Clamping jaw and transplanting workbench comprising same

Abstract

The clamping jaw comprises a connecting support, a swing air cylinder, a clamping jaw air cylinder, a pressing air cylinder, a pressing plate assembly and a clamping arm, the fixed end of the swing air cylinder is fixedly connected with the connecting support, the free end of the swing air cylinder is connected with the fixed end of the clamping jaw air cylinder, and the swing air cylinder can drive the clamping jaw air cylinder to horizontally rotate; the free ends of the two sides of the clamping jaw air cylinder are connected with clamping arms respectively, the clamping jaw air cylinder drives the clamping arms on the two sides to move relatively, the fixed end of the pressing air cylinder is connected with the clamping jaw air cylinder, the pressing air cylinder drives the pressing assembly to move up and down in the vertical direction, the clamping arms and the pressing plate assembly jointly act on an object to be clamped, and the clamping jaw can act on a transplanting workbench comprising the clamping jaw air cylinder. According to the multi-direction clamping device, a to-be-clamped object can be clamped in multiple directions, flexible clamping is achieved in cooperation with a buffering piece and a spring, the to-be-clamped object is protected, and full-space clamping movement can be achieved in cooperation with a horizontal displacement mechanism and a vertical displacement mechanism.

Description

TECHNICAL FIELD

[0001] The application is applied to the field of automatic conveying, and particularly relates to a clamping jaw and a transplanting workbench comprising the same. BACKGROUND

[0002] The clamping jaw is commonly used to move a clamped object to another predetermined position in the field of automatic conveying. Most clamping jaws in the prior art are rigid clamping, which is not suitable for fragile objects such as battery cells, and the structure is relatively complex and the cost is high. SUMMARY

[0003] In view of the above reasons, the application discloses a clamping jaw, which comprises a connecting bracket, a swing cylinder, a clamping cylinder, a pressing cylinder, a pressing plate assembly and a clamping arm. The fixed end of the swing cylinder is fixedly connected with the connecting bracket. The free end of the swing cylinder is connected with the fixed end of the clamping cylinder. The swing cylinder can drive the clamping cylinder to rotate horizontally. The free ends on both sides of the clamping cylinder are respectively connected with the clamping arms. The clamping cylinder drives the clamping arms on both sides to move relatively. The fixed end of the pressing cylinder is connected with the clamping cylinder. The pressing cylinder drives the pressing assembly to move up and down in the vertical direction. The clamping arms and the pressing plate assembly jointly act on the clamped object.

[0004] Preferably, the two ends of the clamping cylinder are respectively connected with first connecting pieces. The first connecting pieces are provided with horizontal connecting grooves. The upper ends of the clamping arms are connected with the horizontal connecting grooves. The clamping arms can be translated along the horizontal connecting grooves and fixed at any position.

[0005] Preferably, the fixed end of the clamping cylinder is provided with a base plate. The fixed end of the pressing cylinder is fixedly connected with the base plate. The free end of the pressing cylinder is connected with the pressing plate assembly.

[0006] Preferably, the base plate is provided with a linear bearing. A guide column is sleeved in the linear bearing and connected with the pressing plate assembly.

[0007] Preferably, the guide column is provided with a spring. One end of the spring abuts against the linear bearing. The other end of the spring abuts against the pressing plate assembly.

[0008] Preferably, the pressing plate assembly comprises a first pressing plate and a second pressing plate. The lower surface of the first pressing plate is provided with a horizontal moving groove. The second pressing plate is arranged below the first pressing plate and connected with the horizontal moving groove of the first pressing plate through a second connecting piece. The relative position of the second pressing plate and the first pressing plate can be adjusted by adjusting the position of the second connecting piece in the horizontal moving groove.

[0009] Preferably, a buffer is further included, which is arranged on the clamping arm on one side of the clamping cylinder, and the buffer acts on the substrate.

[0010] The application further discloses a transplanting workbench, which comprises a transplanting machine, a tray, a clamped object, a support frame, a horizontal displacement mechanism, a vertical displacement mechanism and the clamping jaw disclosed above, the horizontal displacement mechanism is arranged on the support frame, the vertical displacement mechanism is arranged on the horizontal displacement mechanism, the clamping jaw is arranged on the vertical displacement mechanism, the transplanting machine is arranged below the support frame, the tray is arranged on the transplanting machine, the clamped object is arranged on the tray, and the clamping jaw is driven by the horizontal displacement mechanism and the vertical displacement mechanism to act on the clamped object.

