Clamping mechanism

Abstract

The utility model relates to a clamping mechanism which comprises a frame body. At least one mechanical clamping jaw is arranged on the frame body; the mechanical clamping jaw comprises a clamping jaw air cylinder, a first clamping arm, a second clamping arm, a first cam assembly, a second cam assembly and a clamping jaw body, the clamping jaw air cylinder is installed on the frame body, the first clamping arm and the second clamping arm are both connected with the output end of the clamping jaw air cylinder, and the clamping jaw air cylinder is used for driving the first clamping arm and the second clamping arm to move in the opposite direction or the reverse direction. The first cam assembly is connected with the first clamping arm, the second cam assembly is connected with the second clamping arm, and the first cam assembly and the second cam assembly are each connected with at least one clamping jaw body. The clamping mechanism is used in cooperation with a six-axis robot, electric clamping and automatic carrying of products can be achieved, manual carrying is replaced, the working intensity of workers is relieved, and the reliability and accuracy in the automatic workpiece clamping, grabbing, carrying and placing process are improved.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, and in particular to a clamping mechanism. Background Technology

[0002] With the global trend of automation, an increasing number of industrial robots are being deployed on production lines. Industrial robots ensure product quality, improve production efficiency, and prevent numerous workplace accidents, thus driving the modernization of enterprises. In modern manufacturing, industrial robots are widely used to meet various production needs. Among these, the mechanical gripper, installed at the end of the robot, is a crucial component. It typically mimics certain movements of the human hand and arm, performing gripping actions and replacing humans in heavy labor to achieve mechanization and automation of production.

[0003] For example, Chinese Patent Application No. 201210445611.8 discloses a clamping-type flat plate handling robot, which includes a bracket, a guide rail slider, elastic grippers, a drive component, and a synchronous coupling mechanism. The drive component pulls the two elastic grippers to make linear movements along the width direction of the flat plate workpiece to be clamped, moving closer to or away from the flat plate workpiece, thus performing clamping and releasing actions. This type of flat plate handling robot is mainly suitable for gripping small flat plate workpieces. Due to its simple structure, it cannot adapt to workpieces of different shapes and sizes, thus limiting the application range of handling robot grippers.

[0004] Furthermore, during the use of mechanical grippers, limitations on clamping force due to workpiece material issues can lead to unreliable clamping of the workpiece, slippage or even dropping during handling, and inaccurate placement. Therefore, these issues can affect the normal operation of such workpieces on the production line to a certain extent. Utility Model Content

[0005] Therefore, the technical problem to be solved by this utility model is to overcome the problem that the mechanical gripper is poorly adaptable to handling irregular shapes due to the requirements of workpiece shape, material, etc. in the prior art.

[0006] To solve the above-mentioned technical problems, this utility model provides a clamping mechanism, comprising: a frame; and a mechanical gripper mounted on the frame, wherein at least one mechanical gripper is provided on the frame. The mechanical gripper includes a gripper cylinder, a first gripping arm, a second gripping arm, a first cam assembly, a second cam assembly, and a gripper body. The gripper cylinder is mounted on the frame, and both the first and second gripping arms are connected to the output end of the gripper cylinder. The gripper cylinder drives the first and second gripping arms to move in opposite directions. The first cam assembly is connected to the first gripping arm, and the second cam assembly is connected to the second gripping arm. At least one gripper body is connected to both the first and second cam assemblies. This clamping mechanism, when used with a six-axis robot, can achieve electric clamping and automatic handling of products, replacing manual handling, reducing the workload of personnel, improving the reliability and accuracy of automated workpiece clamping, gripping, moving, and placement, while also improving work efficiency and stability and reducing safety hazards.

[0007] In one embodiment of the present invention, the first cam assembly and the second cam assembly have the same structure, and both the first cam assembly and the second cam assembly include an active member and a cam body. The active member is fixedly connected to the first clamping arm and the second clamping arm. The active member is provided with a cam groove. The cam body is mounted on the gripper body and disposed in the cam groove. The cam body can move relative to the gripper body in the cam groove.

[0008] In one embodiment of this utility model, the active component is provided with a guide wheel, the frame is provided with a guide groove, the guide wheel is placed in the guide groove, and the guide groove is used to guide the linear movement of the guide wheel.

[0009] In one embodiment of this utility model, a slider is installed on the frame, and a guide rail is installed on the gripper body. The guide rail is placed inside the slider and can slide within the slider.

[0010] In one embodiment of the present invention, a clamping block is mounted on the gripper body, and a clamping groove is provided on the inner side of the clamping block.

[0011] In one embodiment of the present invention, the mechanical gripper is provided with four gripper bodies, and the four gripper bodies are respectively located at the four corners of the rectangular cross section.

[0012] In one embodiment of this utility model, a vision camera is installed on the frame, and the vision camera is used to confirm the position of the workpiece held by the gripper body.

