Automatic clamping device

Abstract

This utility model relates to the field of battery production and processing equipment technology, and discloses an automatic clamping device, including a multi-axis robot and a first fixture. The multi-axis robot includes a robot body and a manipulator. The manipulator includes a mounting base, a clamping mechanism, and a first pressing part. A set of first pressing parts are respectively provided on both sides of the mounting base along a first direction. The clamping mechanism is mounted on the mounting base. The first fixture includes a first positioning support part, a first elastic part, and a first limiting mechanism. A first limiting mechanism is respectively provided on both sides of the first positioning support part along the first direction. The first elastic part is fixed below the first positioning support part and connected to the first limiting mechanism. The robot body can drive the manipulator to move downward in the vertical direction, so that the two sets of first limiting mechanisms open to completely offset from the top cover and the vest. The clamping mechanism can clamp the top cover on both sides along the first direction. This utility model, by driving the first fixture to open with the manipulator, can prevent the top cover and vest from vibrating or shifting.

Description

Technical Field

[0001] This utility model relates to the field of battery production and processing equipment technology, and in particular to an automatic clamping device. Background Technology

[0002] In the battery manufacturing process, the fixtures used to place the top cover and the vest are generally active release fixtures, such as clamping fixtures. The clamping fixture clamps the edge of the vest with pneumatic grippers. After receiving the pick-up signal, the robot moves above the clamping fixture to pick up the part. Before picking up the part, the clamping fixture needs to actively open the grippers. After the grippers are fully opened, the robot picks up the workpiece and transfers it to another fixture or other workstations.

[0003] Existing clamping fixtures have the following technical problems in practical applications: the pneumatic grippers of the clamping fixture may cause workpiece vibration or displacement if the opening speed is too fast, and the grippers wear after long-term use, resulting in a decrease in the accuracy of the opening stroke. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide an automatic clamping device that can prevent the top cover and vest from vibrating or shifting.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automatic clamping device is provided, comprising a multi-axis robot and a first fixture. The multi-axis robot includes a robot body and a manipulator connected by a transmission connection. The manipulator includes a mounting base, a clamping mechanism, and a first pressing part. A set of the first pressing parts is respectively provided on both sides of the mounting base along a first direction. The clamping mechanism is mounted on the mounting base. The first fixture includes a first positioning support, a first elastic part, and a first limiting mechanism. The first positioning support is used to hold a top cover and a vest. A set of the first limiting mechanisms is respectively provided on both sides of the first positioning support along the first direction. The first elastic part is fixed to the first positioning support. Below and connected to the first limiting mechanism, the first limiting mechanism extends above the vest suspended on the first positioning support to block the vest, the first elastic part causes the two sets of opposing first limiting mechanisms to always tend to move closer to each other along the first direction, the robot body can drive the manipulator to move downward in the vertical direction and make the two sets of first pressing parts press against one of the sets of first limiting mechanisms respectively, so that the two sets of first limiting mechanisms open up to be completely offset from the top cover and the vest, the clamping mechanism can clamp the top cover on both sides along the first direction, the first direction being perpendicular to the vertical direction.

[0007] As a further embodiment of the automatic clamping device, the first pressing part includes a first bracket and a first bearing. The first bracket is fixed to one side of the mounting base along the first direction, and the first bearing is rotatably mounted on the first bracket. The first fixture also includes a base plate, and the first positioning support and the first elastic part are mounted on the base plate. The first limiting mechanism includes a first connecting part, a first limiting part, and a first transmission part. The first transmission part is connected to the first connecting part and the first elastic part. A first guide slope is provided on the inner side of the first transmission part and at its upper end. One end of the first limiting part is connected to the first connecting part, and the other end extends along the first direction to be suspended above the first positioning support. When the robot body drives the manipulator to move downward, the first bearings of the two sets of first pressing parts respectively roll into contact with one of the first guide slopes, causing the two sets of first limiting parts to move away from each other along the first direction. When the robot body drives the manipulator to move upward until it separates from the first guide slope, the two sets of first limiting parts move closer to each other along the first direction until the first limiting part is located above the first positioning support.

[0008] As a further embodiment of the automatic clamping device, the first limiting mechanism further includes a first guide structure, which is mounted on the substrate. The first transmission part is slidably connected to the substrate through the first guide structure, and the first guide structure is used to guide the sliding of the first transmission part along the first direction.

[0009] As a further embodiment of the automatic clamping device, the first elastic part includes a first spring seat and two first springs. The first spring seat is fixed on the base plate, and each end of the first spring seat along the first direction is connected to a first transmission part through a first spring.

[0010] As a further embodiment of the automatic clamping device, the number of the first positioning support is two, the two first positioning support are spaced apart along the second direction, the first transmission part is spaced apart between the two first positioning support, the first connecting part is located above the first positioning support and spaced apart from the first positioning support, the length of the first connecting part extends along the second direction, the first limiting mechanism includes two sets of first limiting parts, and each first positioning support corresponds to one set of first limiting parts above it; the robot arm includes two sets of clamping mechanisms, the two sets of clamping mechanisms correspond one-to-one with the two first positioning support, the first pressing part is located between the two sets of clamping mechanisms, and the first direction, the second direction and the vertical direction are perpendicular to each other.