[0011] The application has the advantages that the swing cylinder, the clamping cylinder and the pressing cylinder can clamp the clamped object in multiple directions, the buffer and the spring are used to realize flexible clamping and protect the clamped object, and the horizontal displacement mechanism and the vertical displacement mechanism are used to realize clamping and movement in the whole space, so that the structure is simple and convenient to operate. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0013] Fig. 1 It is a structural schematic diagram of the clamping jaw of the application.

[0014] Fig. 2 It is a structural schematic diagram of the clamping jaw of the application.

[0015] Fig. 3 It is a side view of the clamping jaw of the application,

[0016] Fig. 4 It is a structural schematic diagram of the first pressing plate of the application.

[0017] Fig. 5 It is a structural schematic diagram of the second pressing plate of the application.

[0018] Fig. 6 It is a structural schematic diagram of the transplanting workbench of the application.

[0019] In the figure: 1, connecting support; 2, swing cylinder; 3, fifth connecting piece; 4, clamping jaw cylinder; 5, third connecting piece; 6, fourth connecting piece; 7, first connecting piece; 701, horizontal connecting groove; 8, clamping arm; 9, pressing cylinder; 10, base plate; 11, linear bearing; 12, guide column; 13, spring; 14, first pressing plate; 1401, horizontal moving groove; 15, second pressing plate; 1501, strip-shaped hole; 16, second connecting piece; 17, buffer; 18, mounting piece; 19, support frame; 20, horizontal displacement mechanism; 21, vertical displacement mechanism; 22, transplanter; 23, tray. DETAILED DESCRIPTION

[0020] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0021] As Figs. 1 to 3As shown, the connecting support 1 is a metal bent support, which serves as a connecting and fixing function. The bottom of the connecting support 1 is fixedly connected with the fixed end of the swing cylinder 2. The swing cylinder 2 is a pneumatic actuator that drives the output shaft to make reciprocating rotary motion within a certain angle range by compressed air. The free end of the swing cylinder 2 is connected downward with a fifth connecting piece 3, which is a metal connecting plate and serves as a transition connection function. The lower end of the fifth connecting piece 3 is connected with the fixed end of the clamping jaw cylinder 4. When the swing cylinder 2 operates, it drives the clamping jaw cylinder 4 to make reciprocating rotation within a certain angle in the horizontal direction. Generally, the angle of rotation is 90 degrees as a unit, or a smaller angle can be achieved by adjustment for precise rotation. The free end of the clamping jaw cylinder 4 extends horizontally. The free ends on both sides of the clamping jaw cylinder 4 are respectively connected with a third connecting piece 5, which has a preset hole and can be connected with the free end of the clamping jaw cylinder 4. A fourth connecting piece 6 is arranged below the third connecting piece 5, which serves as a transition connection function. A first connecting piece 7 is connected below the fourth connecting piece 6. The first connecting piece 7 has a horizontal connecting groove 701, the length direction of which is a horizontal straight line. The opening direction of the horizontal connecting groove 701 is away from the fixed end of the clamping jaw cylinder 4. The upper end of the clamping arm 8 can be connected with the horizontal connecting groove 701 of the first connecting piece 7 through a bolt. The bolt passes through the upper end of the clamping arm 8 and is arranged in the horizontal connecting groove 701. After being moved to a preset position, it can be tightened and fixed. One side of the first connecting piece 7 can be provided with two clamping arms 8. The positions and relative distances of the two clamping arms 8 on the same side can be adjusted. The distance between the clamping arms 8 on the opposite sides can be adjusted by adjusting the mounting position of the fourth connecting piece 6 relative to the third connecting piece 5, or adjusting the relative position of the first connecting piece 7 relative to the fourth connecting piece 6. The specific setting is based on the working condition requirement. The clamping jaw cylinder 4 can drive the two clamping arms 8 to make relative motion of approaching or moving away from each other. The lower end of the fixed end of the clamping jaw cylinder 4 is fixedly connected with the fixed end of the pressing cylinder 9. The free end of the pressing cylinder 9 is connected downward with a pressing plate assembly. The pressing cylinder 9 acts on the pressing plate assembly and can drive the pressing plate assembly to displace up and down. The two clamping arms 8 and the pressing plate assembly form an accommodating space with an opening downward between them. The accommodating space can be used to place the object to be clamped. The two clamping arms 8 and the pressing plate assembly can jointly act on the object to be clamped. Specifically, the swing cylinder 2 drives the clamping jaw cylinder 4 to rotate to a preset angle, the clamping jaw cylinder 4 drives the two clamping arms 8 to approach each other, and the pressing cylinder 9 drives the pressing plate assembly to press downward, so as to clamp the object to be clamped.

