Clamping device with double clamping jaws

Abstract

The utility model discloses a double-clamping-jaw clamping device which comprises a mechanical arm and a double-clamping-jaw set. The double-clamping-jaw set is arranged at the tail end of the mechanical arm. The double-clamping-jaw group comprises a mounting plate, a jaw A and a jaw B; the middle of the mounting plate is connected with the tail end of the mechanical arm; the claw A and the claw B are respectively arranged at two ends of the mounting plate; and a group of elastic chucks are arranged on the claw A and are used for counteracting a force arm to ensure the clamping stability of a plurality of products. According to the double-clamping-jaw clamping device, the double-clamping-jaw set is designed to cope with two different conditions, the clamping range of the B jaw is larger, the clamping head is longer, and the efficiency of clamping a single product is guaranteed; the claw A is provided with an elastic chuck for counteracting a force arm to ensure the clamping stability of a plurality of products; and the claw A and the claw B are replaced for use through rotation of the mechanical arm, so that the production efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of automatic clamping, and specifically relates to a double-claw clamping device. Background Technology

[0002] In traditional automated production lines, there are certain problems with the unloading process of products after welding. First, the product clamping surface is small, and the product temperature is high after welding, making it impossible for manual handling to be safe. This not only increases operational risks but also easily leads to a decrease in production efficiency. Second, when multiple stacked products need to be clamped at the same time, the large clamping surface design often leads to material falling off, such as in the process of clamping multiple layers of stacked copper busbars.

[0003] The above problems seriously affect production efficiency and product quality. Therefore, it is urgent to design a new type of clamping device to solve these problems. Utility Model Content

[0004] Purpose of the utility model: In order to overcome the above shortcomings, the purpose of this utility model is to provide a dual-jaw gripping device. The dual-jaw assembly is designed to cope with two different situations. The B jaw has a larger gripping range and a longer gripper head, ensuring efficiency when gripping a single product. The A jaw is designed with an elastic gripper head to offset the lever arm and ensure the stability of gripping multiple products. The A jaw and the B jaw can be replaced by rotating the robotic arm, which improves production efficiency.

[0005] Technical Solution: To achieve the above objectives, this utility model provides a dual-jaw gripping device, including a robotic arm and a dual-jaw assembly; the dual-jaw assembly is located at the end of the robotic arm; the dual-jaw assembly includes a mounting plate, a claw A, and a claw B; the middle of the mounting plate is connected to the end of the robotic arm; claw A and claw B are respectively located at both ends of the mounting plate; claw A is provided with a set of elastic grippers to counteract the force arm and ensure the stability of gripping multiple products.

[0006] Furthermore, the A-claw also includes a first pneumatic gripper; the first pneumatic gripper is disposed at one end of the mounting plate; the elastic chuck is disposed at the output end of the first pneumatic gripper. The first pneumatic gripper provides power for the gripping of the A-claw; the elastic chuck is used to grip multiple products, offsetting the gripping force arm of the first pneumatic gripper during the gripping of multiple products by the A-claw.

[0007] Furthermore, the elastic gripper includes a clamping plate and two sets of elastic components; the clamping plate is located at the output end of the first pneumatic gripper; the elastic components are sequentially located on the end of the clamping plate away from the first pneumatic gripper. The clamping plate cooperates with the first pneumatic gripper to perform the clamping action; the elastic components are located at the end of the clamping plate away from the first pneumatic gripper, providing additional pressure for the multi-product clamping process of gripper A, ensuring the stability of the clamping.

[0008] Furthermore, the elastic component includes a set of springs, a washer plate, a spring plate, and several limiting screws; the springs are mounted on the clamping plate via the washer plate; the spring plate is located at the upper end of the springs and has limiting holes on both sides; the limiting screws are located within the limiting holes and connected to the clamping plate; the limiting holes are circular rectangular holes, and the length of the straight side is greater than the diameter of the limiting screw nut. The springs, in conjunction with the spring plate, ensure the compression of the springs during clamping, providing additional pressure for clamping; the limiting screws are used to limit and guide the limiting holes of the spring plate, ensuring the accuracy of clamping.

[0009] Furthermore, during the clamping process, the product is placed between the spring plates. The spring plates press down, compressing the springs while being limited by the limiting screws through the limiting holes.

[0010] Furthermore, the B-claw includes a second pneumatic gripper and a B-plate chuck; the second pneumatic gripper is located on the mounting plate at the end away from the first pneumatic gripper; the B-plate chuck is located at the output end of the second pneumatic gripper. The B-plate chuck cooperates with the second pneumatic gripper to perform the clamping action.

[0011] Furthermore, the gripping range of the second pneumatic gripper is greater than that of the first pneumatic gripper, making gripper B more advantageous in the gripping of a single product, and enabling it to grip thicker products.

