Ultra-thin six-shaft material taking and placing clamping jaw

Abstract

The utility model relates to an ultra-thin six-shaft material taking and placing clamping jaw which comprises a base plate, a connecting base arranged at the tail end of the base plate, two rotating shafts rotationally connected to the front end and the rear end of the base plate respectively, and clamping jaw bodies arranged at the two ends of the rotating shafts. The tail ends of the clamping jaws are provided with hook tips parallel to the axis of the rotating shaft, and the clamping jaws are driven by the rotating shaft to be in a retracting state parallel to the base plate and a clamping state perpendicular to the base plate. The turnover clamping jaw is arranged on the base plate, so that after the clamping jaw retracts, the whole material taking and placing clamping jaw is in a flat shape, the occupied space is small, and the material taking and placing clamping jaw can be conveniently withdrawn from the female hanger and cannot interfere with the female hanger.

Description

TECHNICAL FIELD

[0001] The utility model relates to a carrying clamp, especially to a super thin six -axis material taking and placing clamp jaw. BACKGROUND

[0002] Multi-axis manipulator is a common carrier, in order to adapt to different carrying needs, set up clamp on multi-axis manipulator. In small electronic metal parts processing, usually adopt surface treatment process, in order to improve the efficiency of surface treatment, usually place small electronic metal parts on the child hanging jig, and place the child hanging in the mother hanging. In order to further improve the efficiency of surface treatment, the child hanging is placed layer by layer, therefore, due to the small space, the traditional clamp is difficult to put the child hanging into the mother hanging. SUMMARY

[0003] In view of the deficiency of prior art, the utility model aims at providing a super thin six -axis material taking and placing clamp jaw.

[0004] The utility model discloses a technical scheme that solves its technical problem: a super thin six -axis material taking and placing clamp jaw, including base plate, the connecting seat of setting in the tail end of base plate, two pivot that rotate respectively and connect in the front and back both ends of base plate, the clamp jaw of setting in the both ends of pivot, the pivot extends horizontally left and right, be equipped with the clamp jaw drive part of driving the pivot rotation on the base plate, the hook tip parallel to the pivot axis is equipped with in the clamp jaw tail end, the clamp jaw has the retracted state along the base plate parallel and the clamping state perpendicular to the base plate under the drive of the pivot.

[0005] As a further improvement of the design, the clamp jaw side surface is provided with a clamping detection sensor.

[0006] As a further improvement of the design, the clamp jaw drive part includes a rack that slides forward and backward with the base plate, a gear that is provided on the pivot, and a front and rear clamping cylinder that is provided on the base plate. The cylinder of the front and rear clamping cylinder is connected to the rack, and the rack is engaged with the gear.

[0007] As a further improvement of the design, a side clamping assembly is provided on each of the left and right sides of the base plate. The side clamping assembly includes a guide seat provided on the base plate, a clamping head in sliding cooperation with the guide seat, and a side clamping cylinder provided on the base plate. The side clamping cylinder is connected to the clamping head. A guide groove is provided on the guide seat. The guide groove includes an upper parallel portion, a lower parallel portion, and a connecting portion connecting the upper parallel portion and the lower parallel portion. The upper parallel portion and the lower parallel portion are parallel to the base plate. The lower parallel portion is lower than the upper parallel portion. The upper parallel portion, the connecting portion, and the lower parallel portion extend from the center of the base plate to the edge of the base plate. A sliding claw is provided on the clamping head.

[0008] As a further improvement of the design, the guide seat is provided with two front and rear arranged guide grooves, the clamping head is arranged between the two guide grooves, and each side of the clamping head is provided with a pair of slide claws, each pair of slide claws is provided with two slide claws arranged along the sliding direction of the clamping head, and the slide claw is a roller.

[0009] As a further improvement of the design, the front and rear clamping air cylinders are arranged on the side of the rack sliding path of the base plate, and the front and rear clamping air cylinders are connected with the rack through a horizontally extending connecting plate.

[0010] As a further improvement of the design, the connecting plate is provided with a spring plunger at the front and rear stroke position end points.

[0011] As a further improvement of the design, a detection camera is arranged below the tail end of the base plate.

