Clamping device and feeding device
By combining the guide push block and the translation driver, the problem of existing robotic arm grippers being unable to achieve the maximum stroke of the two grippers is solved, thus achieving efficient gripper control and reduced energy consumption.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2026-03-31
AI Technical Summary
Existing robotic arm grippers typically have only one gripper arm driven, making it difficult to achieve maximum stroke control of both grippers with a single drive device, resulting in high energy consumption.
The system adopts a combination structure of guide push block and translation driver. The guide push block has inclined guide structure on both sides that is slidably connected to the inclined push structure of the claw arm. The translation driver stretches the guide push block to drive the two claw arms to open or clamp, thereby achieving maximum stroke control of the two claw arms.
The maximum stroke control of the two gripper arms is achieved using a single driver, which reduces energy consumption and improves clamping efficiency.
Smart Images
Figure CN224061949U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of material transfer mechanism technology, specifically to a clamping device and a feeding device. Background Technology
[0002] With the development of material transfer technology, loading devices such as robotic arms are becoming increasingly common. Currently, robotic arms mainly use grippers to pick up materials to be transferred. The drive structure of the grippers usually involves one gripper arm being stationary while the other is driven. This method makes it difficult to maximize the stroke of both grippers with a single drive device, and it is impossible to achieve maximum stroke control with minimal energy consumption. Summary of the Invention
[0003] This application provides a clamping device and a feeding device to solve the technical problem that the current driving structure of the gripper usually sets one gripper arm to be stationary and the other gripper arm to be driven, making it difficult to achieve the maximum stroke of the two gripper arms through a single driving device.
[0004] This application provides a clamping device, which includes a guide push block, a translation driver, a first claw arm, and a second claw arm. The guide push block is trapezoidal, and a first inclined guide structure and a second inclined guide structure are provided on both sides of the guide push block. The first inclined guide structure and the second inclined guide structure are located at the waist of the trapezoid. The translation driver is connected to the bottom edge of the guide push block. The first inclined push structure is provided at the root of the first claw arm, and the first inclined guide structure is slidably connected to the first inclined push structure. The second inclined push structure is provided at the root of the second claw arm, and the second inclined guide structure is slidably connected to the second inclined push structure. When the guide push block is stretched by the translation driver, the first claw arm and the second claw arm located on both sides of the guide push block open or clamp.
[0005] Furthermore, the first inclined guide structure and the second inclined guide structure are in a figure-eight shape, the first inclined pushing structure and the second inclined pushing structure are in a figure-eight shape, and the included angle between the first inclined guide structure and the second inclined guide structure is the same as the included angle between the first inclined guide structure and the second inclined guide structure.
[0006] Furthermore, the first inclined guide structure includes a first guide groove and a first guide protrusion, the second inclined guide structure includes a second guide groove and a second guide protrusion, the first inclined pushing structure includes a first pushing groove and a first pushing protrusion, the second inclined pushing structure includes a second pushing groove and a second pushing protrusion, the first guide groove is slidably connected to the first pushing protrusion, the first guide protrusion is slidably connected to the first pushing groove, the second guide groove is slidably connected to the second pushing protrusion, and the second guide protrusion is slidably connected to the second pushing groove.
[0007] Furthermore, the included angle between the first inclined guide structure and the second inclined guide structure is the same as the included angle between the first inclined guide structure and the second inclined guide structure. The first guide groove and the first guide protrusion are arranged adjacent to each other and parallel to each other. The second guide groove and the second guide protrusion are arranged adjacent to each other and parallel to each other. The first push groove and the first push protrusion are arranged adjacent to each other and parallel to each other. The second push groove and the second push protrusion are arranged adjacent to each other and parallel to each other.
[0008] Furthermore, the clamping device also includes: a fixed base and a guide slider; the translation driver is fixed on the fixed base; the guide slider is located on the side of the fixed base away from the translation driver, and the first claw arm and the second claw arm are slidably arranged on the guide slider.
[0009] Furthermore, the clamping device further includes: a limiting mechanism, which is disposed on the fixed base and adjacent to the guide slider; the limiting mechanism is connected to the first claw arm and the second claw arm, and the limiting mechanism limits the movement of the first claw arm and the second claw arm along the extension direction of the guide slider.
[0010] Furthermore, the clamping device further includes a clamping stroke adjustment mechanism, which is disposed on both sides of the fixed base; the clamping stroke adjustment mechanism is disposed corresponding to the edges of the first claw arm and the second claw arm, and the clamping stroke adjustment mechanism limits the maximum stroke position of the first claw arm and the second claw arm.
[0011] Furthermore, the clamping device also includes a turntable, and the fixing base is connected to the edge of the turntable.
[0012] Furthermore, the translation driver includes a linear motor or a horizontal cylinder.