[0012] Furthermore, the length of the B-plate chuck is greater than the length of the elastic chuck. The B-plate chuck has a larger clamping area than the elastic chuck, making the B-claw more advantageous in clamping a single product, and enabling it to clamp larger products.

[0013] Furthermore, the mounting plate is positioned at the center of the robotic arm's end-rotor, and a reinforcing plate is provided between the center of the mounting plate and the end-rotor of the robotic arm. The reinforcing plate is used to strengthen the connection between the mounting plate and the robotic arm, ensuring the stability of the mechanism connection.

[0014] As can be seen from the above technical solution, this utility model has the following beneficial effects:

[0015] 1. This utility model discloses a dual-jaw clamping device, which is designed with a dual-jaw assembly to deal with two different situations. Jaw B has a larger clamping range and a longer chuck to ensure efficiency when clamping a single product; Jaw A is designed with an elastic chuck to offset the lever arm and ensure the stability of clamping multiple products.

[0016] 2. This utility model provides a dual-jaw gripping device, in which jaw A and jaw B are interchanged via the rotation of a robotic arm, thereby improving production efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a dual-claw gripping device according to the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the double gripper assembly in the double gripper clamping device of this utility model;

[0019] Figure 3 This is a schematic diagram of the structure of claw A in the dual-claw gripping device of this utility model;

[0020] Figure 4 This is a schematic diagram of the elastic gripper in a dual-jaw gripping device according to the present invention;

[0021] Figure 5 This is a schematic diagram of the structure of claw B in a dual-claw gripping device according to the present invention;

[0022] Figure 6 This is a perspective view of the double-claw assembly in a double-claw gripping device according to the present invention;

[0023] In the picture:

[0024] 1-Robotic arm;

[0025] 2-Double gripper assembly; 21-Mounting plate; 22-A gripper; 23-B gripper;

[0026] 211-Reinforcing plate; 221-Elastic chuck; 222-First pneumatic gripper; 231-Second pneumatic gripper; 232-B plate chuck; 2211-Clamping plate; 2212-Elastic component;

[0027] 22121-Spring; 22122-Pad; 22123-Spring plate; 22124-Limit screw. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model. Example

[0029] In this embodiment, as Figures 1 to 3 This utility model discloses a dual-jaw gripping device, including a robotic arm 1 and a dual-jaw assembly 2; the dual-jaw assembly 2 is located at the end of the robotic arm 1; the dual-jaw assembly 2 includes a mounting plate 21, a claw A 22, and a claw B 23; the middle part of the mounting plate 21 is connected to the end of the robotic arm 1; the claw A 22 and the claw B 23 are respectively located at both ends of the mounting plate 21; the claw A 22 is provided with a set of elastic grippers 221, which are used to counteract the force arm and ensure the stability of gripping multiple products.

[0030] Specifically, robotic arm 1 is a six-axis robotic arm with six independent rotation axes, ensuring quick and convenient rotational replacement of claw A 22 and claw B 23.

[0031] In this embodiment, as Figure 3 The A claw 22 further includes a first pneumatic gripper 222; the first pneumatic gripper 222 is disposed at one end of the mounting plate 21; the elastic chuck 221 is disposed at the output end of the first pneumatic gripper 222.

[0032] Specifically, the output end of the first pneumatic gripper 222 is a set of T-shaped blocks.

[0033] In particular, the first pneumatic gripper 222 can be replaced by an electric gripper as a secondary option. Although this increases production costs, the electric gripper can effectively reduce the complexity of the equipment, reduce the equipment's footprint, and enable precise control of clamping force, speed, and position through software.

[0034] In this embodiment, as Figure 3 and Figure 4 The elastic chuck 221 includes a clamping plate 2211 and two sets of elastic components 2212; the clamping plate 2211 is located at the output end of the first pneumatic gripper 222; the elastic components 2212 are sequentially located on the clamping plate 2211 at the end away from the first pneumatic gripper 222.

[0035] Specifically, the clamping plate 2211 is connected to the T-block at the output end of the first pneumatic gripper 222 by screws.

[0036] In this embodiment, as Figure 4 The elastic component 2212 includes a set of springs 22121, a pad 22122, a spring plate 22123, and several limiting screws 22124. The springs 22121 are mounted on the clamping plate 2211 via the pad 22122. The spring plate 22123 is located at the upper end of the springs 22121 and has limiting holes 22125 on both sides. The limiting screws 22124 are located in the limiting holes 22125 and are connected to the clamping plate 2211. The limiting holes 22125 are circular rectangular holes, and the length of the straight side is greater than the diameter of the nuts of the limiting screws 22124.

[0037] Specifically, during the clamping process, the product is placed between the spring plates 22123. The spring plates 22123 press down, compressing the spring 22121, while being limited by the limiting screw 22124 through the limiting hole 22125.

