PIN clamping module

Abstract

The utility model discloses a PIN clamping module, and belongs to the technical field of manipulators. A clamping jaw of the module comprises a male jaw and a female jaw, a clamping part of the male jaw is provided with two symmetrically-protruding clamping strip parts and a small V-shaped groove between the clamping strip parts, a clamping part of the female jaw is provided with a large V-shaped groove capable of wrapping the clamping strip parts, and clamping and centering can be achieved through the small V-shaped groove and the large V-shaped groove according to PINs with different diameters. The module is further provided with a swing arm, a push head and a clamping driving piece. The push head is matched with the swing arm through a bidirectional slope to drive the clamping jaw to be opened and closed. The matched sliding assembly and the sliding driving piece can drive the clamping jaw to move in the axial direction, and the clamping depth is adjusted. The multi-specification PIN flexible clamping mechanism solves the problems that an existing mechanism is narrow in specification adaptation, short in high-frequency operation service life and poor in stability, is high in clamping precision and good in transmission rigidity, can be integrated in a multi-group modularization mode, and meets the flexible production requirements of multi-specification PINs.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a PIN clamping module. Background Technology

[0002] In modern precision machining, 3C electronics manufacturing, semiconductor packaging, and precision connector assembly industries, especially in flexible manufacturing scenarios with multiple varieties and small batches, a single processing equipment or automated production line often needs to accommodate dozens or even hundreds of different specifications of cylindrical pin-type workpieces such as drill bits, milling cutters, and inserts. Throughout the entire process of loading, unloading, sorting, insertion, positioning, and tool changing, these pin-type workpieces require multiple high-precision pick-and-place and positioning operations via clamping modules. The clamping accuracy, specification compatibility, operational stability, and service life of the clamping modules directly determine the production efficiency, processing yield, and maintenance costs of the entire production line.

[0003] Currently, the clamping mechanisms commonly used in the industry for PIN workpieces mostly employ a clamping structure with two sets of symmetrically arranged single V-groove jaws engaging, combined with a general-purpose finger cylinder as the drive unit. This type of structure has many insurmountable technical defects in actual industrial applications:

[0004] First, the range of compatible specifications is extremely narrow, resulting in a severe lack of production flexibility. Conventional single V-groove clamping jaws can only accommodate PIN workpieces of a single specification or a very narrow diameter range. When the production line needs to switch to processing PINs of different diameters, the corresponding model of clamping jaws must be changed through the tool changing system. Frequent changeover operations significantly reduce production efficiency and cannot meet the flexible manufacturing requirements of mixed-specification PIN production lines.

[0005] Secondly, the drive unit has a complex structure, resulting in high maintenance costs and a short service life. Existing clamping mechanisms mostly use general-purpose finger cylinders as the core drive unit. These cylinders have a standardized integrated structure, incorporating multiple complex mechanisms such as piston reversal and gear / rack / connecting rod synchronous transmission. This not only leads to high overall machine procurement costs but also results in a large number of vulnerable internal parts and rapid wear rates for seals and transmission components. In heavy-duty, high-frequency reciprocating clamping industrial production scenarios, the effective service life of these finger cylinders is only in the millions of cycles. They are highly susceptible to malfunctions such as decreased synchronization accuracy, fluctuations in clamping force, motion jamming, and even drive failure. Frequent downtime for maintenance and replacement of spare parts is required, significantly increasing equipment maintenance costs and unplanned downtime, failing to meet the long-term, continuous, and stable operation requirements of production lines.

[0006] In view of the many shortcomings of the existing technologies, no effective systematic solution has been proposed in the industry. Therefore, developing a PIN nail clamping module that combines wide specification adaptability, high clamping and centering accuracy, long service life, high operational stability and strong modular expansion capability has become an urgent technical problem to be solved in this field. Utility Model Content

[0007] To address the technical problems existing in the prior art, the purpose of this utility model is to provide a PIN clamping module that can achieve high-precision and stable clamping of PINs with a wide range of specifications, while improving the stability and service life of the mechanism.

[0008] To address the aforementioned technical problems, this utility model provides a PIN clamping module, including grippers, the grippers comprising:

[0009] One male claw, the male claw gripping part is provided with two symmetrical protruding gripping bars, and a small V groove is opened between the two gripping bars;

[0010] One female claw, with a large V-groove in the gripping part of the female claw;

[0011] The large V-groove can cover the clamping strip. When the PIN is small, the small V-groove of the male claw achieves clamping and centering. When the PIN is large, the large V-groove of the female claw achieves clamping and centering.

