter, an application example of the grabbing and supporting clamping jaws of the present invention;

[0009] Figure 2 for Figure 1 Enlarged view of part A;

[0010] Figure 3 This is the first partial structural diagram of an automatic leaf cutter, an application embodiment of the grabbing and supporting clamping jaws of the present invention;

[0011] Figure 4This is a second partial structural diagram of an automatic leaf cutter, an application example of the grabbing and supporting clamping jaws of the present invention;

[0012] Figure 5 This is the third partial structural diagram of an automatic leaf cutter, an application example of the grabbing and supporting clamping jaws of the present invention;

[0013] Figure 6 This is the fourth partial structural diagram of an automatic leaf cutter according to an application embodiment of the grabbing and supporting clamp of the present invention;

[0014] Figure 7 This is the fifth partial structural diagram of an automatic leaf cutter according to an application embodiment of the grabbing and supporting clamp of the utility model;

[0015] Figure 8 This is the sixth partial structural diagram of an automatic leaf cutter, an application embodiment of the grabbing and supporting clamping jaws of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] See also Figures 1 to 8 The automatic leaf cutter of the present invention comprises a frame 10, an automatic cutting module 20 and a discharging conveyor belt mechanism 30. A mounting platform 11 is mounted on the top rear side of the frame 10, and a guide hole 111 extending in a long and narrow direction is opened on the mounting platform 11.

[0018] The automatic cutting module 20 includes a PVC strip feeding mechanism 21, a cutting component 22, a mobile manipulator 23, a grasping and supporting clamp 24 and a control system (not shown). The PVC strip feeding mechanism 21 is installed at the rear of the mounting platform 11 and is used to grasp and feed several PVC strips forward. The cutting component 22 is installed on the mounting platform 11 and is located in front of the PVC strip feeding mechanism 21 and is used to cut PVC strips. The discharging conveyor mechanism 30 is placed on the cutting machine. The mobile manipulator 23 is mounted on the frame 10 and located above and in front of the cutting assembly 22. The grabbing and supporting clamp 24 is connected to the output end of the mobile manipulator 23. The grabbing and supporting clamp 24 is used to grasp and support the multiple PVC strips extending in front of the cutting assembly. The control system is mounted on the frame 10 and is used to control the operation of the PVC strip feeding mechanism 21, the cutting assembly 22, the mobile manipulator 23, and the grabbing and supporting clamp 24. In this embodiment, an electrical box 40 is mounted on the front face of the frame 10, and the control system is installed in the electrical box 40.

[0019] Specifically, the PVC strip feeding mechanism 21 includes a pressing female block 211, a male block 212, a male block up and down driving module 213 electrically connected to the control system, and a female block front and back driving module 214 electrically connected to the control system. The pressing female block 211 is located above the mounting platform 11. The pressing female block 211 is provided with a female hole 2111 that passes through itself front and back, and the pressing female block 211 is provided with a male block moving socket 2112 that passes through itself up and down. 112 passes through the inner wall of the female hole 2111, and the male block 212 is provided with a male hole 2121 that passes through it front and back. The male block up and down driving module 213 is installed on the clamping female block 211, and the output end of the male block up and down driving module 213 is fixedly connected to the top of the male block 212. The male block up and down driving module 213 drives the male block 212 to move up and down, and the female block front and back driving module 214 is installed on the frame 10 to drive the clamping female block 211 to move back and forth. In this embodiment, the male block up and down driving module is a cylinder. The rear wall of the clamping female block 211 is protruded backward from the outer edge of the female hole 2111 to form a swing guide ring 2113. In this embodiment, the female hole 2111 is circular, and accordingly, the male hole 2121 is also circular.

[0020] More specifically, the front and rear drive module 214 of the master block includes a drive motor 2141 electrically connected to the control system, a driving pulley (not shown), a driven pulley 2143, a transmission belt 2144, a belt clamp 2145, front and rear rails 2146, and front and rear sliders 2147. The drive motor 2141 is fixedly mounted on the frame 10 below the mounting platform 11. The output shaft of the drive motor 2141 extends upward and is fixedly connected to the driving pulley 2142, which is located below the mounting platform 11. The driven pulley 2143 is rotatably connected to the frame 10 below the mounting platform 11. The driven pulley 2143 is located directly in front of the driving pulley 2142, and both the driving pulley 2142 and the driven pulley 2143 are located on the left or right side of the guide hole 111. The transmission belt 2144 is wrapped around the driving pulley 2142 and the driven pulley 2143. The lower end of the belt clamp 2145 is clamped on the transmission belt 2144, and the upper end of the belt clamp 2145 passes upward through the guide hole 111 and is fixedly connected to the clamping mother block 211. The front and rear rails 2146 are fixedly installed in the front and rear directions at the bottom of the mounting platform 11 on the other side of the guide hole 111 opposite to the transmission belt 2144. The front and rear sliders 2147 slide forward and backward and are clamped on the front and rear rails 2146. The front and rear sliders 2147 are fixedly connected to the lower end of the belt clamp 2145.