[0038] Specifically, a rubber part can be added to the periphery of the limiting hole 22125 to prevent the limiting screw 22124 and the limiting hole 22125 from colliding and being damaged during clamping.

[0039] In this embodiment, as Figure 5The B-claw 23 includes a second pneumatic gripper 231 and a B-plate chuck 232; the second pneumatic gripper 231 is located on the mounting plate 21 at one end away from the first pneumatic gripper 222; the B-plate chuck 232 is located at the output end of the second pneumatic gripper 231.

[0040] Specifically, the output end of the second pneumatic gripper 231 is a set of T-shaped blocks, and the B-plate chuck 232 is located on one side of the T-shaped blocks at the output end of the second pneumatic gripper 231.

[0041] Specifically, the second pneumatic gripper 231 can be replaced by an electric gripper as a secondary option.

[0042] In this embodiment, as Figure 6 The gripping range of the second pneumatic gripper 231 is greater than that of the first pneumatic gripper 222.

[0043] In this embodiment, as Figure 6 The length of the B-plate clamp 232 is greater than the length of the elastic clamp 221.

[0044] Specifically, the B-plate chuck 232 is a trapezoidal shape, which reduces the weight of the chuck, reduces the driving energy required for clamping, and improves clamping efficiency.

[0045] In this embodiment, as Figure 2 The mounting plate 21 is located in the middle on the end shaft of the robotic arm 1, and a reinforcing plate 211 is provided between the middle of the mounting plate 21 and the end shaft of the robotic arm 1.

[0046] Specifically, the reinforcing plate 211 is located in the center of the mounting plate 21 to ensure that the robotic arm 1 can be easily controlled to rotate and replace the A claw 22 and B claw 23.

[0047] The working principle of the above embodiments is as follows:

[0048] This utility model discloses a dual-jaw gripping device. When multiple products need to be gripped, the robotic arm 1 rotates the dual-jaw assembly 2 to rotate the A jaw 22 to the gripping position; the first pneumatic jaw 222 drives the elastic chuck 221 to grip, and at the same time, the spring 22121 and the spring plate 22123 provide additional pressure to the gripping end.

[0049] When a single product needs to be clamped, the robotic arm 1 rotates the double gripper assembly 2 to move the B gripper 23 to the clamping position; the second pneumatic gripper 231 drives the B plate chuck 232 to clamp the product.

[0050] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present utility model, and these improvements should also be considered within the protection scope of the present utility model.

Claims

1. A dual jaw gripping device, characterized by: The utility model relates to a mechanical arm (1), double gripper group (2), double gripper group (2) is located in mechanical arm (1) end, Double gripper group (2) includes mounting plate (21), A claw (22) and B claw (23), the middle part of mounting plate (21) is connected with the end of mechanical arm (1), A claw (22) and B claw (23) are arranged at the both ends of mounting plate (21) respectively, A set of elastic chuck (221) is arranged on A claw (22), which is used for offsetting force arm to ensure the stability of clamping multiple products, A claw (22) further includes first pneumatic gripper (222), First pneumatic gripper (222) is arranged at one end of mounting plate (21), and elastic chuck (221) is arranged at the output end of first pneumatic gripper (222), B claw (23) includes second pneumatic gripper (231) and B plate chuck (232), Second pneumatic gripper (231) is arranged at one end of mounting plate (21) away from first pneumatic gripper (222), and B plate chuck (232) is arranged at the output end of second pneumatic gripper (231). Elastic chuck (221) includes clamping plate (2211) and two sets of elastic components (2212), 2. The dual jaw gripping device of claim 1, wherein: Clamping plate (2211) is arranged at the output end of first pneumatic gripper (222), and elastic components (2212) are sequentially arranged at one end of clamping plate (2211) away from first pneumatic gripper (222). Elastic components (2212) include a set of springs (22121), backing plate (22122), spring plate (22123) and a plurality of limiting screws (22124), 3. The dual jaw gripping device of claim 2, wherein: Springs (22121) are arranged on clamping plate (2211) through backing plate (22122), spring plate (22123) is arranged at the upper end of springs (22121), and limiting holes (22125) are arranged on both sides, limiting screws (22124) are arranged in limiting holes (22125) and are connected with clamping plate (2211), limiting holes (22125) are circular rectangular holes, and the length of straight line is greater than the diameter of screw nut of limiting screw (22124). The clamping range of second pneumatic gripper (231) is greater than that of first pneumatic gripper (222).

4. The dual jaw gripping device of claim 1, wherein: The length of B plate chuck (232) is greater than that of elastic chuck (221).

5. The dual jaw gripping device of claim 1, wherein: The middle part of mounting plate (21) is arranged on the pivot at the end of mechanical arm (1), and a reinforcing plate (211) is arranged between the middle part of mounting plate (21) and the pivot at the end of mechanical arm (1).

6. The dual jaw gripping device of claim 1, wherein: ​

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