[0011] As a further embodiment of the automatic clamping device, the robotic arm also includes multiple suction cups, which are spaced apart and installed below the mounting base. When the clamping mechanism holds the top cover, the suction cups can adsorb the vest placed on the top cover; and / or,

[0012] The robotic arm also includes multiple buffers, which are spaced apart and installed below the mounting base. When the clamping mechanism holds the top cover, the buffers can abut against the top cover.

[0013] As a further embodiment of the automatic clamping device, a second fixture and two sets of pressing mechanisms are also included. The second fixture includes a second positioning support, a second elastic part, and a second limiting mechanism. The second positioning support is used to hold the top cover and the vest. A set of second limiting mechanisms is installed on each of the two sides of the second positioning support along a third direction. The second elastic part is installed below the second positioning support and connected to the second limiting mechanism. The second limiting mechanism extends partially above the vest, which is suspended above the second positioning support, to stop the vest. The second elastic part ensures that the two sets of opposing second limiting mechanisms always maintain a certain position. There is a tendency for them to move closer to each other along the third direction; each set of the second limiting mechanisms is provided with a set of the pressing mechanisms below it. The pressing mechanism includes a driving member and a second pressing part that is pulsatorically connected to the output end of the driving member. The driving member can drive the second pressing part to move upward in the vertical direction and press the second pressing part against the corresponding second limiting mechanism, so that the two sets of second limiting mechanisms open up to be completely offset from the top cover and vest above the second positioning support. The clamping mechanism can release the top cover and vest it has clamped onto the second positioning support. The third direction is perpendicular to the vertical direction.

[0014] As a further embodiment of the automatic clamping device, the second pressing part includes a second bracket and a second bearing. The output end of the driving member is tractively connected to the second bracket, and the second bearing is rotatably mounted on the second bracket. The second limiting mechanism includes a second connecting part, a second limiting part, and a second transmission part. The second connecting part is located on one side of the second positioning support part along the third direction. The upper end of the second connecting part is connected to the second limiting part, and the lower end of the second connecting part is connected to the second transmission part. The second limiting part extends above the second positioning support part, and the second transmission part is located below the second positioning support part. A second guide slope is provided on the inner side of the second transmission part and at its lower end. When the driving member drives the second pressing part to move upward, the second bearings of the two sets of second pressing parts respectively roll into contact with one of the second guide slopes, and the second limiting parts of the two sets of second limiting mechanisms move away from each other along the third direction. When the driving member drives the robot to move downward until it separates from the second guide slope, the two sets of second limiting parts move closer to each other along the third direction until the second limiting part is located above the second positioning support part.

[0015] As a further embodiment of the automatic clamping device, the second limiting mechanism further includes a second guide structure. The second guide structure is installed below the second positioning support. The second transmission part is slidably connected to the second positioning support through the second guide structure. The second guide structure is used to guide the sliding of the second transmission part along the third direction.

[0016] As a further embodiment of the automatic clamping device, the second elastic part includes two second spring seats and two second springs. The two second spring seats are fixedly spaced below the second positioning support part along the third direction. The second transmission parts of the two sets of second limiting mechanisms are respectively connected to one second spring seat through one second spring.

[0017] The automatic clamping device also includes a photoelectric sensor, which is located below the second positioning support and between the two sets of the pressing mechanisms. The second positioning support is provided with a clearance hole in the vertical direction for the signal of the photoelectric sensor to pass through. The clearance hole is located between the two second spring seats.

[0018] Beneficial effects: This utility model links the up-and-down movement of the robotic arm with the opening and closing of the first limiting mechanism of the first fixture. When the first pressing part of the robotic arm contacts the first limiting mechanism of the first fixture, the up-and-down movement of the robotic arm triggers the opening and closing of the two first limiting mechanisms to limit or release the top cover and vest on the first positioning support. During the opening of the two sets of first limiting mechanisms, the top cover and vest on the first positioning support will not vibrate or shift, thus avoiding the collision between the gripping mechanism of the robotic arm and the shifted top cover or vest, which would damage the top cover or vest.

[0019] In this utility model, when the first fixture has two sets of first positioning support parts and the number of second fixtures is at least two, the robotic arm of this embodiment can pick up one and put down two on the top cover and vest at the same time, that is, it can pick up two sets of top covers and vests on the first fixture at one time and release one set of top covers and vests onto two second fixtures in turn, which has high work efficiency. Attached Figure Description

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the structure of the automatic clamping device described in an embodiment of the present invention. Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the structure of the automatic clamping device described in an embodiment of the present invention. Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the structure of the robotic arm described in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the first fixture (with one first positioning support removed) in an embodiment of the present utility model;

[0025] Figure 5 This is a schematic diagram of the assembly structure of the second fixture, the pressing mechanism, and the photoelectric sensor in an embodiment of the present invention.