[0012] In some embodiments of this utility model, the included angle formed by the female claw clamping part and the male claw clamping bar part gradually decreases from the front end to the rear end, which also causes the protrusion height of the clamping bar part to gradually increase from the front end to the rear end.

[0013] As some embodiments of this utility model, it also includes a swing arm and a pusher head. Two swing arms are symmetrically arranged, and a male claw and a female claw are fixedly installed at their front ends respectively. The two swing arms are pushed by the pusher head to make the male claw and the female claw move closer to each other or further away from each other.

[0014] As a preferred embodiment of the present invention, each of the two swing arms is provided with a hinge in the middle, and the inner sides of the two swing arms at opposite ends are provided with a clamping inclined surface and an opening inclined surface; the outer side of the push head is provided with an outer inclined surface, and the inner side is provided with an inner inclined surface. When the push head moves, the clamping inclined surface and the outer inclined surface cooperate to drive the male claw and the female claw to move closer to each other, and the opening inclined surface and the inner inclined surface cooperate to drive the male claw and the female claw to move away from each other.

[0015] As some embodiments of this utility model, it also includes a retainer, on which a pin is fixedly provided, and the pin passes through the hinge to make the swing arm rotatably connected to the retainer.

[0016] As some embodiments of this utility model, it also includes an adapter plate and a clamping drive component. The retainer is fixedly mounted on the adapter plate, the adapter plate is fixedly connected to the clamping drive component, and the output end of the clamping drive component passes through the adapter plate and is fixedly connected to the push head.

[0017] As some embodiments of this utility model, it also includes a sliding assembly, a sliding drive, and a mounting bracket. The sliding drive is mounted on the mounting bracket and drives the sliding assembly to move. The sliding assembly drives the clamping drive to move, and then drives the gripper to move synchronously through the adapter plate, the retainer, and the swing arm.

[0018] As some embodiments of this utility model, the sliding assembly includes a top plate, a sliding rod, a sliding sleeve, a fixing frame, and a sliding seat. The output end of the sliding drive component passes through the mounting frame and is fixedly connected to one side of the top plate. The other side of the top plate is fixedly connected to one end of the sliding rod. The sliding rod is covered with a sliding sleeve, which is fixedly connected to the mounting frame through the fixing frame. The other end of the sliding rod is fixedly connected to a sliding seat, and the clamping drive component is fixedly installed on the sliding seat.

[0019] As a preferred embodiment of the present invention, the clamping drive and the sliding drive are cylinders or electric push rods.

[0020] As a preferred embodiment of the present invention, each clamping module may be symmetrically and / or arrayed with multiple sets of individually controlled grippers.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] 1. A nested male and female jaw clamping structure enables wide-range specification compatibility, significantly improving production flexibility and clamping accuracy. This utility model adopts a nested double V-groove clamping structure with male and female jaws working together. The male jaw clamping part is equipped with double clamping strips with small V-grooves, forming a wrapping fit with the large V-groove of the female jaw clamping part. This allows for adaptive and precise clamping of PIN workpieces of different diameters: when clamping small-diameter PINs, the small V-groove of the male jaw provides stable clamping and automatic centering; when clamping large-diameter PINs, the large V-groove of the female jaw provides wrapping clamping and automatic centering. In the embodiment, a single set of jaws can stably adapt to PIN workpieces with a wide diameter range of 1.2mm to 4.0mm, completely solving the technical contradiction that traditional single V-groove jaws cannot handle workpieces of different sizes. During production, the need for changing jaws can meet the requirements of mixed-size PIN production, significantly improving the continuous operation efficiency of the equipment and reducing changeover time costs. Meanwhile, this utility model designs the included angle between the female claw clamping part and the male claw clamping bar part as a gradually decreasing structure from the front end to the rear end of the clamping, which perfectly matches the swing path during the opening and closing process of the swing arm. This allows the clamping part to be segmented according to the diameter range to adapt to different specifications of PINs, ensuring the clamping fit throughout the process. This fundamentally avoids problems such as clamping eccentricity, slippage and material loss, and workpiece damage, significantly improving the product processing yield.

