夹持结构及转移装置

Abstract

本申请涉及物料转移技术领域，公开了一种夹持结构及转移装置。夹持结构包括基座、第一夹爪、第二夹爪和夹持驱动件。第一夹爪设于基座，第一夹爪设有夹持面、抵接面和贴合面，夹持面被配置为沿第一方向止挡物料，抵接面被配置为沿第二方向止挡物料，贴合面被配置为沿第三方向止挡物料，第一方向、第二方向和第三方向两两相交。第二夹爪沿第一方向滑动设于基座并被配置为与夹持面分别抵接物料的相对两侧。夹持驱动件连接第二夹爪和基座并被配置为沿第一方向驱动第二夹爪移动。本申请的这种夹持结构可提高被释放的物料的位置精度。

Claims

1. A clamping structure for clamping a material, characterized by, The clamping structure includes: Base; A first gripper is disposed on the base. The first gripper has a gripping surface, an abutting surface, and a fitting surface. The gripping surface is configured to stop the material along a first direction, the abutting surface is configured to stop the material along a second direction, and the fitting surface is configured to stop the material along a third direction. The first direction, the second direction, and the third direction intersect each other. The second gripper is slidably disposed on the base along the first direction, and the second gripper is configured to abut against the opposite sides of the material respectively with the clamping surface; A clamping drive unit is connected to the second gripper and the base, and the clamping drive unit is configured to drive the second gripper to move along the first direction.

2. The clamping structure according to claim 1, characterized in that, At least one of the clamping surface, the abutting surface, and the fitting surface is provided with a vacuum adsorption hole, and the first gripper is provided with a negative pressure hole communicating with the vacuum adsorption hole, and the negative pressure hole is configured to connect to a negative pressure source.

3. The clamping structure of claim 2, wherein The base is provided with a connection hole that communicates with the negative pressure hole, and the connection hole is configured to connect to the negative pressure source.

4. The clamping structure according to claim 3, characterized in that The first gripper is detachably connected to the base. The clamping structure also includes a sealing ring. The first gripper and / or the base are provided with a sealing ring groove. The sealing ring groove is arranged around the negative pressure hole. The sealing ring is disposed in the sealing ring groove and abuts against both the first gripper and the base.

5. The clamp structure according to claim 1, wherein The clamping structure further includes a limiting component, which includes an abutment and a stop. The abutment is connected to the second gripper, and the stop is connected to the base. The stop is configured to stop the abutment in the opposite direction of the first direction when the second gripper moves toward the first gripper in the positive direction of the first direction.

6. The clamping structure according to claim 5, wherein The limiting component further includes a buffer member, at least one of the stop member and the abutment member is connected to the buffer member, and the buffer member is configured to cushion the abutment member.

7. The clamp structure according to claim 1, wherein The first gripper and / or the second gripper are provided with clearance grooves, which are configured to avoid protrusions on the material.

8. The clamping structure according to claim 1, characterized in that, The clamping structure further includes a clearance drive member connected to the clamping drive member and the base, the clearance drive member being configured to drive the clamping drive member to move along a fourth direction intersecting the first direction.

9. A transfer device for transferring material, characterized by The transfer device includes a transfer drive structure and a clamping structure as described in any one of claims 1 to 8, wherein the base of the clamping structure is connected to the transfer drive structure, and the transfer drive structure is configured to drive the base to move.

10. The transfer device of claim 9, wherein, The transfer device further includes a pressure detection element and a control element. The pressure detection element is disposed on the base or the first gripper. The pressure detection element is electrically connected to the control element and is configured to detect the magnitude of the force exerted on the first gripper along the second direction and / or along the third direction. The transfer drive structure is electrically connected to the control element. The control element is configured to control the transfer drive structure to stop moving or adjust its direction of movement when the force measured by the pressure detection element reaches a predetermined threshold.

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