Clamping mechanism, robot arm and machining device

Abstract

This application provides a clamping mechanism, a robotic arm, and a processing device. The clamping mechanism includes a support, a first clamping assembly, and a second clamping assembly. The first clamping assembly includes a first driving member and two opposing clamping members. The first driving member is disposed on the support, connected to the clamping members, and used to drive the clamping members to move along a first direction, enabling the two clamping members to clamp materials along the first direction. The second clamping assembly includes a second driving member, a carrier member, and a pressing member. The second driving member and the carrier member are disposed on the support. The carrier member is used to carry materials, and the pressing member is connected to the second driving member and spaced apart from the carrier member along a second direction, which is perpendicular to the first direction. The second driving member is used to drive the pressing member to move along the second direction, causing the pressing member to press the materials against the carrier member. The clamping mechanism can clamp materials in two perpendicular directions and provides at least two clamping methods for materials, exhibiting good versatility.

Description

Technical Field

[0001] This application relates to the field of solar cell manufacturing equipment, specifically to a clamping mechanism, a robotic arm, and processing equipment. Background Technology

[0002] In the production process of solar cells, the handling of sheet materials is involved to move their position. In related technologies, the sheet materials are usually loaded in a carrier, and a clamping mechanism cooperates with the carrier to clamp the sheet materials. However, existing clamping mechanisms usually only have one way of clamping sheet materials, resulting in poor versatility. Utility Model Content

[0003] In view of this, this application provides a clamping mechanism, a robotic arm, and a processing device to improve the technical problem of poor versatility of existing clamping mechanisms.

[0004] One embodiment of this application provides a clamping mechanism, including a bracket, a first clamping assembly, and a second clamping assembly. The first clamping assembly includes a first driving member and two opposing clamping members. The first driving member is disposed on the bracket, connected to the clamping members, and used to drive the clamping members to move along a first direction, enabling the two clamping members to clamp materials along the first direction. The second clamping assembly includes a second driving member, a carrier member, and a pressing member. The second driving member and the carrier member are disposed on the bracket. The carrier member carries materials, and the pressing member is connected to the second driving member and spaced apart from the carrier member along a second direction perpendicular to the first direction. The second driving member drives the pressing member to move along the second direction, causing the pressing member to press the materials against the carrier member.

[0005] In this application, the clamping mechanism can drive two clamping members to move relative to each other via a first driving member, thereby positioning the material box to clamp the material, so that the two clamping members clamp the material along a first direction, providing a method of clamping material; the clamping mechanism can also drive a pressing member to move towards a carrier member via a second driving member, thereby pressing the material against the carrier member, so that the carrier member and the pressing member clamp the material along a second direction, providing another method of clamping material. The clamping mechanism can clamp material in two perpendicular directions and provides at least two clamping methods for the material, exhibiting good versatility.

[0006] In some embodiments of this application, the first clamping component and the second clamping component are respectively disposed on opposite sides of the bracket; the first clamping component clamps a first material along the first direction, the first material including a material box for holding sheet material; the second clamping component clamps a second material along the second direction, the second material including a material box or a material tray for carrying the sheet material.

[0007] In some embodiments of this application, the material includes a material box for holding sheet material; the material box has protrusions on its opposite side walls; each clamping member has a positioning part, and when the two clamping members clamp the side walls of the material box respectively, the positioning part engages with the protrusion.

[0008] In some embodiments of this application, the end of the protruding post is provided with a recessed groove; the positioning part includes a positioning hole and a positioning protrusion, the positioning hole is recessed in the clamping member, the positioning protrusion passes through the positioning hole, and a gap is left between the outer side wall of the positioning protrusion and the inner side wall of the positioning hole; the positioning hole is used to accommodate the protruding post, and the positioning protrusion is used to insert into the groove; the opening of the positioning hole is provided with a rounded corner; the end of the positioning protrusion passing through the positioning hole is tapered.

[0009] In some embodiments of this application, each clamping member includes a first clamping plate and a second clamping plate, a positioning hole is provided through the first clamping plate along a first direction, a positioning protrusion is provided on the second clamping plate, and the second clamping plate is stacked on the first clamping plate so that the positioning protrusion passes through the positioning hole.