[0022] In some embodiments, as shown in Figs. 1 to 3 As shown, the lower end of the fixed end of the clamping jaw cylinder 4 is provided with a base plate 10. The two ends of the base plate 10 extend horizontally relative to the fixed end of the clamping jaw cylinder 4. Two pressing cylinders 9 are oppositely arranged on both sides of the clamping jaw cylinder 4. The fixed end of the pressing cylinder 9 is fixedly connected with the base plate 10. The free end of the pressing cylinder 9 penetrates through the base plate and is connected with the pressing plate assembly vertically downward. The pressing plate assembly is displaced up and down by the extension and contraction of the free end of the pressing cylinder 9.

[0023] In some implementations, such as Figs. 1 to 3 As shown, linear bearings 11 are vertically inserted at the four apex positions of the substrate 10, and guide posts 12 are sleeved inside the linear bearings 11. The lower end of the guide post 12 is fixedly connected to the upper surface of the pressure plate assembly. The linear bearings 11 and the guide posts 12 play a guiding role in the vertical direction.

[0024] In some implementations, such as Figs. 1 to 3 As shown, a spring 13 is fitted around the guide post 12. One end of the spring 13 abuts against the lower end of the linear bearing 11, and the other end abuts against the upper surface of the pressure plate assembly. When the pressure plate assembly is in its initial state at the high vertical position, the spring 13 is in its natural state. When the pressure plate assembly is in its compressed state at the low vertical position, the spring 13 is in its stretched state. When the pressure plate assembly returns to its initial state from the compressed state under the action of the clamping cylinder 9, the spring 13 plays an auxiliary reset role, reducing the cylinder pressure. At the same time, when the pressure plate assembly is pressed down too far under the action of the clamping cylinder, the spring will play a buffering role, protecting the object to be clamped and achieving flexible clamping.

[0025] In some implementations, such as Figs. 1 to 5 As shown, the pressure plate assembly includes a first pressure plate 14 and a second pressure plate 15. The second pressure plate 15 is disposed below the first pressure plate 14. The lower surface of the first pressure plate 14 is provided with a horizontal moving groove 1401. The opening of the horizontal moving groove 1401 is vertically downward and extends horizontally. The second pressure plate 15 is provided with a plurality of strip holes 1501. The positions of the strip holes 1501 correspond to the positions of the horizontal moving grooves 1401. The second connecting member 16 can be a bolt. The second connecting member 16 passes through the strip holes 1501 and connects to the horizontal moving grooves 1401. By adjusting the connection position of the second connecting member 16 and the horizontal moving grooves 1401, the relative position of the second pressure plate 15 and the first pressure plate 14 can be adjusted to complete the adjustment of the position of the pressing surface on the object to be clamped. It can adapt to more objects of different shapes to be clamped.

[0026] In some implementations, such as Figs. 1 to 3 As shown, the buffer is provided on one side of the gripper cylinder. Specifically, the buffer includes a buffer 17 and a mounting part 18. The buffer 17 is fixedly installed on the mounting part 18. The mounting part 18 is fixedly connected to the fourth connecting part 6. The head end of the buffer 17 faces the base plate 10 and can come into contact with the base plate 10 as the gripper arm 8 moves close to the gripper cylinder 4. This buffers the clamping process of the two gripper arms 8 and protects the object to be clamped.