[0026] In the picture:

[0027] 1. Top cover; 2. Vest;

[0028] 100. Multi-axis robot; 110. Robot body; 120. Manipulator; 121. Mounting base; 122. Gripping mechanism; 1221. Cylinder; 1222. Clamp; 123. First pressing part; 1231. First bracket; 1232. First bearing; 124. Suction cup; 125. Buffer;

[0029] 200, First fixture; 210, First positioning support; 211, First positioning plate; 212, Limiting block; 220, First elastic part; 221, First spring seat; 222, First spring; 230, First limiting mechanism; 231, First connecting part; 232, First limiting part; 233, First transmission part; 2331, First guide slope; 234, First guide structure; 240, Base plate;

[0030] 300. Second fixture; 310. Second positioning support; 320. Second elastic part; 321. Second spring seat; 322. Second spring; 330. Second limiting mechanism; 331. Second connecting part; 332. Second limiting part; 333. Second transmission part; 3331. Second guide slope; 334. Second guide structure;

[0031] 400, Pressing mechanism; 410, Driving component; 420, Second pressing part; 421, Second bracket; 422, Second bearing;

[0032] 500. Photoelectric sensor. Detailed Implementation

[0033] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0034] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly 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 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 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.

[0036] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationships shown in the accompanying drawings. They are used solely for ease of description and simplification of operation, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are merely used for distinction in description and have no special meaning.

[0037] like Figures 1 to 5 As shown, this embodiment provides an automatic clamping device, including a multi-axis robot 100 and a first fixture 200. The multi-axis robot 100 includes a robot body 110 and a manipulator 120 connected by transmission. The manipulator 120 includes a mounting base 121, a clamping mechanism 122, and a first pressing part 123. A set of first pressing parts 123 are respectively provided on both sides of the mounting base 121 along a first direction (X direction in the figure). The clamping mechanism 122 is mounted on the mounting base 121. The first fixture 200 includes a first positioning support part 210, a first elastic part 220, and a first limiting mechanism 230. The first positioning support part 210 is used to place the top cover 1 and the vest 2. A set of first limiting parts are respectively provided on both sides of the first positioning support part 210 along the first direction. Mechanism 230, the first elastic part 220 is fixed below the first positioning support part 210 and connected to the first limiting mechanism 230. The first limiting mechanism 230 extends to the top of the vest 2 suspended on the first positioning support part 210 to stop the vest 2. The first elastic part 220 makes the two sets of opposing first limiting mechanisms 230 always tend to move closer to each other along the first direction. The robot body 110 can drive the manipulator 120 to move downward in the vertical direction and make the two sets of first pressing parts 123 press against one of the sets of first limiting mechanisms 230 respectively, so that the two sets of first limiting mechanisms 230 open to be completely offset from the top cover 1 and the vest 2. The clamping mechanism 122 can clamp the top cover 1 on both sides along the first direction, the first direction being perpendicular to the vertical direction.

[0038] Understandably, in the initial state, the top cover 1 and the vest 2 above it are positioned together on the first positioning support 210 of the first fixture 200. The two sets of first limiting mechanisms 230 are in a limiting state under the action of the first elastic part 220, that is, the two sets of first limiting mechanisms 230 extend partially above the vest 2 to limit the vest 2, preventing the vest 2 on the first fixture 200 from shaking or falling off during transportation. When the robot body 110 of the multi-axis robot 100 drives the manipulator 120 to move above the first fixture 200 and drives the manipulator 120 to move downwards until the two first pressing parts 123 respectively meet one of the first limiting mechanisms 2 When the first limiting mechanism 230 is pressed, it opens up under the action of the first pressing part 123, overcoming the force of the first elastic part 220, so that the first limiting mechanism 230 is completely misaligned with the vest 2 and the top cover 1 above the first positioning support part 210; at this time, the gripping mechanism 122 of the robot arm 120 opens and grips the top cover 1 above the first positioning support part 210 on both sides along the first direction, and then moves upward to transfer the top cover 1 and vest 2 to the next work station; during the upward movement of the robot arm 120, the first pressing part 123 and the first limiting mechanism 230 gradually separate, and the force of the first elastic part 220 on the two first limiting mechanisms 230 returns to the initial state. In this embodiment, the vertical movement (vertical direction, i.e., the Z direction in the figure) of the robotic arm 120 is associated with the opening and closing of the first limiting mechanism 230 of the first fixture 200. When the first pressing part 123 of the robotic arm 120 comes into contact with the first limiting mechanism 230 of the first fixture 200, the vertical movement of the robotic arm 120 triggers the opening and closing of the two first limiting mechanisms 230 to limit or release the vest 2 on the first positioning support 210. Since the first limiting mechanism 230 does not come into contact with the top cover 1 and the vest 2, the top cover 1 and the vest 2 on the first positioning support 210 will not vibrate or shift during the opening of the two sets of first limiting mechanisms 230, thus avoiding the collision between the gripping mechanism 122 of the robotic arm 120 and the shifted top cover 1 or vest 2, which would damage the top cover 1 or vest 2.