[0010] In some embodiments of this application, the material box is provided with three or more protrusions on its opposite side walls, and the protrusions are distributed along a second direction and a third direction, with the first direction, the second direction and the third direction being perpendicular to each other; each clamping member includes three or more positioning parts, and the positioning parts are distributed along a third direction; when the two clamping members clamp the material box along the first direction and the material box is placed along the second direction, the two or more positioning parts engage with the protrusions arranged along the third direction; when the two clamping members clamp the material box along the first direction and the material box is placed along the third direction, the two or more positioning parts engage with the protrusions arranged along the second direction.

[0011] In some embodiments of this application, the material box has three protrusions on each of its opposite side walls, defined as a first protrusion, a second protrusion, and a third protrusion. The first and second protrusions are spaced apart along a third direction, and the first protrusion is located near the center of the material box along the third direction. The first and third protrusions are spaced apart along a second direction, and the first and second directions are perpendicular to the third direction. Each clamping member includes three positioning parts distributed along a third direction, defined as a first positioning part, a second positioning part, and a third positioning part. When the two clamping members clamp the material box along the first direction and the material box is placed along the second direction, the first positioning part engages with the first protrusion, and the third positioning part engages with the second protrusion. When the two clamping members clamp the material box along the first direction and the material box is placed along the third direction, the first positioning part engages with the first protrusion, and the second positioning part engages with the third protrusion.

[0012] In some embodiments of this application, the pressure member includes a fixed plate, a pressure plate, a slide rod, and an elastic member. The fixed plate is disposed on the second driving member, the pressure plate is disposed on the side of the fixed plate facing the bearing member, the slide rod is disposed on the pressure member and movably passes through the fixed plate, the extension direction of the slide rod is parallel to the second direction, and the elastic member is sleeved on the slide rod and abuts against the fixed plate and the pressure plate respectively.

[0013] In some embodiments of this application, a retaining ring is provided at one end of the slide rod that passes through the fixed plate. The retaining ring is used to abut against the fixed plate when the elastic member rebounds. The bearing member includes two or more support bars spaced apart along a first direction. The support bars are used to insert into the through groove at the bottom of the material to bear and position the material. The second driving member includes a driving part and a slider. The driving part is provided on the bracket, and the side of the driving part facing away from the bracket has a guide rail. The driving part is connected to the slider, so that the slider is slidably connected to the guide rail. The slider is connected to the fixed plate. The guide rail extends along a second direction to guide the slider and the fixed plate to move along the second direction.

[0014] One embodiment of this application provides a robotic arm, including a handling mechanism and a clamping mechanism as described in the previous embodiment. The handling mechanism includes a three-axis robotic arm and a rotary drive. The three-axis robotic arm is connected to a support through the rotary drive and is used to drive the support to move, thereby driving the clamping mechanism to handle materials.

[0015] One embodiment of this application provides a processing device, including the robotic arm as described in the previous embodiment. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the scope.

[0017] Figure 1 This is a schematic diagram of the structure of a robotic arm provided in one embodiment.

[0018] Figure 2 for Figure 1 A schematic diagram of the clamping mechanism.

[0019] Figure 3 for Figure 2 Another perspective on the structural schematic diagram of the clamping mechanism.

[0020] Figure 4 for Figure 2 A schematic diagram of the structure when the first clamping component clamps the material.

[0021] Figure 5 for Figure 2 Another structural diagram of the first clamping component clamping the material.

[0022] Figure 6 for Figure 2 A schematic diagram of the second clamping component holding the material.

[0023] Figure 7 for Figure 2 A partial structural diagram of the central positioning part.

[0024] Figure 8 This is a schematic diagram of the material structure in one embodiment.

[0025] Explanation of key component symbols:

[0026] 100. Clamping mechanism; 10. Bracket; 20. First clamping assembly; 21. Clamping component; 211. Positioning part; 211a. First positioning part; 211b. Second positioning part; 211c. Third positioning part; 2111. Positioning hole; 2111a. Rounded corner; 2112. Positioning protrusion; 2112a. Insertion end; 212. First clamping plate; 213. Second clamping plate; 22. First driving component; 30. Second clamping assembly; 31. Second driving component; 311. Driving part; 3111. Guide rail; 312. Slider; 32. Bearing component; 321. Support bar; 321a. Chamfer; 33. Pressing component; 331. Fixing plate; 332. Pressure plate; 333, slide bar; 3331, retaining ring; 3332, gasket; 334, elastic element; 200, robotic arm; 210, handling mechanism; 210a, three-axis robotic arm; 210b, rotary drive component; 2101, base; 2102, arm structure; 300, material; 300a, first material; 300b, second material; 310, material box; 3101, protrusion; 3101a, first protrusion; 3101b, second protrusion; 3101c, third protrusion; 3102, groove; 3103, opening; 320, material tray; 3201, through groove; 330, sheet material; X, first direction; Z, second direction; Y, third direction. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0029] The definitions of "first direction", "second direction" and "third direction" are for the purpose of describing the relative positional relationship of related structures, and do not mean that "first direction", "second direction" and "third direction" need to depend on the related structures involved in the above definitions.