[0013] In one embodiment of this utility model, a distance sensor is installed on the frame, and the distance sensor is used to sense the distance of the workpiece to be clamped.

[0014] In one embodiment of this utility model, a detection sensor is installed on the frame, and the detection sensor is used to detect when the workpiece to be clamped reaches the clamping position of the gripper body.

[0015] In one embodiment of this utility model, the frame is equipped with two mechanical grippers.

[0016] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial effects:

[0017] (1) Electric grippers can control the gripping force to avoid damaging the product.

[0018] (2) The camera vision component can locate the product position and correct the gripping.

[0019] (3) Robots can replace manual labor and avoid physical injuries caused by long-term handling.

[0020] (4) The clamping mechanism has a dual-station design, which allows for pick-up and put-down actions to be performed in the same position. Attached Figure Description

[0021] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the clamping mechanism in a preferred embodiment of the present invention. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the clamping mechanism in a preferred embodiment of the present invention. Figure 2 ;

[0024] Figure 3 This is a bottom view of the clamping mechanism in a preferred embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the mechanical gripper in a preferred embodiment of the present invention.

[0026] Explanation of reference numerals in the accompanying drawings: Frame 1, Guide groove 11, Slider 12, Mechanical gripper 2, Gripper cylinder 21, First gripping arm 22, Second gripping arm 23, First cam assembly 24, Second cam assembly 25, Driving element 251, Cam body 252, Cam groove 253, Guide wheel 254, Gripper body 26, Guide rail 261, Gripper groove 262, Vision camera 3, Light source 31, Distance sensor 4, Detection sensor 5, Workpiece 100. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0028] Reference Figure 1 , 2 As shown, the clamping mechanism of this utility model includes: a frame 1, which is connected to a six-axis robot; a mechanical gripper 2, which is mounted on the frame 1, and at least one mechanical gripper 2 is provided on the frame 1. The six-axis robot drives the workpiece 100 clamped by the mechanical gripper 2 to move to a designated position; wherein, the mechanical gripper 2 includes a gripper cylinder 21, a first gripping arm 22, a second gripping arm 23, a first cam assembly 24, a second cam assembly 25, and a gripper body 26. The gripper cylinder 21 is mounted on the frame 1. The first gripping arm 22 and the second gripping arm 23 are both connected to the output end of the gripper cylinder 21, and the gripper cylinder 21 is used to drive the first gripping arm 22 and the second gripping arm 23 to move in opposite directions or in the opposite direction. The first cam assembly 24 is connected to the first gripping arm 22, and the second cam assembly 25 is connected to the second gripping arm 23. At least one gripper body 26 is connected to both the first cam assembly 24 and the second cam assembly 25. Preferably, the frame 1 is equipped with two mechanical grippers 2. Setting two mechanical grippers 2 is the optimal solution. In this way, the two mechanical grippers 2 work in turn, which can not only meet the production cycle, but also reduce waiting time and improve work efficiency.

[0029] Reference Figure 4 As shown, the first cam assembly 24 and the second cam assembly 25 have the same structure, and both the first cam assembly 24 and the second cam assembly 25 include an active member 251 and a cam body 252. The active member 251 is fixedly connected to the first clamping arm 22 and the second clamping arm 23. The active member 251 is provided with a cam groove 253. The cam body 252 is mounted on the gripper body 26. The cam body 252 is disposed in the cam groove 253 and can move relative to each other in the cam groove 253.

[0030] In the above structure, the moving guide structure of the active component 251 is as follows: the active component 251 is provided with a guide wheel 254, and the frame 1 is provided with a guide groove 11. The guide wheel 254 is placed in the guide groove 11, and the guide groove 11 is used to guide the linear movement of the guide wheel 254. The guide groove 11 is an oblong groove in the same direction as the moving direction of the first clamping arm 22 and the second clamping arm 23. When the output end of the gripper cylinder 21 drives the first clamping arm 22 and the second clamping arm 23 to move linearly, the guide wheel 254 moves linearly within the guide groove 11, thereby ensuring the stability of the movement of the active component 251.

[0031] In the above structure, a slider 12 is mounted on the frame 1, and a guide rail 261 is mounted on the gripper body 26. The guide rail 261 is placed inside the slider 12 and can slide within the slider 12. The movement of the guide rail 261 within the slider 12 ensures the stability of the gripper body 26's movement, thereby achieving accurate gripping of the workpiece 100.

[0032] In the above structure, a clamping block 261 is installed on the gripper body 26, and a clamping groove 262 is provided on the inner side of the clamping block 261. When the gripper body 26 clamps the workpiece, the edge of the workpiece is placed in the clamping groove 262, thereby forming a stable limit on the workpiece and preventing the workpiece from falling off the gripper body 26 when the planar clamping position contacts the workpiece.