[0023] 2. The optimized bidirectional inclined plane drive lever structure simplifies the transmission link, significantly improving operational stability and service life. This utility model abandons the complex gear rack and pinion synchronous transmission structure of traditional finger cylinders, and adopts a bidirectional inclined plane drive + central hinged lever structure with push head and swing arm cooperation. The clamping drive is achieved by the outer inclined plane of the push head cooperating with the clamping inclined plane of the swing arm, and the opening drive is achieved by the inner inclined plane of the push head cooperating with the opening inclined plane of the swing arm. A single push head can simultaneously complete the bidirectional hard contact drive of opening and closing of the gripper, without relying on a spring return structure. This design directly converts the linear motion of the drive component into the rotary opening and closing motion of the gripper. The transmission link is extremely short with no extra transmission backlash, resulting in high transmission efficiency, fast response speed, and strong clamping rigidity. It can perfectly adapt to the high-frequency clamping operation requirements of high-speed production lines. At the same time, it significantly reduces the number of vulnerable parts inside the mechanism and lowers the wear rate of transmission components. This makes the effective service life of the mechanism far exceed the million-cycle limit of traditional finger cylinders. It completely avoids the faults such as synchronous accuracy decay, unstable clamping force, motion jamming, and drive failure that are prone to occur in traditional structures. It greatly reduces the frequency of equipment downtime maintenance and operation and maintenance costs, and ensures the long-term continuous and stable operation of the production line.

[0024] 3. Integrated feed design for flexible adaptation to clamping needs. Through the integrated design of the sliding component and the sliding drive, the gripper can be driven to move axially. When using electric push rods or other drive components, the clamping depth of the gripper can be flexibly adjusted. This directly adapts to the personalized clamping needs of PIN workpieces of different lengths and different installation positions, eliminating the need for additional linear modules, slide cylinders, or other feed mechanisms. This saves on additional structural design, assembly, and debugging costs, allowing direct integration into various sorting machines, insertion machines, machining centers, and other automated equipment, significantly lowering the integration threshold for production lines. Furthermore, the clamping drive and sliding drive of this invention can use general-purpose cylinders or electric push rods, both industry-standard mass-produced components, making procurement convenient and highly adaptable. The elimination of the need for customized drive units further reduces the production and maintenance costs of the equipment. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of the clamping module according to an embodiment of the present utility model;

[0027] Figure 2This is a schematic diagram of the structure of the gripper, swing arm, and pusher in an embodiment of the present invention;

[0028] Figure 3 This is an exploded three-dimensional structural diagram of the gripper, swing arm, and pusher head according to an embodiment of the present utility model;

[0029] Figure 4 This is a schematic diagram of the gripper picking up a small PIN in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the gripper picking up a large PIN in an embodiment of the present invention;

[0031] Figure 6 This is a partial structural diagram of the gripper holding part in an embodiment of the present utility model;

[0032] Figure 7 This is a schematic diagram of the male claw clamping strip structure in an embodiment of this utility model.

[0033] The labels in the attached diagram are as follows: 1. Gripper; 11. Male gripper; 111. Grip bar; 112. Small V-groove; 12. Female gripper; 121. Large V-groove; 2. Swing arm; 21. Clamping ramp; 22. Opening ramp; 23. Hinge; 3. Push head; 31. Outer ramp; 32. Inner ramp; 4. Retainer; 41. Pin; 5. Adapter plate; 6. Clamping drive component; 7. Sliding assembly; 71. Top plate; 72. Slide rod; 73. Sliding sleeve; 74. Fixing frame; 75. Sliding seat; 8. Sliding drive component; 9. Mounting frame. Detailed Implementation

[0034] To make the technical means, creative features, objectives and effects of this utility model easy to understand, the technical solutions in the specific embodiments of this utility model are clearly and completely described below to further illustrate this utility model. Obviously, the specific embodiments described are only a part of the embodiments of this utility model, and not all of them.

[0035] Example 1: This example discloses a PIN clipping module, such as... Figures 1-7 As shown, it includes gripper 1, which includes:

[0036] A male claw 11 has two symmetrical protruding clamping bars 111 on its clamping part, and a small V-groove 112 is opened between the two clamping bars 111.