[0030] The terms “first”, “second”, etc., are used for descriptive purposes only and should not be interpreted as indicating or implying relative importance.

[0031] The term "perpendicular" describes the ideal state between two components. In actual production or use, two components may be approximately perpendicular. The term "parallel" describes the ideal state between two components. In actual production or use, two components may be approximately parallel.

[0032] In the production process of solar cells, the handling of sheet materials is involved to move their position. In related technologies, the sheet materials are usually loaded in a carrier, and a clamping mechanism cooperates with the carrier to clamp the sheet materials. However, existing clamping mechanisms usually only have one way of clamping sheet materials, resulting in poor versatility.

[0033] Embodiments of this application provide a clamping mechanism, including a bracket, a first clamping assembly, and a second clamping assembly. The first clamping assembly includes a first driving member and two opposing clamping members. The first driving member is disposed on the bracket, connected to the clamping members, and used to drive the clamping members to move along a first direction, enabling the two clamping members to clamp materials along the first direction. The second clamping assembly includes a second driving member, a carrier member, and a pressing member. The second driving member and the carrier member are disposed on the bracket. The carrier member carries materials, and the pressing member is connected to the second driving member and spaced apart from the carrier member along a second direction perpendicular to the first direction. The second driving member drives the pressing member to move along the second direction, causing the pressing member to press the materials against the carrier member.

[0034] In this application, the clamping mechanism can drive two clamping members to move relative to each other via a first driving member, thereby positioning the material box to clamp the material, so that the two clamping members clamp the material along a first direction, providing a method of clamping material; the clamping mechanism can also drive a pressing member to move towards a carrier member via a second driving member, thereby pressing the material against the carrier member, so that the carrier member and the pressing member clamp the material along a second direction, providing another method of clamping material. The clamping mechanism can clamp material in two perpendicular directions and provides at least two clamping methods for the material, exhibiting good versatility.

[0035] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0036] Please see Figure 1 One embodiment of this application provides a processing device (not shown), including a first processing mechanism (not shown), a second processing mechanism (not shown), and a robotic arm 200. The robotic arm 200 is used to grasp material 300 and drive the material 300 to transfer between the first processing mechanism and the second processing mechanism.

[0037] In some embodiments, material 300 includes sheet material 330 and a loading member for loading sheet material 330. Sheet material 330 is a silicon wafer or silicon carbide wafer used to manufacture solar cells. The loading member can be used to load multiple silicon wafers stacked together, which can also be referred to as a stack of silicon wafers (stack of sheet material 330).

[0038] The first processing mechanism is used to cut the sheet material 330 into two parts. The cut sheet material 330 is loaded into a loading device, and the robotic arm 200 can transfer the loading device and the sheet material 330 loaded in the loading device together to the second processing mechanism. The second processing mechanism is used to passivate the cut surface of the sheet material 330 with a coating.

[0039] In some embodiments, the first processing mechanism cuts the stacked sheet material 330 by laser scribing. The second processing mechanism forms a passivation film on the surface of the sheet material 330 by deposition, which reduces minority carrier recombination and reduces reflectivity.

[0040] Please see Figure 1 In some embodiments, the robotic arm 200 includes a conveying mechanism 210 and a gripping mechanism 100. The conveying mechanism 210 is connected to the gripping mechanism 100 and is used to drive the gripping mechanism 100 to move. The gripping mechanism 100 is used to grip the material 300, so that the conveying mechanism 210 can drive the material 300 to move through the gripping mechanism 100, thereby conveying the material 300.

[0041] In some embodiments, the handling mechanism 210 includes a three-axis robotic arm 210a and a rotary drive 210b. The three-axis robotic arm 210a is connected to the rotary drive 210b, and the rotary drive 210b is connected to the clamping mechanism 100. The three-axis robotic arm 210a drives the rotary drive 210b to move the clamping mechanism 100. The rotary drive 210b can rotate the clamping mechanism 100 relative to the three-axis robotic arm 210a to adjust the angle of the clamping mechanism 100.