[0012] The beneficial effects of the utility model are: the utility model utilizes the setting of the turnover clamping jaw on the base plate, so that the clamping jaw is retracted and the whole material taking and placing clamping jaw is in a flat shape and occupies small space, and the material taking and placing clamping jaw is convenient to withdraw from the female hook and does not interfere with the female hook. BRIEF DESCRIPTION OF DRAWINGS

[0013] The utility model is further described below in combination with the drawings and examples.

[0014] Figure 1 It is the overall overhead perspective three-dimensional structure schematic diagram of the utility model.

[0015] Figure 2 It is the overall overhead schematic diagram of the utility model.

[0016] Figure 3 It is the in Figure 2 A-A position section schematic diagram of the utility model.

[0017] Figure 4 It is the bottom perspective three-dimensional structure schematic diagram of the utility model.

[0018] In the drawing, 1. base plate, 2. connecting seat, 3. detection camera, 4. rotating shaft, 5. clamping jaw, 50. clamping detection sensor, 51. hook tip, 6. clamping jaw driving part, 60. gear, 61. rack, 62. front and rear clamping air cylinder, 63. connecting plate, 64. spring plunger, 7. side clamping assembly, 70. side clamping cylinder, 71. guide seat, 72. clamping head, 720. slide claw, 73. guide groove, 730. lower parallel part, 731. connecting part, 732. upper parallel part. DETAILED DESCRIPTION

[0019] The utility model will be in conjunction with the drawing and specific embodiment to explain in detail, the illustrative embodiment and the explanation are only used to explain the utility model, but not as the limitation to the utility model.

[0020] Embodiment: A kind of ultra-thin six-axis material taking and placing clamp jaw, including base plate 1, the connecting seat 2 of setting in the tail end of the base plate 1, two rotating shafts 4 respectively rotationally connected in the front and rear ends of the base plate 1, the clamp jaw 5 of setting in the rotating shaft 4 two ends, the rotating shaft 4 extends horizontally left and right, the base plate 1 is equipped with the clamp jaw driving part 6 of driving the rotating shaft 4 rotation, the end of the clamp jaw 5 is equipped with the hook tip 51 parallel to the rotating shaft 4 axis, the clamp jaw 5 has the state of being retracted along the base plate 1 and the clamping state being perpendicular to the base plate 1 under the drive of the rotating shaft 4.

[0021] The above-mentioned through setting the clamp jaw 5 of turning over on the base plate 1 makes the material taking and placing clamp jaw as a whole be in flat shape after retracting the clamp jaw 5, and the space occupied is small, and the material taking and placing clamp jaw is convenient to exit mother hanging and will not interfere with the mother hanging.

[0022] In order to automatically detect whether the clamp jaw 5 clamps the daughter hanging, the side surface of the clamp jaw 5 is provided with a clamping detection sensor 50, which can adopt a proximity switch.

[0023] In order to ensure a large clamping force and control the stroke of the clamp jaw 5, the clamp jaw driving part includes a rack 61 sliding forward and backward on the base plate 1, a gear 60 provided on the rotating shaft 4, and a front and rear clamping cylinder 62 provided on the base plate 1. The cylinder of the front and rear clamping cylinder 62 is connected to the rack 61, and the rack 61 is engaged with the gear 60.

[0024] In order to improve the clamping stability of the daughter hanging and control the position of the daughter hanging, a side clamping assembly 7 is provided on the left and right sides of the base plate 1. The side clamping assembly 7 includes a guide seat 71 provided on the base plate 1, a clamping head 72 slidingly matched with the guide seat 71, and a side clamping cylinder 70 provided on the base plate 1. The side clamping cylinder 70 is connected to the clamping head 72. The guide seat 71 is provided with a guide groove 73. The guide groove 73 includes an upper parallel part 732, a lower parallel part 730, and a connecting part 731 connecting the upper parallel part 732 and the lower parallel part 730. The upper parallel part 732 and the lower parallel part 730 are parallel to the base plate 1. The lower parallel part 730 is lower than the upper parallel part 732. The upper parallel part 732, the connecting part 731, and the lower parallel part 730 extend from the center of the base plate 1 to the edge of the base plate 1. The clamping head 72 is provided with a sliding claw 720. The cooperation of the upper guide groove 73 and the clamping head 72 makes the clamping head 72 retract in the non-clamping state, effectively preventing the clamping head 72 from interfering with the daughter hanging when exiting the mother hanging and ensuring that the overall mechanism has a low height.