[0013] This application also provides a feeding device, which includes the clamping device described in any of the preceding claims.
[0014] The clamping device and feeding device provided in this application embodiment, by setting a translation driver to drive the guide push block to stretch, the guide push block is provided with a first inclined guide structure and a second inclined guide structure on both sides. The first inclined guide structure is slidably connected to the first inclined push structure of the first claw arm, and the second inclined guide structure is slidably connected to the second inclined push structure of the second claw arm. When the guide push block is stretched by the translation driver, it can drive the first claw arm and the second claw arm located on both sides of the guide push block to open or clamp. It can use a translation driver to control the maximum stroke of the two claw arms. Attached Figure Description
[0015] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.
[0016] Figure 1 This is a schematic diagram of the clamping device provided in an embodiment of this application.
[0017] Figure 2 This is a top view of the clamping device provided in an embodiment of this application.
[0018] Figure 3 This is a rear view of the clamping device provided in an embodiment of this application.
[0019] Figure 4 This is a schematic diagram of the first cross-sectional structure of the clamping device provided in the embodiments of this application.
[0020] Figure 5 This is a schematic diagram of the second cross-sectional structure of the clamping device provided in the embodiments of this application.
[0021] The markings in the diagram are as follows:
[0022] Guide push block 1, first inclined guide structure 11, second inclined guide structure 12, translation driver 2, first claw arm 3, first inclined push structure 31, second claw arm 4, second inclined push structure 41, fixed seat 5, guide slider 6, limit mechanism 7, clamping stroke adjustment mechanism 8, turntable 9. Detailed Implementation
[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0024] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0026] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0027] For details, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5This application provides a clamping device, which includes a guide push block 1, a translation driver 2, a first claw arm 3, and a second claw arm 4. The guide push block 1 is trapezoidal, and a first inclined guide structure 11 and a second inclined guide structure 12 are provided on both sides of the guide push block 1. The first inclined guide structure 11 and the second inclined guide structure 12 are located at the waist of the trapezoid. The translation driver 2 is connected to the bottom edge of the guide push block 1. The root of the first claw arm 3 is provided with a first inclined push structure 31, and the first inclined guide structure 11 is slidably connected to the first inclined push structure 31. The root of the second claw arm 4 is provided with a second inclined push structure 41, and the second inclined guide structure 12 is slidably connected to the second inclined push structure 41. When the guide push block 1 is stretched by the translation driver 2, the first claw arm 3 and the second claw arm 4 located on both sides of the guide push block 1 open or clamp.
[0028] Furthermore, the first inclined guide structure 11 and the second inclined guide structure 12 are in a figure-eight shape, the first inclined push structure 31 and the second inclined push structure 41 are in a figure-eight shape, and the included angle between the first inclined guide structure 11 and the second inclined guide structure 12 is the same as the included angle between the first inclined guide structure 11 and the second inclined guide structure 12.
[0029] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The first inclined guide structure 11 includes a first guide groove and a first guide protrusion; the second inclined guide structure 12 includes a second guide groove and a second guide protrusion; the first inclined pushing structure 31 includes a first pushing groove and a first pushing protrusion; the second inclined pushing structure 41 includes a second pushing groove and a second pushing protrusion; the first guide groove is slidably connected to the first pushing protrusion; the first guide protrusion is slidably connected to the first pushing groove; the second guide groove is slidably connected to the second pushing protrusion; and the second guide protrusion is slidably connected to the second pushing groove.
[0030] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5The included angle between the first inclined guide structure 11 and the second inclined guide structure 12 is the same as the included angle between the first inclined guide structure 11 and the second inclined guide structure 12. The first guide groove and the first guide protrusion are arranged adjacent to each other and parallel to each other. The second guide groove and the second guide protrusion are arranged adjacent to each other and parallel to each other. The first push groove and the first push protrusion are arranged adjacent to each other and parallel to each other. The second push groove and the second push protrusion are arranged adjacent to each other and parallel to each other.
[0031] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The clamping device further includes: a fixed base 5 and a guide slider 6; the translation driver 2 is fixed on the fixed base 5; the guide slider 6 is located on the side of the fixed base 5 away from the translation driver 2, and the first claw arm 3 and the second claw arm 4 are slidably arranged on the guide slider 6.
[0032] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The clamping device further includes two limiting mechanisms 7, which are disposed on the fixed base 5 and adjacent to the guide slider 6; each limiting mechanism 7 is connected to the first claw arm 3 and the second claw arm 4, and the limiting mechanism 7 limits the first claw arm 3 and the second claw arm 4 to move along the extension direction of the guide slider 6.
