A clamping device and a handling clamping apparatus

Abstract

The utility model provides a kind of clamping device and carrying clamping equipment, including the first clamping component for clamping material and the second clamping component for clamping material box, second clamping component includes matching component, two matching components are spaced apart, and matching component can be close to or away from the first clamping component along the first direction.The utility model has the beneficial effect that it can clamp and carry round bar, and it can also carry material box, improve the work efficiency of carrying round bar after cutting and material box for placing head and tail material, shorten working hours and reduce labor intensity.

Description

Technical Field

[0001] This utility model belongs to the field of silicon single crystal production technology, and in particular relates to a clamping device and a handling clamping equipment. Background Technology

[0002] During the bar cutting stage, the cut bars need to be handled. These materials include the cut bars, head and tail pieces, and sample pieces. All of these materials are located at the exit of the cutting machine, thus requiring different handling equipment. In actual production, sample pieces are handled manually, while the bars are handled by the gripping end of a robotic arm. Due to their irregular shapes, the head and tail pieces are moved into the hopper and then handled by the gripping end of the robotic arm. Therefore, the handling of these materials involves the coordinated handling of gripping ends of robotic arms of various specifications, resulting in low work efficiency and long processing time. Summary of the Invention

[0003] In view of the above problems, the present invention provides a clamping device and a handling clamping equipment to solve the above or other problems existing in the prior art.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a clamping device, including a first clamping component for clamping materials and a second clamping component for clamping a material box. The second clamping component includes a mating member, and the two mating members are arranged at intervals. The mating members can move closer to or further away from the first clamping component along a first direction.

[0005] Furthermore, the mating component is slidably connected to the first clamping assembly along the first direction.

[0006] Furthermore, the mating component includes a bracket and a mating part. The mating part is located on the side of the bracket away from the first clamping assembly along the first direction. A guide is provided between the bracket and the first clamping assembly. A clamping drive component is provided on the side of the bracket close to the first clamping assembly along the first direction.

[0007] Furthermore, the two mating parts, which are spaced apart, extend towards each other.

[0008] Furthermore, the first clamping assembly includes a first clamping member and a second clamping member disposed opposite to each other. The first clamping member and the second clamping member are configured to be movable relative to each other in the spaced direction of the two mating members. The two mating members are respectively disposed on the first clamping member and the second clamping member.

[0009] Furthermore, both the first clamping member and the second clamping member have a fitting portion on their opposing sides, and both the first clamping member and the second clamping member have a mating component on their opposite sides.

[0010] Furthermore, the support includes a crossbeam and longitudinal beams at both ends of the crossbeam, the clamping drive component is connected to the crossbeam, each longitudinal beam is provided with at least one guide, and each longitudinal beam is provided with at least one mating component.

[0011] Furthermore, a limiting member is provided at one end of the longitudinal beam near the first clamping assembly along the first direction. The limiting member is movably connected to the longitudinal beam and can abut against the first clamping assembly along the first direction.

[0012] Furthermore, the longitudinal beams and mating components are connected through an outward expansion structure.

[0013] A handling and clamping device includes a robotic arm and a clamping device as described above, the clamping device being disposed on the robotic arm.

[0014] As the above technical solution is adopted, the clamping device has a first clamping component and a second clamping component, which can clamp and transport the round bar and transport the material box, thereby improving the working efficiency of transporting the cut round bar and the material box containing the head and tail materials, shortening the working time, and reducing the labor intensity.

[0015] The second clamping assembly is disposed on the first clamping assembly. The second clamping assembly has two spaced-apart mating members. These mating members can reciprocate vertically relative to the first clamping assembly, moving closer to or further away from it. This allows the distance between the mating members and the first clamping assembly to be adjustable. When clamping the round bar, the mating members are positioned below the first clamping assembly in a first position, closer to it. As the first clamping assembly descends to clamp the round bar, it moves closer to the line on which the round bar is placed, preventing the mating members from contacting the line and thus avoiding contact with the first clamping assembly. When the clamping assembly clamps the round bar, the mating component will not abut against the line where the round bar is placed or other equipment around the line, and will not affect the first clamping assembly from moving downward toward the round bar. When it is necessary to clamp the hopper, the mating component is located in a second position below the first clamping assembly. The second position is larger than the first position, and the mating component is away from the first clamping assembly. When the mating component moves downward toward the hopper, the first clamping assembly will not contact the hopper, nor will it contact the round bar protruding from the hopper opening inside the hopper. This avoids the first clamping assembly abutting against the round bar protruding from the hopper opening inside the hopper when the mating component contacts the overlapping part of the hopper. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the clamping device according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the clamping device of this utility model when clamping a round bar according to an embodiment of the present invention;

[0018] Figure 3This is a schematic diagram of the clamping device of this utility model clamping the material box according to an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the second clamping component of one embodiment of the present invention at one angle;

[0020] Figure 5 This is a schematic diagram of the second clamping component from another angle, representing an embodiment of the present invention.