[0037] One female claw 12, the gripping part of the female claw 12 has a large V groove 121;

[0038] The large V-groove 121 can cover the clamping strip 111, when the clamped PIN is small, such as Figure 4As shown, the small V-groove 112 of the male claw 11 achieves clamping and centering. When the clamped PIN is large, such as Figure 5 As shown, the large V-groove 121 of the female claw 12 achieves clamping and centering, thereby enabling the same claw 1 to efficiently and stably clamp PINs of a wide range of different diameters. In this embodiment, the claw 1 is used on the PIN sorting machine, and its clamping diameter range is 1.2mm to 4.0mm, thus avoiding the need to switch the corresponding model of claw 1 according to the PIN diameter to pick up and put down the PIN, which greatly improves the operating efficiency of the equipment.

[0039] It also includes a swing arm 2 and a pusher head 3. There are two swing arms 2 symmetrically arranged, with a male claw 11 and a female claw 12 fixedly installed at their front ends respectively. The two swing arms 2 are pushed by the pusher head 3 to make the male claw 11 and the female claw 12 move closer to each other or further away from each other.

[0040] Both swing arms 2 have a hinge section 23 in the middle. The inner sides of the opposite rear ends of the two swing arms 2 are provided with a clamping inclined surface 21 and an opening inclined surface 22. The push head 3 has an outer inclined surface 31 on its outer side and an inner inclined surface 32 on its inner side. When the push head 3 moves, the clamping inclined surface 21 and the outer inclined surface 31 cooperate to drive the male claw 11 and the female claw 12 closer together, while the opening inclined surface 22 and the inner inclined surface 32 cooperate to drive the male claw 11 and the female claw 12 away from each other. The swing arms 2 adopt a unique inclined surface pushing design. Through the interaction of the outer inclined surface 31 and the inner inclined surface 32 of the push head 3 with the clamping inclined surface 21 and the opening inclined surface 22 of the swing arms 2, the linear drive is efficiently and accurately converted into a stable opening and closing motion of the claws 1, resulting in good transmission rigidity and fast response.

[0041] It also includes a retainer 4, on which a pin 41 is fixed. The pin 41 passes through the hinge part 23 to make the swing arm 2 rotatably connected to the retainer 4.

[0042] It also includes an adapter plate 5 and a clamping drive 6. The retainer 4 is fixedly mounted on the adapter plate 5. The adapter plate 5 is fixedly connected to the clamping drive 6. The output end of the clamping drive 6 passes through the adapter plate 5 and is fixedly connected to the push head 3.

[0043] To better adapt the swing path of swing arm 2 after converting linear motion into opening and closing motion through the hinge point, such as Figure 6 , Figure 7As shown, the included angle formed by the female claw 12 clamping part and the male claw 11 clamping bar part 111 gradually decreases from the clamping front end to the rear end, which also causes the protrusion height of the clamping bar part 111 to gradually increase from the clamping front end to the rear end. This arrangement ensures that when clamping PINs with a diameter of 3.0mm to 4.0mm, the clamping part of the claw 1 in this embodiment is the rear section; when clamping PINs with a diameter of 2.0mm to 3.0mm, the clamping part is the middle section; and when clamping PINs with a diameter of 1.2mm to 2.0mm, the clamping part is the front section, thereby ensuring stable clamping of PINs with a wide range of diameters.

[0044] To facilitate the adaptation of the clamping depth of the gripper 1, a sliding assembly 7, a sliding drive 8, and a mounting bracket 9 are also included. The sliding drive 8 is mounted on the mounting bracket 9 and drives the sliding assembly 7 to move. The sliding assembly 7 drives the clamping drive 6 to move, which in turn drives the gripper 1 to move synchronously through the adapter plate 5, the retainer 4, and the swing arm 2.

[0045] The sliding assembly 7 includes a top plate 71, sliding rods 72, sliding sleeves 73, a fixing frame 74, and a sliding seat 75. The output end of the sliding drive 8 passes through the mounting frame 9 and is fixedly connected to one side of the top plate 71. The other side of the top plate 71 is fixedly connected to one end of two sliding rods 72. Sliding sleeves 73 are fitted on the outside of each of the two sliding rods 72. The sliding sleeves 73 are fixedly connected to the mounting frame 9 through the fixing frame 74. The other ends of the two sliding rods 72 are fixedly connected to the same sliding seat 75. The clamping drive 6 is fixedly installed on the sliding seat 75.