[0039] In this embodiment, the multi-axis robot 100 is a four-axis robot (also known as a four-joint robot), and the structure and working principle of the robot body 110 are conventional technologies in the field.

[0040] In other embodiments, the multi-axis robot 100 can also be designed as a three-axis, five-axis, or six-axis robot, depending on actual needs.

[0041] like Figure 3 and Figure 4As shown, the first pressing part 123 includes a first bracket 1231 and a first bearing 1232. The first bracket 1231 is fixed to one side of the mounting base 121 along the first direction, and the first bearing 1232 is rotatably mounted on the first bracket 1231. The first fixture 200 also includes a base plate 240. The first positioning support part 210 and the first elastic part 220 are mounted on the base plate 240. The first limiting mechanism 230 includes a first connecting part 231, a first limiting part 232, and a first transmission part 233. The first transmission part 233 is connected to the first connecting part 231 and the first elastic part 220. A first limiting part 233 is provided inside the first transmission part 233 and at the upper end of the first transmission part 233. A guide ramp 2331 is provided. One end of the first limiting part 232 is connected to the first connecting part 231, and the other end extends along the first direction to be suspended above the first positioning support part 210. When the robot body 110 drives the manipulator 120 to move downward, the first bearings 1232 of the two sets of first pressing parts 123 respectively roll into contact with a first guide ramp 2331, so that the two sets of first limiting parts 232 move away from each other along the first direction. When the robot body 110 drives the manipulator 120 to move upward until it separates from the first guide ramp 2331, the two sets of first limiting parts 232 move closer to each other along the first direction until the first limiting part 232 is located above the first positioning support part 210.

[0042] In this context, the inner side of the first transmission part 233 refers to the side of the first transmission part 233 of the two sets of first limiting mechanisms 230 that are opposite each other along the first direction. The first guide slope 2331 is located at the lower end of the first transmission part 233 and is located on the inner side. The first bearing 1232 is rotatably mounted below the mounting base 121 via the first bracket 1231 and is located on the side of the mounting base 121 along the first direction. When the robot body 110 drives the manipulator 120 to move downward, the first bearing 1232 can engage with the first guide slope 233. 1. Rolling contact: Under the rolling pressure of the two first bearings 1232, the two first transmission parts 233 simultaneously drive the first connecting part 231 and the first limiting part 232 to move in a direction away from each other. When the first transmission part 233 moves into position along the first direction, the first limiting part 232 is completely misaligned with the top cover 1 and the vest 2 on the first positioning support part 210, thereby releasing the limiting part 232 from restricting the top cover 1 and the vest 2. At this time, the clamping operation of the top cover 1 can be started by the clamping mechanism 122. In this embodiment, the first bearing 1232 and the first guide slope 2331 of the first transmission part 233 roll contact, resulting in low transmission resistance and reducing wear on the first bearing 1232 and the first transmission part 233.

[0043] In other specific embodiments, the first guide slope 2331 can also be replaced by an arc surface with a certain curvature, and the first bearing 1232 rolls with the arc surface to drive the first transmission part 233 to move along the first direction; in another specific embodiment, the first pressing part 123 can also be designed as a pressing plate, which has a driving slope that is parallel to and directly opposite the first guide slope 2331. The first transmission part 233 moves along the first direction by pressing the first guide slope 2331 with the driving slope.

[0044] In this embodiment, the first limiting part 232 includes two limiting rods spaced apart along the second direction, and the two limiting rods are respectively suspended above the vest 2 placed on the top cover 1.

[0045] Furthermore, the first limiting mechanism 230 also includes a first guide structure 234, which is mounted on the base plate 240. The first transmission part 233 is slidably connected to the base plate 240 through the first guide structure 234. The first guide structure 234 guides the sliding of the first transmission part 233 along the first direction. By providing the first guide structure 234, the stability of the reciprocating movement of the first transmission part 233 along the first direction can be improved.

[0046] For example, the first guide structure 234 includes a slidingly fitted first slide rail and a first slide block. The first slide rail is fixed on the base, the first slide block is fixedly connected to the first transmission part 233, the length of the first slide rail extends along a first direction, and the first slide block or the first transmission part 233 is connected to the first elastic part 220.

[0047] Furthermore, the first elastic part 220 includes a first spring seat 221 and two first springs 222. The first spring seat 221 is fixed on the base plate 240, and each end of the first spring seat 221 along the first direction is connected to a first transmission part 233 via a first spring 222. By providing two first springs 222, each connected to a first transmission part 233, the stability of the first transmission part 233 in returning to its initial state can be improved, thereby enhancing the limiting effect of the first limiting part 232 on the vest 2.