[0021] In the picture:

[0022] 1. First clamping component; 2. Second clamping component; 3. Fitting part; 4. First mating component; 5. Second mating component; 6. Mating component; 7. Robotic arm; 8. Material box; 9. Overlapping part; 10. Crossbeam; 11. Longitudinal beam; 12. Clamping drive component; 13. Limiting component; 14. Guide component; 15. Outward expansion structure. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 The diagram shows a structural schematic of an embodiment of the present invention. This embodiment relates to a clamping device and a handling clamping device, which can be used to clamp and handle materials after cutting round bars, as well as to clamp and handle material boxes containing tail material and sample pieces of round bars. There is no need to change the clamping device, so it has a wide range of applications and improves the work efficiency of handling round bars after cutting.

[0025] A clamping device, such as Figure 1-5 As shown, the device includes a first clamping assembly for clamping materials and a second clamping assembly for clamping a material box. The second clamping assembly is disposed on the first clamping assembly. In this embodiment, the first clamping assembly is used to clamp the cut-off round bar, and the second clamping assembly is used to clamp the material box 8 containing the head and tail materials. This allows the clamping device to clamp both the round bar and the material box 8, reducing the types of clamping devices used during the transfer of the cut-off round bar and the material box 8, shortening the handling time, and improving work efficiency.

[0026] The second clamping assembly includes two mating members spaced apart. These mating members can move closer to or further away from the first clamping assembly along a first direction. That is, the mating members can reciprocate relative to the first clamping assembly in the first direction, adjusting the distance between them. This allows the two mating members to easily clamp the material box, preventing contact between the mating members and the production line when the first clamping assembly clamps the round bar placed on the production line. Currently, silicon wafer sizes are increasing, such as G12, and the round bar size is also increasing accordingly. Therefore, the portion of the round bar protruding from the material box is gradually increasing. Thus, the adjustable distance between the mating members and the first clamping assembly also prevents contact between the first clamping assembly and the round bar protruding from the material box opening when the mating members clamp the material box. This avoids interference between the first and second clamping components, which would affect the stability and accuracy of the clamping device.

[0027] Specifically, the aforementioned first clamping assembly includes a first clamping member 1 and a second clamping member 2 arranged opposite to each other. The first clamping member 1 and the second clamping member 2 are configured to move relative to each other in the direction of the interval between the two mating members. This interval is defined as a second direction, meaning the first clamping member 1 and the second clamping member 2 are configured to move relative to each other in this second direction. In this second direction, the first clamping member 1 and the second clamping member 2 can move closer or further apart. When the first clamping member 1 and the second clamping member 2 move towards each other, they move closer together to clamp the round bar. When the first clamping member 1 and the second clamping member 2 move away from each other, they move further apart to release the clamp on the round bar, thus completing the transport of the round bar. The arrangement of the first clamping member 1 and the second clamping member 2 ensures that the round bar is subjected to balanced forces during clamping and transport, maintaining a stable state during movement and preventing the round bar from falling. Meanwhile, two cooperating components are respectively disposed on the first clamping member 1 and the second clamping member 2. The relative movement of the first clamping member 1 and the second clamping member 2 in the second direction can also drive the cooperating components disposed on the first clamping member 1 and the cooperating components disposed on the second clamping member 2 to move, so that the two cooperating components can clamp the material box.