[0033] Preferably, for workpieces with rectangular cross-sections, the mechanical gripper 2 is provided with four gripper bodies 26, and the four gripper bodies 26 are respectively located at the four corners of the rectangular cross-section. The first gripping arm 22 and the second gripping arm 23 are each connected to an active member 251. Each active member 251 has two cam grooves 253, and each active member 251 is connected to two gripper bodies 26. Thus, every two gripper bodies 26 correspond to one active member 251. Driven by the gripper cylinder 21, the active member 251 can synchronously drive the two gripper bodies 26 to move. The two gripper bodies 26 connected to the first gripping arm 22 and the second gripping arm 23 are arranged in a figure-eight shape. This allows the rectangular cross-section where the four gripper bodies 26 are located to expand or shrink during the movement of the first gripping arm 22 and the second gripping arm 23 driven by the gripper cylinder 21, making it suitable for workpieces of different cross-sectional sizes. The above structure changes the traditional structure of the gripper cylinder 21 driving two opposing grippers to hold the workpiece. Now, one gripper cylinder 21 can drive four gripper bodies 26 at the same time, thereby limiting the corner position of the workpiece and realizing multi-point clamping, making the clamping of the workpiece more stable and reliable.

[0034] Reference Figure 3As shown, a vision camera 3 and a light source 31 are installed on the frame 1. The vision camera 3 is used to take pictures to confirm the position of the workpiece 100 and to correct the gripping position of the gripper body 26. The light source 31 is used to provide illumination for the vision camera 3. The three-dimensional spatial position of the workpiece 100 is obtained by taking pictures using the vision camera 3. By recognizing, extracting and matching features such as edges or corners, and combining the relative position information between features, the 3D positioning of the part in the sensor coordinate system is realized. This guides the robot to drive the mechanical gripper 2 to grasp the part, enabling the mechanical gripper 2 to accurately grasp the workpiece 100.

[0035] Reference Figure 3 As shown, a distance sensor 4 is installed on the frame 1, and the distance sensor 4 is used to sense the distance of the workpiece to be clamped.

[0036] Reference Figure 3 As shown, a detection sensor 5 is installed on the frame 1. The detection sensor 5 is used to detect when the workpiece to be clamped reaches the clamping position of the gripper body 26.

[0037] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A clamping mechanism, characterized in that The utility model relates to a mechanical clamping jaw, which comprises: a frame body; a mechanical clamping jaw mounted on the frame body, and at least one mechanical clamping jaw is arranged on the frame body; wherein the mechanical clamping jaw comprises a clamping jaw cylinder, a first clamping arm, a second clamping arm, a first cam assembly, a second cam assembly and a clamping jaw body, the clamping jaw cylinder is mounted on the frame body, the first clamping arm and the second clamping arm are connected with the output end of the clamping jaw cylinder, and the clamping jaw cylinder is used to drive the first clamping arm and the second clamping arm to move towards or reversely, the first cam assembly is connected with the first clamping arm, the second cam assembly is connected with the second clamping arm, and the first cam assembly and the second cam assembly are both connected with at least one clamping jaw body.

2. The clamping mechanism of claim 1, wherein: The first cam assembly and the second cam assembly are of the same structure, and both the first cam assembly and the second cam assembly comprise a driving member and a cam body, the driving member is fixedly connected with the first clamping arm and the second clamping arm, the driving member is provided with a cam groove, the cam body is mounted on the clamping jaw body, the cam body is arranged in the cam groove and can move relatively in the cam groove.

3. The clamping mechanism of claim 2, wherein: The driving member is provided with a guide wheel, the frame body is provided with a guide groove, the guide wheel is arranged in the guide groove, and the guide groove is used for guiding the linear movement of the guide wheel.

4. The clamping mechanism according to claim 1 or 2, characterized in that: The frame body is mounted with a sliding block, the clamping jaw body is mounted with a guide rail, the guide rail is arranged in the sliding block and can slide in the sliding block.

5. The clamping mechanism of claim 1, wherein: The clamping jaw body is mounted with a clamping block, and the clamping block is provided with a clamping groove on the inner side surface.

6. The clamping mechanism of claim 2, wherein: The mechanical clamping jaw is provided with four clamping jaw bodies, and the four clamping jaw bodies are respectively located at the four corner positions of a rectangular section.

7. The clamping mechanism of claim 1 or 2, wherein: The frame body is mounted with a visual camera, which is used for confirming the position of the workpiece clamped by the clamping jaw body.

8. The clamping mechanism of claim 7, wherein: The frame body is mounted with a distance sensor, which is used for sensing the distance of the workpiece to be clamped.

9. The clamping mechanism of claim 8, wherein: The frame body is mounted with a detection sensor, which is used for detecting the arrival of the workpiece to be clamped at the clamping position of the clamping jaw body.

10. The clamping mechanism of claim 1, wherein: The number of mechanical clamping jaws mounted on the frame body is two.

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