[0048] In one specific embodiment, there are two first positioning support parts 210, which are spaced apart along the second direction (Y direction in the figure). The first transmission part 233 is spaced apart between the two first positioning support parts 210. The first connecting part 231 is located above the first positioning support part 210 and spaced apart from it. The length of the first connecting part 231 extends along the second direction. The first limiting mechanism 230 includes two sets of first limiting parts 232, with one set of first limiting parts 232 corresponding to the top of each first positioning support part 210. The robot arm 120 includes two sets of clamping mechanisms 122, which correspond one-to-one with the two first positioning support parts 210. The first pressing part 123 is located between the two sets of clamping mechanisms 122. The first direction, the second direction and the vertical direction are perpendicular to each other.

[0049] By setting two first positioning support parts 210 and two sets of clamping mechanisms 122 on the mounting base 121, two sets of top covers 1 and vests 2 can be clamped at once, resulting in high work efficiency. The first transmission part 233 is located between the two sets of first positioning support parts 210 and is spaced apart from the two sets of first positioning support parts 210 to prevent the first transmission part 233 from touching the top cover 1 and vest 2 on the first positioning support parts 210 and causing damage to the top cover 1 and vest 2.

[0050] Each clamping mechanism 122 includes a cylinder 1221 and two clamps 1222 that are pulsatorically connected to the cylinder 1221. The two clamps 1222 are located on both sides of the mounting base 121 along the first direction. The first positioning support part 210 includes a first positioning plate 211 and L-shaped limiting blocks 212 disposed at the four corners of the first positioning plate. The two limiting blocks 212 along the second direction form clearance grooves for the corresponding clamps 1222 to pass through. The end face of the top cover 1 along the first direction is directly opposite the clearance groove. When the first limiting mechanism 230 opens, the cylinder 1221 can drive the clamps 1222 to smoothly clamp the top cover 1.

[0051] Furthermore, in order to prevent the vest 2 from shaking or shifting during the gripping mechanism 122 of the robotic arm 120 gripping the top cover 1, the robotic arm 120 also includes multiple suction cups 124. The multiple suction cups 124 are spaced apart and installed below the mounting base 121. When the gripping mechanism 122 grips the top cover 1, the suction cups 124 can adsorb the vest 2 placed on the top cover 1.

[0052] In this embodiment, the robotic arm 120 also includes multiple buffers 125, which are spaced apart and installed below the mounting base 121. When the clamping mechanism 122 clamps the top cover 1, the buffers 125 can abut against the top cover 1, thereby improving the stability of the top cover 1 during the transfer process.

[0053] Specifically, the buffer 125 can provide elastic pressure against the top cover 1, preventing the top cover 1 from being damaged due to rigid contact between the buffer 125 and the top cover 1. The structure of the buffer 125 in this embodiment is conventional technology, and will not be described in detail here.

[0054] Of course, in further embodiments of this utility model, such as Figure 3 As shown, multiple suction cups 124 and multiple buffers 125 are simultaneously arranged below the mounting base 121. The suction cups 124 adhere to and fix the vest 2, while the buffers 125 provide elastic pressure against the top cover 1, achieving stable transfer of the top cover 1 and the vest 2. For example, four suction cups 124 are provided below the mounting base 1 for each set of vests 2 on the top cover 1, and four buffers 125 are provided below the mounting base 121 for each set of top covers 1. The four buffers 125 are respectively located near the four corners of the top cover 1, and each buffer 125 is adjacent to one suction cup 124. The suction cups 124 adopt a vacuum suction cup structure, the details of which will not be elaborated further.

[0055] The automatic clamping device in this embodiment also includes a second fixture 300 and two sets of pressing mechanisms 400, such as Figure 1 , Figure 2 and Figure 5 As shown, the second fixture 300 includes a second positioning support 310, a second elastic part 320, and a second limiting mechanism 330. The second positioning support 310 is used to position and place the top cover 1 and the vest 2. A set of second limiting mechanisms 330 are respectively installed on both sides of the second positioning support 310 along the third direction (direction O in the figure). The second elastic part 320 is installed below the second positioning support 310 and connected to the second limiting mechanism 330. The second limiting mechanism 330 extends to the top of the vest 2, which is suspended on the second positioning support 310, to stop the vest 2. The second elastic part 320 ensures that the two sets of opposing second limiting mechanisms 330 always have mutual contact along the third direction. The recent trend; each set of second limiting mechanisms 330 is provided with a set of pressing mechanisms 400 below it. The pressing mechanism 400 includes a driving member 410 and a second pressing part 420 that is pulsatorically connected to the output end of the driving member 410. The driving member 410 can drive the second pressing part 420 to move upward in the vertical direction (Z direction in the figure) and press the second pressing part 420 against the corresponding second limiting mechanism 330 so that the two sets of second limiting mechanisms 330 open up to be completely offset from the top cover 1 and vest 2 above the second positioning support 310. The clamping mechanism 122 can release the top cover 1 and vest 2 it clamps onto the second positioning support 310, and the third direction is perpendicular to the vertical direction.