[0028] The first clamping member 1 and the second clamping member 2 described above have the same structure. Both the first clamping member 1 and the second clamping member 2 include a clamping connector and a jaw connected to the clamping connector. The jaw is fixedly disposed at the end of the clamping connector facing the round bar. The clamping connector serves to support the frame and facilitates the installation of the jaw. The jaw is used to clamp the round bar. The clamping connector is a plate-shaped structure with a certain length, the length direction of which is consistent with the axial direction of the round bar. The length of the clamping connector can be selected according to the length of the round bar, and no specific requirements are specified here. In the first direction, the jaw is located below the clamping connector, that is, the jaw is located at the end of the clamping connector closer to the round bar, so that the jaw can contact the round bar and clamp it. The jaw is fixedly connected to the clamping connector. This fixed connection can be made by bolts or other connectors, welding, riveting, or other fixed connection methods, depending on the actual needs, and no specific requirements are specified here.

[0029] The aforementioned clamping jaws can be one in number. In this case, the clamping jaw is a plate structure with a certain length, which is no greater than the length of the clamping connector. Along the axial direction of the round bar, the clamping jaw can simultaneously contact multiple positions on the round bar to achieve stable clamping of the round bar. The clamping jaws on the first clamping member 1 and the second clamping member 2 are arranged opposite to each other, and the clamping jaws on the first clamping member 1 and the second clamping member 2 clamp the round bar in the same radial direction.

[0030] Alternatively, the number of grippers mentioned above can be multiple. In this case, the grippers are rod-shaped structures, and multiple grippers are arranged sequentially along the length direction of the clamping connector (the axial direction of the round bar). Multiple grippers simultaneously contact the round bar, clamping it from different positions to achieve stable clamping. The structure and number of grippers are selected according to actual needs. The multiple grippers along the length direction of the clamping connector can be equally spaced or non-equally spaced, depending on actual needs; no specific requirements are specified here. The multiple grippers on the first clamping member 1 correspond one-to-one with the multiple grippers on the second clamping member 2, arranged opposite each other, with each corresponding set of grippers clamping the round bar in the same radial direction.

[0031] The first clamping member 1 and the second clamping member 2 are provided with a fitting part 3 on their opposite sides. The fitting part 3 allows the first clamping member 1 and the second clamping member 2 to fit well with the surface of the round bar when clamping it, thus achieving stable clamping. Therefore, the cross-sectional shape of the fitting part 3 is adapted to the circumferential surface shape of the round bar. Preferably, in this embodiment, the cross-sectional shape of the fitting part 3 is arc-shaped.

[0032] The fitting part 3 is provided on the side of the gripper facing the round bar. The fitting parts 3 on the opposite grippers are also arranged face to face. The fitting part 3 is formed by the inward concavity of the side of the gripper facing the round bar, which is a groove structure. When the gripper clamps the round bar, the fitting part 3 is completely in contact with the circumferential side of the round bar, so that there is a surface contact between the gripper and the round bar, so that the gripper can stably clamp the round bar.

[0033] In order to increase the friction between the bonding part 3 and the round bar, and to reduce the wear of the bonding part 3 on the surface of the round bar, a friction element is provided on the bonding part 3. The friction element covers the surface of the bonding part 3 and is fixedly connected to the bonding part 3. The fixed connection method can be adhesive, and the material of the friction element can be rubber.

[0034] The second direction mentioned above is perpendicular to the first direction. In this embodiment, the first direction is vertical and the second direction is horizontal. Therefore, the first clamping member 1 and the second clamping member 2 move relative to each other in the horizontal direction, and the cooperating component moves back and forth in the vertical direction.

[0035] To achieve relative movement between the first clamping member 1 and the second clamping member 2, the first clamping member 1 and the second clamping member 2 are respectively connected to power members, which drive the first clamping member 1 and the second clamping member 2 to move. These two power members are defined as the first power member and the second power member. The first power member is fixedly connected to the clamping connector of the first clamping member 1. When the first power member is activated, it drives the first clamping member 1 to reciprocate in the second direction. The second power member is fixedly connected to the clamping connector of the second clamping member 2. When the second power member is activated, it drives the second clamping member 2 to reciprocate in the second direction.

[0036] In some feasible embodiments, both the first power component and the second power component are cylinders. The first power component and the second power component are connected to the same pump source through connecting pipes and valves. When the pump source is activated, it drives the first power component and the second power component to move synchronously, thereby causing the first clamping member 1 and the second clamping member 2 to move synchronously to clamp or release the round bar.

[0037] The number of the first power components can be one or more, depending on the length of the clamping connector of the first clamping component 1; no specific requirements are specified here. Similarly, the number of the second power components can be one or more, depending on the length of the clamping connector of the second clamping component 2; no specific requirements are specified here.