[0042] In some embodiments, the three-axis robotic arm 210a includes a base 2101 and an arm structure 2102 connected in sequence. The conveying mechanism 210 is mounted at a designated position via the base 2101. The arm structure 2102 connects the base 2101 and the rotary drive 210b, and drives the rotary drive 210b and the clamping mechanism 100 to move in three-dimensional space to convey the material 300.

[0043] In some embodiments, the clamping mechanism 100 includes a bracket 10, a first clamping assembly 20, and a second clamping assembly 30. The first clamping assembly 20 and the second clamping assembly 30 are respectively disposed on opposite sides of the bracket 10, and the bracket 10 is used to connect with the rotary drive member 210b.

[0044] Please see Figure 2 and Figure 3 The first clamping assembly 20 includes a first driving member 22 and two clamping members 21. The first driving member 22 is fixedly mounted on the bracket 10. The two clamping members 21 are arranged opposite each other along a first direction X. The first driving member 22 is connected to the clamping members 21 and is used to drive the clamping members 21 to move along the first direction X, so that the two clamping members 21 are relatively close or relatively far apart, so that the two clamping members 21 can clamp the material 300 along the first direction X.

[0045] The second clamping assembly 30 includes a second driving member 31, a carrier member 32, and a pressing member 33. Both the second driving member 31 and the carrier member 32 are fixedly mounted on the bracket 10. The carrier member 32 carries the material 300. The pressing member 33 is connected to the second driving member 31 and is spaced apart from the carrier member 32 along the second direction Z. The second driving member 31 drives the pressing member 33 to move along the second direction Z, causing the pressing member 33 to move closer to or further away from the carrier member 32. When the pressing member 33 moves towards the carrier member 32, it presses the material 300 against the carrier member 32, causing the carrier member 32 and the pressing member 33 to clamp the material 300 along the second direction Z.

[0046] In the illustrated embodiment, the second direction Z is perpendicular to the first direction X.

[0047] Therefore, the clamping mechanism 100 clamps the material 300 in the first direction X via the first clamping component 20 to provide one way of clamping the material 300; and clamps the material 300 in the second direction Z via the second clamping component 30 to provide another way of clamping the material 300. Thus, the clamping mechanism 100 can clamp the material 300 from two perpendicular directions, thereby providing at least two clamping methods for the material 300, and has good versatility.

[0048] In some embodiments, when the first clamping component 20 clamps a material 300, it can also clamp another material 300 through the second clamping component 30, so that the clamping mechanism 100 can clamp two materials 300 at the same time, thereby improving the handling efficiency of the robotic arm 200.

[0049] In some embodiments, a first drive member 22 is connected to a clamping member 21, and by driving one clamping member 21 to move toward the other clamping member 21, the two clamping members 21 are brought closer together to clamp the material 300.

[0050] In some embodiments, a first drive member 22 connects two clamping members 21 and drives the two clamping members 21 to move towards each other simultaneously, so that the two clamping members 21 are relatively close to clamping the material 300.

[0051] In some embodiments, the first driving member 22 is a bidirectional slide cylinder, which connects two clamping members 21, enabling the two clamping members 21 to move simultaneously towards or away from each other. The first driving member 22 can also be other structures capable of simultaneously driving the two clamping members 21 to move towards or away from each other, such as a double-ended lead screw assembly. The first driving member 22 can also be other structures capable of individually driving the two clamping members 21 to move linearly along a first direction X. This application does not limit the choice in this regard, and those skilled in the art can select according to the actual situation.

[0052] Please see Figure 4 and Figure 6 In some embodiments, the loading component can be a material box 310 or a material tray 320. The material box 310 and the material tray 320 are different types of loading components. The material box 310 is used to hold stacked sheets of material 330, while the material tray 320 is used to support the stacked sheets of material 330. The type of loading component is selected according to the subsequent process.

[0053] Please see Figure 8 In some embodiments, the material box 310 can hold the material tray 320 and the stack of sheet materials 330 arranged on the material tray 320.

[0054] Please see Figure 4 and Figure 5 The material 300 clamped by the first clamping component 20 is defined as the first material 300a. The first material 300a includes a material box 310, that is, the loading component applicable to the first clamping component 20 is the material box 310.