[0025] In order to improve the clamping stability of the clamping head 72, the guide seat 71 is provided with two front and rear arranged guide grooves 73, the clamping head 72 is arranged between the two guide grooves 73, and each of the front and rear sides of the clamping head 72 is provided with a pair of slide claws 720, each pair of slide claws 720 is provided with two slide claws 720 arranged along the sliding direction of the clamping head 72, and the slide claw 720 is a roller.

[0026] In order to further reduce the height of the clamping jaw driving member, the front and rear clamping air cylinders 62 are arranged on the base plate 1 at the side of the sliding path of the rack 61, and the front and rear clamping air cylinders 62 are connected with the rack 61 through the horizontally extending connecting plate 63.

[0027] In order to improve the stroke accuracy of the clamping jaw 5, the connecting plate 63 is provided with a spring plunger 64 at the front and rear stroke position endpoints.

[0028] In order to facilitate the placement of the guide sub-hang, the base plate 1 is provided with a detection camera 3 below the tail end.

[0029] The above is only an embodiment of the present application, and does not limit the patent range of the present application, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, is also included in the patent protection range of the present application.

Claims

1. An ultra-thin six-axis pick-and-place gripper, characterized by, The device comprises a substrate, a connecting seat arranged at the tail end of the substrate, two rotating shafts each rotatingly connected to the front and rear ends of the substrate, and clamping jaws arranged at the two ends of the rotating shafts, wherein the rotating shafts extend horizontally left and right, the substrate is provided with a clamping jaw driving element for driving the rotating shafts to rotate, the clamping jaws are provided with hook tips parallel to the axis of the rotating shafts, and the clamping jaws have a retracted state parallel to the substrate and a clamping state perpendicular to the substrate under the driving of the rotating shafts.

2. The super-thin six-axis pick-and-place gripper jaw of claim 1, wherein, The side surface of the clamping jaw is provided with a clamping detection sensor.

3. The six-axis ultra-thin pick-and-place gripper of claim 1, wherein: The clamping jaw driving element comprises a rack sliding forward and backward on the substrate, a gear arranged on the rotating shaft, and a front and rear clamping cylinder arranged on the substrate, wherein the cylinder of the front and rear clamping cylinder is connected to the rack, and the rack is engaged with the gear.

4. The super-thin six-axis pick-and-place gripper jaw of claim 3, wherein, Each of the left and right sides of the substrate is provided with a side clamping assembly, and the side clamping assembly comprises a guide seat arranged on the substrate, a clamping head slidingly matched with the guide seat, and a side clamping cylinder arranged on the substrate, wherein the side clamping cylinder is connected to the clamping head, the guide seat is provided with a guide groove, the guide groove comprises an upper parallel part, a lower parallel part, and a connecting part connecting the upper parallel part and the lower parallel part, the upper parallel part and the lower parallel part are parallel to the substrate, the lower parallel part is lower than the upper parallel part, the upper parallel part, the connecting part, and the lower parallel part extend from the center of the substrate to the edge of the substrate, and the clamping head is provided with a sliding claw.

5. The super-thin six-axis pick-and-place gripper jaw of claim 4, wherein, The guide seat is provided with two front and rear arranged guide grooves, the clamping head is arranged between the two guide grooves, the clamping head is provided with a pair of sliding claws on the front and rear sides, each pair of sliding claws is provided with two sliding claws arranged and distributed along the sliding direction of the clamping head, and the sliding claw is a roller.

6. The super-thin six-axis pick-and-place gripper jaw of claim 3, wherein, The front and rear clamping cylinders are arranged on the substrate at the side of the sliding path of the rack, and the front and rear clamping cylinders and the rack are connected through a horizontally extending connecting plate.

7. The super-thin six-axis pick-and-place gripper jaw of claim 6, wherein, The front and rear stroke position endpoints of the connecting plate are provided with spring plungers.

8. The super-thin six-axis pick-and-place gripper jaw of claim 1, wherein, A detection camera is arranged below the tail end of the substrate.

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