Material frame clamp

Abstract

The utility model relates to a material frame clamp. The material frame clamp comprises a base and a material grabbing module installed on the base. The grabbing module comprises a driver installed on the base, a transmission piece connected with the driver, a hook claw connected with the transmission piece and a positioning claw connected with the transmission piece. And the transmission piece is driven by the driver to respectively drive the hooking claw and the positioning claw to move along a straight line. And the plurality of hooking claws and the plurality of positioning claws are symmetrically arranged around in a radiating manner by taking the driver as a center. In the working process, the base is connected to a mechanical arm and moves to the position above a material frame under driving of the mechanical arm. And then, the material frame clamp moves downwards to enter the range of the material frame. The driver drives the transmission part to act and drives the hooking claw and the positioning claw to move linearly, so that the hooking claw hooks the material frame from the inner side of the material frame, and meanwhile, the positioning claw abuts against the inner wall of the material frame from the inner side of the material frame to stabilize the material frame, the purpose of grabbing the material frame from the inner side of the material frame is achieved, the space of the periphery of the material frame does not need to be occupied, and the working efficiency is improved. And the requirement of abutting stacking is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot design technical field, especially a material frame clamp. BACKGROUND

[0002] In the stacking operation of materials, robots combined by jigs and manipulators are often used to realize the grabbing, transferring and stacking of materials. For some materials, the materials need to be loaded in material frames, and the stacking is carried out in units of material frames. At this time, the target of the robot grabbing is the material frame.

[0003] In order to grab the material frame, the traditional robot usually adopts a jaw type jig to grab the outer side of the material frame to realize grabbing. When the material needs to be stacked, the left and right adjacent material frames need to be placed in close contact. However, the jaw type jig needs to reserve a residence and movement space on the outer periphery of the material frame during operation, which cannot meet the requirement of close stacking. SUMMARY

[0004] Therefore, the utility model provides a material frame clamp, which uses a grabbing module to realize the grabbing operation of the material frame from the inner side of the material frame, and meets the requirement of close stacking.

[0005] A material frame clamp comprises:

[0006] a base, the base being used to connect a manipulator, and

[0007] a grabbing module installed on the base, the grabbing module comprising a driver installed on the base, a transmission member connected to the driver, a hook claw connected to the transmission member, and a positioning claw connected to the transmission member, the transmission member driving the hook claw and the positioning claw to move along a straight line under the driving of the driver, and the number of the hook claws and the positioning claws is multiple and they are symmetrically arranged around the driver.

[0008] During operation of the above-mentioned material frame clamp, the base is connected to the manipulator and moves above the material frame under the driving of the manipulator. Then, the material frame clamp moves downward into the range of the material frame. At this time, the driver drives the transmission member to move along a straight line, so that the hook claw hooks the material frame from the inner side of the material frame, and the positioning claw abuts against the inner wall of the material frame from the inner side of the material frame to stabilize the material frame, so as to achieve the purpose of grabbing the material frame from the inner side of the material frame, without occupying the space on the outer periphery of the material frame, and meeting the requirement of close stacking. Through the above-mentioned design, the grabbing module is used to realize the grabbing operation of the material frame from the inner side of the material frame, and meets the requirement of close stacking.

[0009] In one of the embodiments, the transmission member is fixedly connected with the hook; the outer side of the transmission member is provided with a guide inclined surface; one end of the positioning claw is provided with a rolling member abutting against the guide inclined surface; the grabbing unit further comprises: an elastic member connected between the positioning claw and the base; the elastic member is used to provide the driving force required for the automatic reset of the positioning claw. When the driver drives the transmission member to act, the transmission member directly drives the hook to act. At the same time, with the action of the transmission member, the guide inclined surface pushes the rolling member to displace, and then pushes the positioning claw to move. The elastic member is used to provide the reset force for the positioning claw when the transmission member resets, so that the positioning claw can reset automatically.