[0021] More specifically, the compression female block 211 includes a front connecting block 2114, a rear connecting block 2115, and two limiting side blocks 2116. The front connecting block 2114 and the rear connecting block 2115 are respectively provided with a front female hole 21141 and a rear female hole 21151. The two limiting side blocks 2116 are detachably fixed and clamped between the front connecting block 2114 and the rear connecting block 2115 and are located on the left and right sides of the front female hole 21141 and the rear female hole 21151. The front female hole 21141 and the rear female hole 21151 are connected to form the female hole 2111. The male block movable socket 2112 is formed between the front connecting block 2114, the rear connecting block 2115, and the two limiting side blocks 2116. The swing guide ring 2113 is provided on the rear wall of the rear connecting block 2115. In this embodiment, the front connecting block 2114, the rear connecting block 2115 and the two limiting side blocks 2116 are respectively provided with front fixing through holes (not shown in the figure), limiting block fixing through holes (not shown in the figure) and rear fixing through holes (not shown in the figure) that are opposite to each other. The fixing screw 50 passes through the front fixing through hole, the limiting block fixing through hole and the rear fixing through hole in turn and is screwed and fixed with the fixing nut 60.

[0022] Specifically, the grasping supporting clamp 24 includes a clamp cylinder 241 electrically connected to the control system, a cylinder seat 242, a cylinder connector 243, a right front sub-claw 244, a right rear sub-claw 245, a left front sub-claw 246, a left rear sub-claw 247, a left connecting shaft 248, an intermediate connecting shaft 249, a right connecting shaft 250, a right front connecting rod 251, a right rear connecting rod 252 and a left connecting vertical rod 253. The cylinder seat 242 is provided with a cylinder mounting hole (not shown) that passes through it from top to bottom. The gripper cylinder 241 is fixedly mounted on the cylinder seat 242, and the output shaft 2411 of the gripper cylinder 241 passes downward through the cylinder mounting hole and is connected to the intermediate connecting shaft 249. One end of the cylinder connecting piece 243 is fixedly connected to the gripper cylinder 241, and the other end of the cylinder connecting piece 243 is fixedly connected to the output end of the mobile manipulator 23. The left end of the right front sub-claw 244 and the right end of the left front sub-claw 246 are both rotatably connected to the front end of the intermediate connecting shaft 249, and the left end of the right rear sub-claw 245 and the right end of the left rear sub-claw 247 are both rotatably connected to the rear end of the intermediate connecting shaft 249. The upper end of the right front connecting rod 251 is fixed to the right front part of the cylinder seat 242. The lower end of the right connecting shaft 250 is fixedly inserted through the right front fixed socket 2511 and is rotatably connected to the right front sub-claw 244, and the rear end of the right connecting shaft 250 is fixedly inserted through the right rear fixed socket and is rotatably connected to the right rear sub-claw 245. The upper end of the left connecting vertical rod 254 is fixed to the left part of the cylinder seat 242, and the lower end of the left connecting vertical rod 253 is provided with a left fixed socket 2531. The left connecting shaft 248 is fixedly inserted through the left fixed socket 2531, and the front and rear ends of the left connecting shaft 248 are rotatably connected to the middle part of the left front sub-claw 246 and the middle part of the left rear sub-claw 247 respectively. The right front claw 244 and the right rear claw 245 are both curved downward from left to right, and the left front claw 246 and the left rear claw 247 are both curved downward from right to left. In this embodiment, the right front claw 244 is located behind the left front claw 246, and the right rear claw 245 is located in front of the left rear claw 247.

[0023] Preferably, a circular movable hole 24111 is formed at the lower end of the output shaft 2411 of the clamping cylinder 241, and a spherical movable head 2491 is provided in the middle of the intermediate connecting shaft 249. The movable head 2491 is inserted into the movable hole 24111, thereby movably connecting the intermediate connecting shaft 249 to the lower end of the output shaft 2411 of the clamping cylinder 241. This allows the intermediate connecting shaft 249 to flexibly swing relative to the output shaft 2411 of the clamping cylinder 241, making it more flexible to use.