[0056] In this process, the gripping mechanism 122 of the robotic arm 120 grips the top cover 1 and vest 2 on the first fixture 200 and moves them above the second fixture 300, releasing the top cover 1 and vest 2 onto the second fixture 300. Before the gripping mechanism 122 releases the top cover 1 and vest 2, the drive member 410 drives the second pressing part 420 to move upward to press against the second limiting mechanism 330. Through this pressing, the two sets of second limiting mechanisms 330 overcome the force of the second elastic part 320 and open up to be completely misaligned with the second positioning support part 310. Then, the gripping mechanism 122 releases the top cover 1 and vest 2 onto the second positioning support part 310. The drive member 410 then drives the second pressing part 420 to move downward to be completely separated from the second limiting mechanism 330. Under the action of the second elastic part 320, the two sets of second limiting mechanisms 330 move to be directly above the vest 2 on the second positioning support part 310, limiting the vest 2.

[0057] Optionally, the driving component 410 in this embodiment is a cylinder or a linear motor.

[0058] The structure of the second positioning support 310 is the same as that of the first positioning support 210 described above, and will not be repeated here.

[0059] When the first fixture 200 has two sets of first positioning support parts 210 and the number of second fixtures 300 is at least two, the robot arm 120 in this embodiment can pick up one and put down two for the top cover 1 and vest 2, that is, it can pick up two sets of top covers 1 and vest 2 on the first fixture 200 at one time, and release one set of top covers 1 and vest 2 to the two second fixtures 300 one after another, which has high work efficiency.

[0060] Furthermore, such as Figure 5As shown, the second pressing part 420 includes a second bracket 421 and a second bearing 422. The output end of the driving member 410 is connected to the second bracket 421, and the second bearing 422 is rotatably mounted on the second bracket 421. The second limiting mechanism 330 includes a second connecting part 331, a second limiting part 332, and a second transmission part 333. The second connecting part 331 is located on one side of the second positioning support part 310 along a third direction. The upper end of the second connecting part 331 is connected to the second limiting part 332, and the lower end of the second connecting part 331 is connected to the second transmission part 333. The second limiting part 332 extends above the second positioning support part 310, and the second transmission part 333 is located on the other side of the second positioning support part 310 along a third direction. Below the second positioning support 310, inside the second transmission part 333 and at the lower end of the second transmission part 333, there is a second guide slope 3331. When the driving member 410 drives the second pressing part 420 to move upward, the second bearings 422 of the two sets of second pressing parts 420 respectively roll into contact with a second guide slope 3331, and the second limiting parts 332 of the two sets of second limiting mechanisms 330 move away from each other along the third direction. When the driving member 410 drives the robot arm 120 to move downward until it separates from the second guide slope 3331, the two sets of second limiting parts 332 move closer to each other along the third direction until the second limiting part 332 is above the second positioning support 310.

[0061] In this context, the inner side of the second transmission part 333 refers to the side of the second transmission part 333 of the two sets of second limiting mechanisms 330 that are opposite each other along a third direction. The second guide slope 3331 is located at the lower end of the second transmission part 333 and is located on the inner side. The second bearing 422 is rotatably mounted below the second positioning support part 310 via the second bracket 421 and is located on the side of the second positioning support part 310 along a third direction. When the driving member 410 drives the second bearing 422 to move upward in the vertical direction (Z direction in the figure), the second bearing 422 can move upward with the second guide slope. The second bearing 422 rolls against the second guide slope 3331 of the second transmission part 333. Under the rolling pressure of the two second bearings 422, the two second transmission parts 333 simultaneously drive the second connecting part 331 and the second limiting part 332 to move in opposite directions. When the second transmission part 333 moves into position in the third direction, the second limiting part 332 is completely misaligned with the top cover 1 and the vest 2 on the second positioning support part 310, thereby releasing the limiting part 332 from the top cover 1 and the vest 2. At this time, the clamping mechanism 122 releases the top cover 1 and the vest 2 onto the second positioning support part 310. In this embodiment, the second bearing 422 rolls against the second guide slope 3331 of the second transmission part 333, resulting in low transmission resistance and reducing wear on the second bearing 422 and the second transmission part 333.

[0062] In other specific embodiments, the second guide slope 3331 can also be replaced by an arc-shaped surface with a certain curvature, and the second bearing 422 rolls with the arc-shaped surface to drive the second transmission part 333 to move in a third direction; in another specific embodiment, the second pressing part 420 can also be designed as a pressing plate, which has a driving slope parallel to and facing the second guide slope 3331. The movement of the second transmission part 333 in a third direction is realized by the pressing of the driving slope against the second guide slope 3331.

[0063] In this embodiment, the structure of the second limiting part 332 is the same as that of the first limiting part 232, and will not be described in detail here.

[0064] Optionally, the first direction and the third direction may be the same or different. The robot body 110 can move above the second fixture 300 according to the position of the second fixture 300 and release the top cover 1 and vest 2 onto the second positioning support part 310 of the second fixture 300.