[0046] In this embodiment, both the clamping drive 6 and the sliding drive 8 are cylinders.

[0047] To accommodate scenarios requiring multiple grippers 1, each gripping module can symmetrically and / or array multiple sets of individually controlled grippers 1. In this embodiment, to save space and reduce processing costs, two grippers 1 are symmetrically arranged on a mounting bracket 9 via a shared sliding seat 75.

[0048] The main technical features, basic principles, and related advantages of this utility model have been described above. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the concept or basic characteristics of this utility model. Therefore, the above-described embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model.

[0049] Furthermore, it should be understood that although this specification describes various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A PIN clamping module, comprising grippers (1), characterized in that, The gripper (1) includes: A male claw (11) has two symmetrical protruding clamping strips (111) on its clamping part, and a small V-groove (112) is opened between the two clamping strips (111). One female claw (12), the gripping part of the female claw (12) has a large V groove (121); The large V-groove (121) can cover the clamping strip (111).

2. The PIN clipping module according to claim 1, characterized in that, The included angle formed by the female claw (12) clamping part and the male claw (11) clamping bar part (111) gradually decreases from the clamping front end to the rear end.

3. A PIN clipping module according to claim 2, characterized in that, It also includes a swing arm (2) and a pusher (3). There are two swing arms (2) symmetrically arranged, with male claw (11) and female claw (12) fixedly installed at their front ends respectively. The two swing arms (2) are pushed by the pusher (3) so that the male claw (11) and female claw (12) move closer to each other or further away from each other.

4. A PIN clipping module according to claim 3, characterized in that, Both swing arms (2) have a hinge (23) in the middle. The two swing arms (2) have a clamping inclined surface (21) and an opening inclined surface (22) on the inner side of their respective rear ends. The push head (3) has an outer inclined surface (31) on the outer side and an inner inclined surface (32) on the inner side. When the push head (3) moves, the clamping inclined surface (21) and the outer inclined surface (31) work together to drive the male claw (11) and the female claw (12) to move closer to each other. The opening inclined surface (22) and the inner inclined surface (32) work together to drive the male claw (11) and the female claw (12) to move away from each other.

5. A PIN clipping module according to claim 4, characterized in that, It also includes a retainer (4), on which a pin (41) is fixedly mounted. The pin (41) passes through the hinge (23) to rotatably connect the swing arm (2) with the retainer (4).

6. A PIN clipping module according to claim 5, characterized in that, It also includes an adapter plate (5) and a clamping drive (6). The retainer (4) is fixedly mounted on the adapter plate (5). The adapter plate (5) is fixedly connected to the clamping drive (6). The output end of the clamping drive (6) passes through the adapter plate (5) and is fixedly connected to the push head (3).

7. A PIN clipping module according to claim 6, characterized in that, It also includes a sliding assembly (7), a sliding drive (8) and a mounting bracket (9). The sliding drive (8) is mounted on the mounting bracket (9) and drives the sliding assembly (7) to move. The sliding assembly (7) drives the clamping drive (6) to move, and then drives the gripper (1) to move synchronously through the adapter plate (5), the retainer (4) and the swing arm (2).

8. A PIN clip holding module according to claim 7, characterized in that, The sliding assembly (7) includes a top plate (71), a sliding rod (72), a sliding sleeve (73), a fixing frame (74), and a sliding seat (75). The output end of the sliding drive (8) passes through the mounting frame (9) and is fixedly connected to one side of the top plate (71). The other side of the top plate (71) is fixedly connected to one end of the sliding rod (72). The sliding rod (72) is covered with a sliding sleeve (73). The sliding sleeve (73) is fixedly connected to the mounting frame (9) through the fixing frame (74). The other end of the sliding rod (72) is fixedly connected to the sliding seat (75). The clamping drive (6) is fixedly installed on the sliding seat (75).

9. A PIN clipping module according to claim 8, characterized in that, The clamping drive (6) and the sliding drive (8) are cylinders or electric push rods.

10. A PIN clipping module according to any one of claims 1 to 9, characterized in that, Each clamping module can be symmetrically and / or arrayed with multiple sets of individually controlled grippers (1).

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