[0024] Preferably, the cutting assembly 22 includes a fixed blade block 221, a movable blade block 222, a blade block fixing seat 223, and a blade block lifting module 224 electrically connected to the control system. The blade block fixing seat 223 includes a horizontal fixing block 2231 and a vertical mounting block 2232. The horizontal fixing block 2231 is fixedly mounted on the front side of the top of the mounting platform 11, and the vertical mounting block 2232 is vertically fixed to the top of the horizontal fixing block 2231. The vertical mounting block 2232 is provided with a mounting block through hole 22321 that passes through itself from front to back. The fixed blade block 221 is fixedly mounted on the front wall of the vertical mounting block 2232, and the fixed blade block 221 is provided with a through hole 22321 facing the mounting block through hole 22321. The mounting platform 11 has a fixed blade block through-hole 2211 extending from front to back. A blade block lifting notch 112 is defined in front of the fixed blade block 221. The blade block lifting module 224 is fixedly mounted on the frame 10 below the mounting platform 11. The output end of the blade block lifting module 224 extends upward through the blade block lifting notch 112 to securely connect with the movable blade block 222. The upper rear end of the movable blade block 222 forms a cutting blade 2221, which presses against the front wall of the fixed blade block 221. The mounting block through-hole 22321 faces the female hole 2111. In this embodiment, the blade block lifting module 224 is an electric cylinder.

[0025] When the automatic leaf cutter is working, several PVC strips are inserted from the swing guide ring 2113 and passed through the female hole 2111 and the male hole 2121. Then, the male block 212 moves downward under the drive of the male block upper and lower driving modules 213. The upper edge of the male hole 2121 is pressed down to compress the several PVC strips. Then, the front and rear driving modules 214 of the female block are started, driving the compressed female block 211 to move forward, so that the PVC strips continue to pass through the through holes 22321 of the mounting block and the through holes 2211 of the fixed knife block and extend to the front of the movable knife block 222 and the grasping space of the grasping support clamp 24. At this time, the clamp cylinder 241 is started, so that the output shaft 2411 of the clamp cylinder 241 is lifted upward. As a result, the right front claw 244, right rear claw 245, left front claw 246, and left rear claw 247 clamp and hold the several PVC strips. Then, the knife block lifting module 224 is activated, causing the movable knife block 222 to move upward to cut, thus completing the cutting of the PVC strips. After that, the mobile robot 23 drives the grasping and supporting clamping jaw 24 to move forward to directly above the discharge conveyor mechanism 30. Then, the output shaft 2411 of the clamping jaw cylinder 241 moves downward, causing the right front claw 244, right rear claw 245, left front claw 246, and left rear claw 247 to open, thereby placing the several cut PVC strips onto the discharge conveyor mechanism 30, and then being transported to the designated location by the discharge conveyor mechanism 3. All of the above actions can be automatically controlled by the control system.

[0026] The grabbing and supporting clamping claw of the utility model has a simple and compact structure and a large grabbing range, and can effectively grab and support a plurality of PVC strips, so that the cutting of the PVC strips can be completed smoothly.

[0027] It should be noted that the female hole can also be elliptical or other suitable shapes, and accordingly, the male hole can also be elliptical or other suitable shapes; the number of automatic cutting modules 20 can be flexibly set, such as two groups or three groups or other numbers, and the positions of two or more automatic cutting modules 20 can be flexibly set on the frame as needed.

[0028] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripping and supporting clamp, characterized by: The clutch comprises a jaw cylinder, a cylinder seat, a right front jaw, a right rear jaw, a left front jaw, a left rear jaw, a left connecting rod, an intermediate connecting shaft, a right connecting shaft, a right front connecting rod, a right rear connecting rod, a left connecting shaft and a left connecting vertical rod. The cylinder seat is provided with a cylinder mounting hole which runs through the cylinder seat from top to bottom. The jaw cylinder is fixedly mounted on the cylinder seat, and the output shaft of the jaw cylinder passes downward through the cylinder mounting hole and connects with the intermediate connecting shaft. The left end of the right front jaw and the right end of the left front jaw are both rotatably connected to the front end of the intermediate connecting shaft, and the left end of the right rear jaw and the right end of the left rear jaw are both rotatably connected to the rear end of the intermediate connecting shaft. The upper end of the right front connecting rod is fixed to the right front part of the cylinder seat, and the lower end of the right front connecting rod is provided with a right front The left rear end of the right connecting rod is fixed with the left front sub-claw and the left rear sub-claw is connected with the right front sub-claw, and the front and rear ends of the left connecting rod are respectively connected with the left front sub-claw and the left rear sub-claw, and the right front sub-claw and the right rear sub-claw are both bent in an arc from left to right and downward, and the left front sub-claw and the left rear claw are both bent in an arc from right to left and downward.

2. The gripping and supporting clamp according to claim 1, characterized in that: A circular movable hole is provided at the lower end of the output shaft of the clamping cylinder, and a spherical movable head is provided in the middle of the intermediate connecting shaft. The movable head is inserted into the movable hole, so that the intermediate connecting shaft is movably connected to the lower end of the output shaft of the clamping cylinder.

Images