[0065] Furthermore, the second limiting mechanism 330 also includes a second guide structure 334, which is installed below the second positioning support 310. The second transmission part 333 is slidably connected to the second positioning support 310 through the second guide structure 334. The second guide structure 334 guides the sliding of the second transmission part 333 along a third direction. By providing the second guide structure 334, the stability of the reciprocating movement of the second transmission part 333 along a third direction can be improved.

[0066] For example, the second guide structure 334 includes a slidingly fitted second slide rail and a second slide block. The second slide rail is fixed below the second positioning support 310, and the second slide block is fixedly connected to the second transmission part 333. The length of the second slide rail extends in a third direction, and the second slide block or the second transmission part 333 is connected to the second elastic part 320.

[0067] Furthermore, the second elastic part 320 includes two second spring seats 321 and two second springs 322. The second spring seats 321 are fixed below the second positioning support part 310. The second transmission parts 333 of the two sets of second limiting mechanisms 330 are respectively connected to a second spring seat 321 through a second spring 322. By setting two second springs 322, each connected to a second transmission part 333, the stability of the second transmission part 333 in returning to its initial state can be improved, thereby improving the limiting effect of the second limiting part 332 on the vest 2. The automatic clamping device also includes a photoelectric sensor 500. The photoelectric sensor 500 is located below the second positioning support part 310 and between the two sets of pressing mechanisms 400. The second positioning support part 310 is provided with a clearance hole in the vertical direction for the signal of the photoelectric sensor 500 to pass through. The clearance hole is located between the two second spring seats 321. In this embodiment, two second spring seats 321 are provided to reserve space for the opening of the clearance hole and to prevent the second spring seats 321 from blocking the signal of the photoelectric sensor 500. The photoelectric sensor 500 determines whether the second positioning support is in an unloaded state.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. 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, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic clamping device, characterized in that, The system includes a multi-axis robot (100) and a first fixture (200). The multi-axis robot (100) includes a robot body (110) and a manipulator (120) connected by a transmission. The manipulator (120) includes a mounting base (121), a clamping mechanism (122), and a first pressing part (123). The mounting base (121) has a set of first pressing parts (123) on both sides along a first direction. The clamping mechanism (122) is mounted on the mounting base (121). The first fixture (200) includes a first positioning support part (210), a first elastic part (220), and a first limiting mechanism (230). The first positioning support part (210) is used to place a top cover (1) and a vest (2). The first positioning support part (210) has a set of first limiting mechanisms (230) on both sides along the first direction. The first elastic part (220) has a set of first limiting mechanisms (230) on both sides along the first direction. The first elastic part (220) is fixed below the first positioning support (210) and connected to the first limiting mechanism (230). The first limiting mechanism (230) extends to the top of the vest (2) suspended above the first positioning support (210) to block the vest (2). The first elastic part (220) makes the two sets of opposing first limiting mechanisms (230) always tend to move closer to each other along the first direction. The robot body (110) can drive the manipulator (120) to move downward in the vertical direction and make the two sets of first pressing parts (123) press against one of the sets of first limiting mechanisms (230) respectively, so that the two sets of first limiting mechanisms (230) open to be completely offset from the top cover (1) and the vest (2). The clamping mechanism (122) can clamp the top cover (1) on both sides along the first direction, which is perpendicular to the vertical direction.

2. The automatic clamping device according to claim 1, characterized in that, The first pressing part (123) includes a first bracket (1231) and a first bearing (1232). The first bracket (1231) is fixed to one side of the mounting base (121) along the first direction, and the first bearing (1232) is rotatably mounted on the first bracket (1231). The first fixture (200) also includes a base plate (240), and the first positioning support part (210) and the first elastic part (220) are mounted on the base plate (240). The first limiting mechanism (230) includes a first connecting part (231), a first limiting part (232), and a first transmission part (233). The first transmission part (233) is connected to the first connecting part (231) and the first elastic part (220). The inner side of the first transmission part (233) and located at the upper end of the first transmission part (233) are provided with The first guide slope (2331) has one end of the first limiting part (232) connected to the first connecting part (231) and the other end extending along the first direction to be suspended above the first positioning support part (210). When the robot body (110) drives the manipulator (120) to move downward, the first bearings (1232) of the two sets of first pressing parts (123) respectively roll into contact with one of the first guide slopes (2331), so that the two sets of first limiting parts (232) move away from each other along the first direction. When the robot body (110) drives the manipulator (120) to move upward to separate from the first guide slope (2331), the two sets of first limiting parts (232) move closer to each other along the first direction until the first limiting part (232) is located above the first positioning support part (210).

3. The automatic clamping device according to claim 2, characterized in that, The first limiting mechanism (230) further includes a first guide structure (234), which is mounted on the substrate (240). The first transmission part (233) is slidably connected to the substrate (240) through the first guide structure (234). The first guide structure (234) is used to guide the sliding of the first transmission part (233) along the first direction.

4. The automatic clamping device according to claim 2, characterized in that, The first elastic part (220) includes a first spring seat (221) and two first springs (222). The first spring seat (221) is fixed on the base plate (240). The two ends of the first spring seat (221) along the first direction are respectively connected to a first transmission part (233) through a first spring (222).