[0010] In one of the embodiments, the number of the transmission members is two; the number of the hooks is two; the number of the positioning claws is four and is distributed in an X shape outside the hooks. The two ends of the material frame are grabbed by the hooks, and the four corners of the material frame are extruded by the four positioning claws, so that the grabbing action of the material frame is realized, and the shaking of the material frame during the grabbing and transferring process is avoided.

[0011] In one of the embodiments, the driver is a finger cylinder; the fingers of the driver are connected with the transmission members one by one. The finger cylinder can drive two transmission members to act at one time, so that the working efficiency is high and the synchronization is good.

[0012] In one of the embodiments, the hook and the positioning claw are limited in the linear movement track by the slide rail and the slide seat.

[0013] In one of the embodiments, the hook is provided with a hook part inserted into the handle part of the material frame. The handle part of the material frame is pulled by the hook part to realize the grabbing of the material frame, so that the structure is simple and efficient.

[0014] In one of the embodiments, the positioning claw is provided with a positioning column abutting against the inner wall of the material frame. The inner wall of the material frame is abutted against by the circumferential surface of the positioning column, and with the increase of the insertion depth of the positioning column, a more stable extrusion force can be provided.

[0015] In one of the embodiments, the base comprises: a bottom plate, a cover plate erected above the bottom plate, and a transmission shaft connected with the cover plate; the grabbing module is installed between the bottom plate and the cover plate; the transmission shaft is used to connect the mechanical hand. The bottom plate and the cover plate form an installation frame, which is not only used to carry the grabbing module, but also can protect the grabbing module. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a perspective view of the material frame clamp of one of the embodiments of the utility model;

[0017] Figure 2 It is a perspective view of the material frame clamp of one of the embodiments of the utility model; Figure 1 It is a perspective view of the material frame clamp of one of the embodiments of the utility model;

[0018] Figure 3 It is a perspective view of the material frame clamp of one of the embodiments of the utility model;Figure 1 A perspective view of the material frame clamp and the grabbing module shown in the figure;

[0019] Figure 4 For Figure 3 A perspective view of another view of the grabbing module shown in the figure;

[0020] Figure 5 For Figure 3 An action principle diagram of the grabbing module shown in the figure;

[0021] Figure 6 For Figure 1 A working state diagram of the material frame clamp shown in the figure;

[0022] Figure 7 For Figure 6 A working state diagram of the material frame clamp shown in the figure.

[0023] The meanings of the respective reference signs in the drawings are as follows:

[0024] 100 - material frame clamp;

[0025] 10 - base, 11 - bottom plate, 12 - cover plate, 13 - transmission shaft;

[0026] 20 - grabbing module, 21 - driver, 22 - transmission member, 221 - guide inclined surface, 23 - hook claw, 231 - hook part, 24 - positioning claw, 241 - positioning column, 2411 - anti-skid rubber sleeve, 242 - rolling member, 25 - sliding rail, 26 - sliding seat, 27 - elastic member;

[0027] 300 - material frame. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0030] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0031] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the communication or interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0032] In the utility model, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0033] It is to be noted that when an element is referred to as being "on" or "connected to" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements can also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar terms as used herein are for the purpose of description only and are not intended to be limiting.

[0034] As shown in Figures 1 to 7 , it is a material frame clamp 100 of an embodiment of the utility model.

[0035] As shown in Figure 1 and Figure 2 , the material frame clamp 100 includes base 10 and the material grabbing module 20 installed on the base 10. Figure 6 and Figure 7 , the base 10 is used for connecting the mechanical hand and serves as the installation platform of the material grabbing module 20. The material grabbing module 20 is used for realizing the purpose of grabbing the material frame 300 from the inner side of the material frame 300.

[0036] In the following, the material frame clamp 100 described above is further explained in combination with Figures 1 to 7 .