[0055] Please see Figure 6The material 300 clamped by the second clamping component 30 is defined as the second material 300b, which can be either a material box 310 or a material tray 320. That is, the loading component suitable for the second clamping component 30 can be either a material box 310 or a material tray 320. When the material box 310 contains a stack of sheet material 330, the first clamping component 20 can clamp the material box 310 in the first direction X, and the second clamping component 30 can clamp the material box 310 in the second direction Z. When the material tray 320 carries a stack of sheet material 330, the second clamping component 30 clamps both the stack of sheet material 330 and the material tray 320 in the second direction Z. The clamping mechanism 100 provides at least two clamping methods for the material 300 to adapt to different loading components, exhibiting good versatility.

[0056] Please see Figure 7 and Figure 8 In some embodiments, each clamping member 21 is provided with a positioning part 211. The material box 310 is provided with a plurality of protrusions 3101 on both opposite side walls along the first direction X.

[0057] When the two clamping members 21 approach each other, the two clamping members 21 move along the first direction X towards the two side walls of the material box 310 until the positioning part 211 engages with the protrusion 3101 (see reference). Figure 4 and Figure 5 The positioning part 211 positions the material box 310, which can prevent the material box 310 from shifting relative to the clamping member 21, thereby preventing the material 300 from slipping or shifting between the two clamping members 21 when the conveying mechanism 210 drives the clamping mechanism 100 to move.

[0058] In some embodiments, each protrusion 3101 has a recessed groove 3102 at its end. The positioning part 211 includes a positioning hole 2111 and a positioning protrusion 2112. The positioning hole 2111 is recessed in the clamping member 21, the positioning protrusion 2112 passes through the positioning hole 2111, and a gap is left between the outer sidewall of the positioning protrusion 2112 and the inner sidewall of the positioning hole 2111.

[0059] When the two clamping members 21 clamp the material box 310, the protrusion 3101 is inserted into the positioning hole 2111 to initially position the material box 310, and the positioning protrusion 2112 is inserted into the groove 3102 on the protrusion 3101 to further position the material box 310. The material box 310 is doubly positioned to ensure a stable connection between the material box 310 and the clamping members 21, and to prevent the material box 310 from shifting or falling off relative to the clamping members 21. In this way, the first clamping assembly 20 can stably clamp the material box 310 and drive the material 300 to move.

[0060] In some embodiments, the opening of the positioning hole 2111 is provided with a rounded corner 2111a to guide the protrusion 3101 into the positioning hole 2111, facilitating the insertion of the protrusion 3101 into the positioning hole 2111. The opening of the positioning hole 2111 refers to the side of the positioning hole 2111 facing away from the second clamping plate 213.

[0061] In some embodiments, the end of the positioning protrusion 2112 that passes through the positioning hole 2111 is tapered. The end of the positioning protrusion 2112 that passes through the positioning hole 2111 is defined as the insertion end 2112a of the positioning protrusion 2112. The insertion end 2112a is inserted into the positioning hole 2111 and has a tapered structure (e.g., frustum-shaped). The insertion end 2112a is used to insert into the groove 3102. The tapered insertion end 2112a is smoother and less prone to jamming during insertion into or removal from the groove 3102.

[0062] In some embodiments, each clamping member 21 includes a first clamping plate 212 and a second clamping plate 213. A positioning hole 2111 is formed through the first clamping plate 212 along a first direction X. A positioning protrusion 2112 is provided on the second clamping plate 213. The second clamping plate 213 is stacked on the first clamping plate 212, so that the positioning protrusion 2112 passes through the positioning hole 2111, which facilitates the processing of the positioning part 211.

[0063] When the positioning hole 2111 or the positioning protrusion 2112 is damaged, the first clamping plate 212 or the second clamping plate 213 can be replaced separately, making the clamping component 21 easy to maintain.

[0064] Please see Figure 4 In the illustrated embodiment, the first direction X refers to the moving direction of the clamping member 21, and the second direction Z refers to the moving direction of the pressing member 33. The third direction Y refers to the width direction of the material box 310. The third direction Y is perpendicular to both the second direction Z and the first direction X.

[0065] The height direction of the material box 310 is defined as the second direction Z, and the length direction of the material box 310 is defined as the first direction X. Each clamping member 21 is provided with multiple positioning parts 211. Along the length direction (first direction X) of the material box 310, the protrusions 3101 on the opposite side walls of the material box 310 correspond one-to-one. Multiple protrusions 3101 are provided on one side wall of the material box 310, and the multiple protrusions 3101 can be distributed along the height direction and width direction (second direction Z and third direction Y) of the material box 310.