[0027] like Fig. 6The illustrated transplanting workbench, the support frame 19 is a door-shaped frame enclosed by a profile, the horizontal displacement mechanism 20 is arranged on the support frame, the horizontal displacement mechanism 20 can be an x-axis robot, the horizontal displacement mechanism 20 can be displaced in the horizontal direction, the vertical displacement mechanism 21 is arranged on the horizontal displacement mechanism 20, the vertical displacement mechanism 21 can be a z-axis robot, the horizontal displacement mechanism 20 can drive the vertical displacement mechanism 21 to displace in the horizontal direction, the connecting bracket 1 of the clamping jaw is fixedly connected with the vertical displacement mechanism 21, the vertical displacement mechanism 21 can drive the clamping jaw to displace in the vertical direction, the transplanting machine 22 is placed below the support frame 19, the tray 23 is placed on the transplanting machine 22, the to-be-clamped object is loaded on the tray 23, the clamping jaw is placed in the position of the to-be-clamped object under the driving of the horizontal displacement mechanism 20 and the vertical displacement mechanism 21 and the swing cylinder 2 is adjusted, and the to-be-clamped object is clamped, and then the horizontal displacement mechanism 20 and the vertical displacement mechanism 21 are moved to the predetermined position.

[0028] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0029] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, and are not limiting, the protection scope of the present application is not limited thereto, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art within the technical scope disclosed by the present application can modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and all should be covered in the protection scope of the present application.

Claims

1. A gripper, characterized in that, The device includes a connecting bracket, a swing cylinder, a gripper cylinder, a clamping cylinder, a pressure plate assembly, and gripping arms. The fixed end of the swing cylinder is fixedly connected to the connecting bracket, and the free end of the swing cylinder is connected to the fixed end of the gripper cylinder. The swing cylinder can drive the gripper cylinder to rotate horizontally. The two free ends of the gripper cylinder are respectively connected to the gripping arms. The gripper cylinder drives the two gripping arms to move relative to each other. The fixed end of the clamping cylinder is connected to the gripper cylinder, and the free end of the clamping cylinder is connected downward to the pressure plate assembly. The pressure plate assembly is moved vertically up and down by the clamping cylinder. The gripping arms and the pressure plate assembly work together to clamp the object.

2. The gripper according to claim 1, characterized in that, The gripper cylinder is connected to a first connector at both ends. The first connector has a horizontal connecting groove. The upper end of the gripper arm is connected to the horizontal connecting groove. The gripper arm can be translated along the horizontal connecting groove and fixed at any position.

3. The gripper according to claim 1, characterized in that, The lower end of the fixed end of the gripper cylinder is provided with a base plate, the fixed end of the clamping cylinder is fixedly connected to the base plate, and the free end of the clamping cylinder is connected to the pressure plate assembly.

4. The gripper according to claim 3, characterized in that, The substrate is fitted with a linear bearing, and the guide post is sleeved inside the linear bearing and connected to the pressure plate assembly.

5. The gripper according to claim 4, characterized in that, The guide post is fitted with a spring, one end of which abuts against the linear bearing, and the other end of which abuts against the pressure plate assembly.

6. The gripper according to claim 5, characterized in that, The pressure plate assembly includes a first pressure plate and a second pressure plate. The lower surface of the first pressure plate is provided with a horizontal moving groove. The second pressure plate is disposed below the first pressure plate and is connected to the horizontal moving groove of the first pressure plate through a second connector. The relative position of the second pressure plate and the first pressure plate is adjusted by adjusting the position of the second connector in the horizontal moving groove.

7. The gripper according to claim 3, characterized in that, It also includes a buffer, which is disposed on the gripper arm on one side of the gripper cylinder and acts on the substrate.

8. A transplanting workbench, characterized in that, The device includes a transplanter, a tray, an object to be clamped, a support frame, a horizontal displacement mechanism, a vertical displacement mechanism, and a gripper as described in any one of claims 1 to 7. The support frame is provided with the horizontal displacement mechanism, the vertical displacement mechanism is disposed on the horizontal displacement mechanism, the gripper is disposed on the vertical displacement mechanism, the transplanter is disposed below the support frame, the tray is placed on the transplanter, the object to be clamped is placed on the tray, and the gripper acts on the object to be clamped under the drive of the horizontal displacement mechanism and the vertical displacement mechanism.

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