5. The automatic clamping device according to claim 2, characterized in that, The number of the first positioning support (210) is two, and the two first positioning support (210) are spaced apart along the second direction. The first transmission part (233) is spaced apart between the two first positioning support (210). The first connecting part (231) is located above the first positioning support (210) and spaced apart from the first positioning support (210). The length of the first connecting part (231) extends along the second direction. The first limiting mechanism (230) includes two sets of first limiting parts (232), and each first positioning support (210) is above a set of first limiting parts (232). The robot (120) includes two sets of clamping mechanisms (122), and the two sets of clamping mechanisms (122) correspond one-to-one with the two first positioning support (210). The first pressing part (123) is located between the two sets of clamping mechanisms (122). The first direction, the second direction and the vertical direction are perpendicular to each other.

6. The automatic clamping device according to claim 5, characterized in that, The robotic arm (120) also includes multiple suction cups (124), which are spaced apart and installed below the mounting base (121). When the clamping mechanism (122) clamps the top cover (1), the suction cups (124) can adsorb the vest (2) placed on the top cover (1); and / or, The robotic arm (120) also includes a plurality of buffers (125), which are spaced apart and installed below the mounting base (121). When the clamping mechanism (122) clamps the top cover (1), the buffers (125) can abut against the top cover (1).

7. The automatic clamping device according to any one of claims 1 to 6, characterized in that, It also includes a second fixture (300) and two sets of pressing mechanisms (400). The second fixture (300) includes a second positioning support (310), a second elastic part (320), and a second limiting mechanism (330). The second positioning support (310) is used to place the top cover (1) and the vest (2). A set of second limiting mechanisms (330) is installed on both sides of the second positioning support (310) along the third direction. The second elastic part (320) is installed below the second positioning support (310) and connected to the second limiting mechanism (330). The second limiting mechanism (330) extends to the top of the vest (2) suspended on the second positioning support (310) to block the vest (2). The second elastic part (320) makes the two sets of opposing second limiting mechanisms (330) always tend to move closer to each other along the third direction. Below each set of second limiting mechanisms (330) is a set of pressing mechanisms (400). The pressing mechanism (400) includes a driving member (410) and a second pressing part (420) that is pulsatorically connected to the output end of the driving member (410). The driving member (410) can drive the second pressing part (420) to move upward in the vertical direction and press the second pressing part (420) against the corresponding second limiting mechanism (330) so that the two sets of second limiting mechanisms (330) open up to be completely offset from the top cover (1) and vest (2) above the second positioning support (310). The clamping mechanism (122) can release the top cover (1) and vest (2) it clamps onto the second positioning support (310). The third direction is perpendicular to the vertical direction.

8. The automatic clamping device according to claim 7, characterized in that, The second pressing part (420) includes a second bracket (421) and a second bearing (422). The output end of the driving member (410) is connected to the second bracket (421) in a transmission manner. The second bearing (422) is rotatably mounted on the second bracket (421). The second limiting mechanism (330) includes a second connecting part (331), a second limiting part (332), and a second transmission part (333). The second connecting part (331) is located on one side of the second positioning support part (310) along the third direction. The upper end of the second connecting part (331) is connected to the second limiting part (332), and the lower end of the second connecting part (331) is connected to the second transmission part (333). The second limiting part (332) extends above the second positioning support part (310), and the second transmission part (333) is located on the third direction. Below the second positioning support (310), inside the second transmission part (333) and at the lower end of the second transmission part (333), there is a second guide slope (3331). When the driving member (410) drives the second pressing part (420) to move upward, the second bearings (422) of the two sets of second pressing parts (420) respectively roll into contact with one of the second guide slopes (3331), and the second limiting parts (332) of the two sets of second limiting mechanisms (330) move away from each other along the third direction. When the driving member (410) drives the robot (120) to move downward to separate from the second guide slope (3331), the two sets of second limiting parts (332) move closer to each other along the third direction until the second limiting part (332) is above the second positioning support (310).

9. The automatic clamping device according to claim 8, characterized in that, The second limiting mechanism (330) further includes a second guide structure (334), which is installed below the second positioning support (310). The second transmission part (333) is slidably connected to the second positioning support (310) through the second guide structure (334). The second guide structure (334) is used to guide the sliding of the second transmission part (333) along the third direction.

10. The automatic clamping device according to claim 8, characterized in that, The second elastic part (320) includes two second spring seats (321) and two second springs (322). The two second spring seats (321) are fixedly spaced below the second positioning support part (310) along the third direction. The second transmission part (333) of the two sets of second limiting mechanisms (330) are respectively connected to one second spring seat (321) through one second spring (322). The automatic clamping device also includes a photoelectric sensor (500), which is located below the second positioning support (310) and between the two sets of pressing mechanisms (400). The second positioning support (310) is provided with a clearance hole in the vertical direction for the signal of the photoelectric sensor (500) to pass through. The clearance hole is located between the two second spring seats (321).

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