[0066] In some embodiments, when the first clamping assembly 20 clamps the horizontally placed material box 310, the positioning part 211 can cooperate with the protrusions 3101 distributed along the width direction (third direction Y) of the material box 310.

[0067] Please see Figure 5When the first clamping assembly 20 clamps the vertically placed material box 310, the positioning part 211 can be positioned along the height direction of the material box 310 (see reference). Figure 4 The second direction (Z) of the convex pillar 3101 is matched.

[0068] Therefore, the first clamping component 20 can clamp the material box 310 in different postures, and has good versatility.

[0069] Please see Figure 7 In some embodiments, the clamping member 21 includes three positioning portions 211 spaced apart along a third direction Y, and are respectively defined as a first positioning portion 211a, a second positioning portion 211b, and a third positioning portion 211c. That is, each first clamping plate 212 is provided with three positioning holes 2111 spaced apart along a third direction Y. Each second clamping plate 213 is fixedly connected with three positioning protrusions 2112 spaced apart along a third direction Y, and each positioning protrusion 2112 passes through a positioning hole 2111.

[0070] Please see Figure 8 The material box 310 has an opening 3103 through which sheet material 330 can be placed. Three or more protrusions 3101 are provided in one side wall of the material box 310. The three protrusions 3101 are defined as a first protrusion 3101a, a second protrusion 3101b, and a third protrusion 3101c, wherein the first protrusion 3101a and the second protrusion 3101b are along the width direction of the material box 310. Figure 4 The first protrusion 3101a is positioned near the center of the material box 310 along the third direction (Y) and the third protrusion 3101c are spaced apart along the height direction of the material box 310. Figure 4 The second direction (Z) interval setting.

[0071] Please see Figure 4 When the first clamping assembly 20 clamps the horizontally placed (placed along the second direction Z) material box 310, the opening 3103 of the material box 310 faces the second direction Z. The distance between the center of the first positioning part 211a and the center of the third positioning part 211c is equal to the distance between the center of the first protrusion 2101a and the center of the second protrusion 3101b, so that the first positioning part 211a and the first protrusion 2101a are engaged with each other, and the third positioning part 211c and the second protrusion 3101b are engaged with each other.

[0072] Please see Figure 5When the first clamping assembly 20 clamps the vertically placed (placed along the third direction Y) material box 310, the opening 3103 of the material box 310 faces the third direction Y. The two positioning parts 211 clamp the material box 310 along the first direction X. The distance between the center of the first positioning part 211a and the center of the second positioning part 211b is equal to the distance between the center of the first protrusion 2101a and the center of the third protrusion 2010c, so that the first positioning part 211a and the first protrusion 2101a are engaged with each other, and the second positioning part 211b and the third protrusion 2101c are engaged with each other.

[0073] Therefore, the first gripping component 20 can grip the material box 310 in different positions, which can improve the gripping efficiency of the robotic arm 200 on the material 300.

[0074] Please see Figure 3 and Figure 6 In some embodiments, the pressure member 33 includes a fixed plate 331, a pressure plate 332, a slide rod 333, and an elastic member 334. The fixed plate 331 is connected to the second driving member 31. The pressure plate 332 is disposed on the side of the fixed plate 331 facing the support member 32 and is spaced apart from the fixed plate 331 along the second direction Z. The slide rod 333 is fixedly connected to the pressure plate 332 and movably passes through the fixed plate 331. The extension direction of the slide rod 333 is parallel to the second direction Z to guide the pressure plate 332 to move towards or away from the support member 32 along the second direction Z. The elastic member 334 is sleeved on the slide rod 333 and abuts against the fixed plate 331 and the pressure plate 332 respectively.

[0075] The second driving member 31 drives the fixed plate 331 to move towards the carrier member 32 until the pressure plate 332 presses the material 300 against the carrier member 32. When the pressure plate 332 presses against the material 300, the material 300 exerts a force on the pressure plate 332 away from the carrier member 32, causing the sliding rod 333 to slide relative to the fixed plate 331 away from the carrier member 32. This causes the elastic member 334 to be elastically compressed, thereby buffering and absorbing shock for the pressure plate 332 and the material 300, preventing the pressure plate 332 from rigidly colliding with the material 300 and causing damage to the material 300. When the pressure plate 332 stops pressing against the material 300, the elastic member 334 rebounds, and the pressure plate 332 drives the sliding rod 333 to move away from the fixed plate 331, preparing for the next pressing of the material 300.