[0033] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The clamping device further includes a clamping stroke adjustment mechanism 8, which is disposed on both sides of the fixed base 5; the clamping stroke adjustment mechanism 8 is disposed corresponding to the edges of the first claw arm 3 and the second claw arm 4, and the clamping stroke adjustment mechanism 8 limits the maximum stroke position of the first claw arm 3 and the second claw arm 4.
[0034] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The clamping device further includes a turntable 9, and the fixing base 5 is connected to the edge of the turntable 9.
[0035] Furthermore, the translation driver 2 includes a linear motor or a horizontal cylinder.
[0036] This application also provides a feeding device, which includes the clamping device described in any of the preceding claims.
[0037] The clamping device and feeding device provided in this application embodiment drive the guide push block 1 to stretch by setting a translation driver 2. The guide push block 1 has a first inclined guide structure 11 and a second inclined guide structure 12 on both sides. The first inclined guide structure 11 is slidably connected to the first inclined push structure 31 of the first claw arm 3, and the second inclined guide structure 12 is slidably connected to the second inclined push structure 41 of the second claw arm 4. When the guide push block 1 is stretched by the translation driver 2, it can drive the first claw arm 3 and the second claw arm 4 located on both sides of the guide push block 1 to open or clamp. It can use a translation driver 2 to control the maximum stroke of the two claw arms.
[0038] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0039] The clamping device and feeding device provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principle and implementation of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solution and core idea of this application. Those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A clamping device, characterized in that The device comprises: a guide pushing block in the shape of a trapezoid, two sides of the guide pushing block are provided with a first inclined guide structure and a second inclined guide structure, the first inclined guide structure and the second inclined guide structure are located at the waist edge position of the trapezoid; a translation driver connected to the bottom edge position of the guide pushing block; a first claw arm, the root of the first claw arm is provided with a first inclined pushing structure, the first inclined guide structure and the first inclined pushing structure are in sliding connection; a second claw arm, the root of the second claw arm is provided with a second inclined pushing structure, the second inclined guide structure and the second inclined pushing structure are in sliding connection; when the guide pushing block is stretched by the translation driver, the first claw arm and the second claw arm located on both sides of the guide pushing block are opened or clamped.
2. The clamping device of claim 1, wherein The first inclined guide structure and the second inclined guide structure are in the shape of a splay, the first inclined pushing structure and the second inclined pushing structure are in the shape of a splay, the included angle of the first inclined guide structure and the second inclined guide structure is the same as the included angle of the first inclined guide structure and the second inclined guide structure.
3. The clamping device of claim 1, wherein The first inclined guide structure comprises a first guide groove and a first guide protrusion, the second inclined guide structure comprises a second guide groove and a second guide protrusion, the first inclined pushing structure comprises a first pushing groove and a first pushing protrusion, the second inclined pushing structure comprises a second pushing groove and a second pushing protrusion, the first guide groove and the first pushing protrusion are in sliding connection, the first guide protrusion and the first pushing groove are in sliding connection, the second guide groove and the second pushing protrusion are in sliding connection, and the second guide protrusion and the second pushing groove are in sliding connection.
4. The clamping device of claim 3, wherein The included angle of the first inclined guide structure and the second inclined guide structure is the same as the included angle of the first inclined guide structure and the second inclined guide structure, the first guide groove and the first guide protrusion are arranged in parallel adjacent to each other, the second guide groove and the second guide protrusion are arranged in parallel adjacent to each other, the first pushing groove and the first pushing protrusion are arranged in parallel adjacent to each other, and the second pushing groove and the second pushing protrusion are arranged in parallel adjacent to each other.
5. The clamping device of claim 1, wherein The clamping device further comprises: a fixed seat, the translation driver is fixed on the fixed seat; a guide sliding block provided on the side of the fixed seat away from the translation driver, the first claw arm and the second claw arm are slidably arranged on the guide sliding block.
6. The clamping device of claim 5, wherein The clamping device further comprises: a limiting mechanism provided on the fixed seat and adjacent to the guide sliding block; the limiting mechanism is connected to the first claw arm and the second claw arm, and the limiting mechanism limits the movement of the first claw arm and the second claw arm along the extension direction of the guide sliding block.
7. The clamping device of claim 5, wherein The clamping device further comprises: a clamping stroke adjusting mechanism provided on both sides of the fixed seat; the clamping stroke adjusting mechanism is provided corresponding to the edges of the first claw arm and the second claw arm, and the clamping stroke adjusting mechanism limits the maximum stroke position of the first claw arm and the second claw arm.
8. The clamping device of claim 5, wherein The clamping device further comprises: a rotating disc, the fixed seat is connected to the edge of the rotating disc.
9. The clamping device of claim 1, wherein The translational drive comprises a linear motor or a horizontal cylinder.
10. A loading device, characterized by The clamping device according to any one of claims 1 to 9.