[0037] As shown in Figure 1 and Figure 2 , in the embodiment, the base 10 includes the bottom plate 11, the cover plate 12 erected above the bottom plate 11 and the transmission shaft 13 connecting the cover plate 12. The material grabbing module 20 is installed between the bottom plate 11 and the cover plate 12. The transmission shaft 13 is used for connecting the mechanical hand. The bottom plate 11 and the cover plate 12 form an installation rack, which is not only used for bearing the material grabbing module 20 but also can protect the material grabbing module 20 (for example, the cover plate 12 can shield and protect the driver 21 and the transmission member 22 described below).

[0038] As shown in Figures 1 to 4 , the material grabbing module 20 includes the driver 21 installed on the base 10, the transmission member 22 connecting the driver 21, the hook 23 connecting the transmission member 22 and the positioning claw 24 connecting the transmission member 22. The transmission member 22 drives the hook 23 and the positioning claw 24 to move along the straight line under the driving of the driver 21. The number of the hook 23 and the positioning claw 24 is multiple and symmetrically radially arranged around the driver 21. It is to be noted that the hook 23 and the positioning claw 24 move along the preset straight line track, not that the hook 23 and the positioning claw 24 move along the same straight line.

[0039] In order to let the hook 23 and the positioning claw 24 respectively move along the preset straight line track, in the embodiment, as shown inFigure 4 As shown, both the hook 23 and the positioning claw 24 restrict their linear movement trajectory through the slide rail 25 and the slide block 26.

[0040] like Figure 3 As shown, the hook 23 is provided with a hook portion 231 for inserting into the handle portion of the material frame 300. The material frame 300 is gripped by hooking and pulling the handle portion, resulting in a simple and efficient structure. It should be noted that in some embodiments, the hook portion 231 of the hook 23 can also be used to hook other structures on the inner side of the material frame 300, such as a protruding edge structure.

[0041] like Figure 4 As shown, the positioning claw 24 is provided with a positioning post 241 for abutting against the inner wall of the material frame 300. By abutting against the inner wall of the material frame 300 with the peripheral side of the positioning post 241, a more stable extrusion force can be provided as the insertion depth of the positioning post 241 increases. Furthermore, an anti-slip rubber sleeve 2411, such as a silicone sleeve, can be fitted around the outer periphery of the positioning post 241.

[0042] In this scheme, there can be various transmission methods between the driver 21, the transmission component 22, the hook 23, and the positioning claw 24.

[0043] For example, such as Figure 3 and Figure 4 As shown, in this embodiment, the transmission member 22 is fixedly connected to the hook 23, and a guide slope 221 is provided on the outer side of the transmission member 22. One end of the positioning claw 24 is provided with a rolling element 242 that abuts against the guide slope 221. For example, with Figure 5 Taking the placement posture as an example, when the upper transmission component 22 moves upward, the guide slope 221 will push the rolling component 242 to move outward, forcing the positioning claw 24 to be pushed out.

[0044] Because the transmission method between the guide ramp 221 and the rolling element 242 lacks the ability to reset the positioning pawl 24 (i.e., as the transmission element 22 moves, it can only push the positioning pawl 24 out, but cannot pull it back to its original position), therefore, as Figure 3 As shown, the gripping unit also includes an elastic element 27 connected between the positioning claw 24 and the base 10. The elastic element 27 is used to provide the driving force required for the positioning claw 24 to automatically reset.

[0045] like Figure 5 As shown, when the driver 21 drives the transmission component 22, the transmission component 22 directly drives the pawl 23. Simultaneously, with the movement of the transmission component 22, the guide ramp 221 pushes the rolling component 242 to displace, thereby moving the positioning pawl 24. The elastic component 27 provides a reset force to the positioning pawl 24 when the transmission component 22 resets, allowing the positioning pawl 24 to reset itself. For example, as... Figure 3As shown, in the embodiment, the elastic member 27 is a helical spring arranged along the moving direction of the positioning claw 24.