[0076] Understandably, the support component 32 supports the material tray 320, and the pressure plate 332 presses against the sheet material 330.

[0077] In some embodiments, the elastic element 334 is a spring.

[0078] Please see Figure 2 In some embodiments, a gasket 3332 is slidably sleeved on the slide bar 333. The gasket 3332 contacts the fixing plate 331 and is used to abut against the elastic member 334 to protect the fixing plate 331.

[0079] Please see Figure 3 In some embodiments, the slide bar 333 is provided with a retaining ring 3331. The retaining ring 3331 is located at one end of the slide bar 333 that passes through the fixing plate 331. The retaining ring 3331 is used to abut against the fixing plate 331 when the elastic member 334 rebounds, so as to limit the range of motion of the slide bar 333 and prevent the slide bar 333 from disengaging from the fixing plate 331.

[0080] In some embodiments, there are two slide rods 333 and two elastic elements 334. The two slide rods 333 are connected to the pressure plate 332 at intervals along the first direction X. Each slide rod 333 is fitted with an elastic element 334, so that the pressure plate 332 moves more smoothly toward the fixed plate 331.

[0081] Please see Figure 6 In some embodiments, the bottom of the tray 320 has two through slots 3201. The two through slots 3201 are spaced apart along a first direction X. The through slots 3201 extend through the bottom of the tray 320 along a third direction Y.

[0082] Please see Figure 2 and Figure 3 In some embodiments, the support member 32 includes two or more support bars 321. Two support bars 321 are spaced apart along a first direction X. The support bars 321 extend along a third direction Y. See also... Figure 6 When the carrier 32 carries the material 300, the support bar 321 is inserted into the through groove 3201 to carry the material tray 320 and position the material tray 320 in the first direction X, thereby restricting the material 300 between the carrier 32 and the pressure member 33 from shifting in the first direction X.

[0083] When the second clamping assembly 30 clamps the material 300, the two support bars 321 are inserted into the through groove 3201 to support and position the tray 320. The pressure plate 332 presses the sheet material 330 and the tray 320 against the two support bars 321 by pressing against the sheet material 330.

[0084] Please see Figure 8 In some embodiments, the material box 310 may also be provided with a through groove 3201 so that the support bar 321 can support and position the material box 310.

[0085] In some embodiments, the number of support bars 321 is set according to the number of through slots 3201. This application does not limit this, and those skilled in the art can choose according to the actual situation.

[0086] Please see Figure 2 and Figure 3 In some embodiments, the end of the support bar 321 away from the bracket 10 is provided with a chamfer 321a to guide the support bar 321 into the through groove 3201.

[0087] In some embodiments, the second driving member 31 includes a driving part 311 and a slider 312. The driving part 311 is fixedly connected to the bracket 10. The slider 312 is fixedly connected to the fixing plate 331, so that the fixing plate 331 can move together with the slider 312. The driving part 311 has a guide rail 3111 on the side facing away from the bracket 10. The guide rail 3111 extends along the second direction Z and is used to connect the slider 312 to guide the slider 312 to move along the second direction Z. The driving part 311 connects to the slider 312 to drive the slider 312 to move the fixing plate 331 along the guide rail 3111, thereby guiding the fixing plate 331 to move towards or away from the support member 32 along the second direction Z.

[0088] In some embodiments, the second driving member 31 is a slide cylinder. The slide cylinder can drive and guide the fixed plate 331 to move along the second direction Z.

[0089] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A clamping mechanism, characterized in that, include: support; The first clamping assembly includes a first driving member and two opposing clamping members. The first driving member is disposed on the bracket, connected to the clamping members, and used to drive the clamping members to move along a first direction, so that the two clamping members can clamp materials along the first direction. The second clamping assembly includes a second driving member, a carrier member, and a pressing member. The second driving member and the carrier member are disposed on the bracket. The carrier member is used to carry the material. The pressing member is connected to the second driving member and is spaced apart from the carrier member along a second direction. The second direction is perpendicular to the first direction. The second driving member is used to drive the pressing member to move along the second direction, so that the pressing member presses the material against the carrier member.

2. The clamping mechanism according to claim 1, characterized in that: The first clamping assembly and the second clamping assembly are respectively disposed on opposite sides of the bracket; The first clamping component clamps the first material along the first direction, the first material including a material box, the material box being used to hold sheet material; The second clamping assembly clamps the second material along the second direction. The second material includes a material box or a material tray, the material tray being used to hold the sheet material.

3. The clamping mechanism according to claim 1, characterized in that: The material includes a container for holding sheet material; the container has protruding pillars on both opposite side walls. Each of the clamping members is provided with a positioning part, and when the two clamping members clamp the two side walls of the material box respectively, the positioning part engages with the protrusion.

4. The clamping mechanism according to claim 3, characterized in that: The end of the protruding post is provided with a recessed groove; The positioning part includes a positioning hole and a positioning protrusion. The positioning hole is recessed in the clamping member, and the positioning protrusion passes through the positioning hole. A gap is left between the outer side wall of the positioning protrusion and the inner side wall of the positioning hole. The positioning hole is used to accommodate the protruding post, and the positioning protrusion is used to insert into the groove. The opening of the positioning hole is provided with rounded corners; The end of the positioning protrusion that passes through the positioning hole is tapered.

5. The clamping mechanism according to claim 4, characterized in that: Each of the clamping components includes a first clamping plate and a second clamping plate. The positioning hole is disposed through the first clamping plate along the first direction, and the positioning protrusion is disposed on the second clamping plate. The second clamping plate is stacked on the first clamping plate, so that the positioning protrusion passes through the positioning hole.

6. The clamping mechanism according to claim 3, characterized in that: The material box is provided with three or more protrusions on each of its opposite side walls, and the protrusions are distributed along the second direction and the third direction, and the first direction, the second direction and the third direction are perpendicular to each other; Each of the clamping members includes three or more of the positioning parts, and the plurality of the positioning parts are distributed along the third direction; When the two clamping members clamp the material box along the first direction and the material box is placed along the second direction, the two or more positioning parts engage with the protrusions arranged along the third direction. When the two clamping members clamp the material box along the first direction and the material box is placed along the third direction, the two or more positioning parts engage with the protrusions arranged along the second direction.

7. The clamping mechanism according to claim 3, characterized in that, The material box has three protrusions on each of its opposite side walls, and is defined as a first protrusion, a second protrusion, and a third protrusion. The first protrusion and the second protrusion are spaced apart along a third direction, and the first protrusion is located near the center of the material box along the third direction. The first protrusion and the third protrusion are spaced apart along a second direction, and the first direction, the second direction, and the third direction are perpendicular to each other. Each of the clamping members includes three positioning portions distributed along the third direction, and is defined as a first positioning portion, a second positioning portion, and a third positioning portion; When the two clamping members clamp the material box along the first direction and the material box is placed along the second direction, the first positioning part and the first protrusion engage with each other, and the third positioning part and the second protrusion engage with each other. When the two clamping members clamp the material box along the first direction and the material box is placed along the third direction, the first positioning part is engaged with the first protrusion, and the second positioning part is engaged with the third protrusion.

8. The clamping mechanism according to claim 1, characterized in that: The pressing component includes a fixed plate, a pressure plate, a slide rod, and an elastic element. The fixed plate is disposed on the second driving component, the pressure plate is disposed on the side of the fixed plate facing the bearing component, the slide rod is disposed on the pressing component and movably passes through the fixed plate, the extension direction of the slide rod is parallel to the second direction, and the elastic element is sleeved on the slide rod and abuts against the fixed plate and the pressure plate respectively.

9. The clamping mechanism according to claim 8, characterized in that: A retaining ring is provided at one end of the slide rod that passes through the fixed plate. The retaining ring is used to abut against the fixed plate when the elastic element rebounds. The support member includes two or more support bars spaced apart along a first direction. The support bars are used to insert into the through groove at the bottom of the material to support and position the material. The second driving component includes a driving part and a slider. The driving part is disposed on the bracket, and the side of the driving part facing away from the bracket has a guide rail. The driving part is connected to the slider, so that the slider is slidably connected to the guide rail. The slider is connected to the fixing plate. The guide rail extends along the second direction to guide the slider and the fixing plate to move along the second direction.

10. A robotic arm, characterized in that, The device includes a conveying mechanism and a clamping mechanism as described in any one of claims 1 to 9. The conveying mechanism includes a three-axis robotic arm and a rotary drive. The three-axis robotic arm is connected to the support through the rotary drive and is used to drive the support to move so as to move the clamping mechanism to convey the material.

11. A processing device, characterized in that, Including the robotic arm as described in claim 10.

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