[0046] Further, as Figure 5 shown, in the embodiment, the number of the transmission members 22 is two, the number of the claws 23 is two, the number of the positioning claws 24 is four and the positioning claws 24 are distributed in X shape outside the claws 23. The two ends of the frame 300 are grabbed by the claws 23, and the four corners of the frame 300 are pressed by the four positioning claws 24, so that the grabbing action of the frame 300 is realized, and the shaking of the frame 300 during the grabbing and transferring is avoided. Figure 5 and Figure 7 shown, the transmission members 22 are distributed on the central axis of the frame 300, and the positioning claws 24 are distributed on the diagonal of the frame 300.

[0047] In order to save the cost of equipment, one driver 21 is used to drive two transmission members 22, and in the embodiment, the driver 21 is a pinch cylinder. The pinch of the driver 21 is connected to the transmission member 22 one by one. The pinch cylinder can drive two transmission members 22 to act at one time, which is high in working efficiency and good in synchronization.

[0048] In other embodiments, the driver 21 can also be a driving structure composed of a motor and a screw rod.

[0049] Brief description of working principle:

[0050] As Figure 6 and Figure 7 shown, during work, the base 10 is connected to the manipulator and is moved above the frame 300 under the driving of the manipulator. Then, the frame clamp 100 is moved downward into the range of the frame 300. At this time, as Figure 5 shown, the driver 21 drives the transmission member 22 to act, respectively drives the claw 23 and the positioning claw 24 to move along a straight line, so that the claw 23 hooks the frame 300 from the inner side of the frame 300, and at the same time, the positioning claw 24 abuts against the inner wall of the frame 300 from the inner side of the frame 300 to stabilize the frame 300, so as to achieve the purpose of grabbing the frame 300 from the inner side of the frame 300, without occupying the space of the outer periphery of the frame 300, which meets the requirement of close stacking.

[0051] The frame clamp 100 described above uses the grabbing module 20 to realize the grabbing operation of the frame 300 from the inner side of the frame 300, which meets the requirement of close stacking.

[0052] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0053] The above embodiments only express the preferred embodiments of the utility model, the description is more specific and detailed, but can not therefore be understood as the restriction of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, under the premise of not departing from the utility model concept, still can make a number of deformation and improvement, these all belong to the protection scope of the utility model. Therefore, the protection range of the utility model patent should be with the attached claims.

Claims

1. A magazine clamp characterized by, The utility model relates to a material grabbing device, including: a base; the base is used for connecting a manipulator; and a material grabbing module is installed on the base; the material grabbing module includes: a driver installed on the base, a transmission member connected with the driver, a claw connected with the transmission member, and a positioning claw connected with the transmission member; the transmission member drives the claw and the positioning claw to move along a straight line under the drive of the driver; the number of the claw and the positioning claw is multiple and symmetrically radially arranged around the driver.

2. The pallet clamp of claim 1, wherein, The transmission member is fixedly connected with the claw; the outer side of the transmission member is provided with a guide slope; one end of the positioning claw is provided with a rolling member abutting against the guide slope; the material grabbing module further includes: an elastic member connected between the positioning claw and the base; the elastic member is used for providing the driving force required for automatic reset of the positioning claw.

3. The pallet clamp of claim 2, wherein, The number of the transmission member is two; the number of the claw is two; the number of the positioning claw is four and is distributed in an X shape outside the claw.

4. The pallet clamp of claim 3, wherein, The driver is a pinch cylinder; the fingers of the driver are one-to-one connected with the transmission member.

5. The pallet clamp of claim 1, wherein, The claw and the positioning claw are both limited in the movement track of straight line movement through slide rails and slide seats.

6. The pallet clamp of claim 1, wherein, The claw is provided with a hook part for inserting into a handle part of a material frame.

7. The pallet clamp of claim 1, wherein, The positioning claw is provided with a positioning column for abutting against the inner wall of the material frame.

8. The pallet clamp of claim 1, wherein, The base includes a bottom plate, a cover plate erected above the bottom plate, and a transmission shaft connected with the cover plate; the material grabbing module is installed between the bottom plate and the cover plate; the transmission shaft is used for connecting a manipulator.

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