[0038] Of course, the aforementioned power component can also be a lead screw transmission mechanism connected to a motor, or a gear and rack transmission mechanism, or other mechanisms that can enable the first clamping member 1 and the second clamping member 2 to perform reciprocating linear motion. The selection and setting can be made according to actual needs, and no specific requirements are made here.

[0039] Both the first clamping member 1 and the second clamping member 2 have mating components on their opposite sides. That is, on the first clamping member 1, the mating components and the fitting parts 3 are respectively provided on the opposite sides of the first clamping member 1. The mating components can move with the first clamping member 1 as it moves in the second direction. Similarly, on the second clamping member 2, the mating components and the fitting parts 3 are respectively provided on the opposite sides of the second clamping member 2. The mating components can move with the second clamping member 2 as it moves in the second direction, thus preventing the mating components from contacting the round bar when the first clamping member 1 and the second clamping member 2 clamp the round bar.

[0040] In some feasible embodiments, two mating components are arranged on opposite sides of the material box 8. The two mating components are arranged opposite each other so that when the two mating components clamp the material box 8 from both sides, the material box 8 is subjected to balanced forces and remains stable during transportation without tilting.

[0041] The aforementioned mating component is connected to the first clamping assembly, and the mating component is slidably connected to the first clamping assembly along the first direction, so that the mating component can move relative to the first clamping assembly in the first direction. The mating component can move relatively closer to or away from the first clamping assembly in the first direction to adjust the gap between the mating component and the first clamping assembly; or, the mating component is rotatably connected to the first clamping assembly, with one end of the mating component rotatably connected to the first clamping assembly, so that the other end of the mating component can swing relative to the first clamping assembly, moving relatively closer to or away from the first clamping assembly; or other connection methods that can realize the mating component moving relatively closer to or away from the first clamping assembly, which can be selected and set according to actual needs, and no specific requirements are made here.

[0042] In some feasible embodiments, preferably, the mating member is slidably connected to the first clamping assembly to increase the stability of the movement of the mating member relative to the first clamping assembly.

[0043] The aforementioned mating components include a bracket and mating parts 6. The mating parts 6 are disposed on the bracket, and there is at least one mating part 6. The mating part 6 is located on the side of the bracket away from the first clamping assembly along a first direction, so that the mating part 6 clamps the material box 8. In this embodiment, the mating part 6 is located on the side of the bracket facing the material box 8. In the first direction, the mating part 6 is located at the lower end of the bracket, and it is used to overlap and mate with the material box 8. Two mating parts 6 arranged opposite each other clamp the material box 8. The bracket is a frame structure, and its arrangement serves as a skeletal support, facilitating the installation of the mating parts 6. The bracket has a certain length, and its length direction is consistent with the length direction of the clamping connector, so that multiple mating parts 6 can be installed on each bracket. The multiple mating parts 6 are arranged sequentially along the length direction of the bracket, and can be arranged at equal or unequal intervals. The arrangement of the multiple mating parts 6 can be selected according to actual needs, and no specific requirements are specified here.

[0044] Setting: The mating component connected to the first clamping member 1 is the first mating component 4, and the mating component connected to the second clamping member 2 is the second mating component 5. When the number of mating components 6 on the first mating component 4 and the number of mating components 6 on the second mating component 5 are both one, the two mating components 6 are arranged face to face. When the number of mating components 6 on the first mating component 4 and the number of mating components 6 on the second mating component 5 are both multiple, the mating components 6 on the first mating component 4 and the mating components 6 on the second mating component 5 correspond one-to-one and are arranged face to face.

[0045] Specifically, such as Figure 4 and 5 As shown, the aforementioned support includes a crossbeam 10 and longitudinal beams 11 located at both ends of the crossbeam 10. The two ends of the longitudinal beams 11 are respectively located on both sides of the crossbeam 10. The two longitudinal beams 11 are arranged in parallel. The crossbeam 10 and the two longitudinal beams 11 form an H-shaped support structure. Both the crossbeam 10 and the longitudinal beams 11 are beam structures with a certain width. Their cross-sectional shape can be square, circular, or other shapes. The size and cross-sectional shape of the crossbeam 10 and the longitudinal beams 11 are selected according to actual needs, and no specific requirements are made here.

[0046] The bracket is arranged along the first direction. When the mating part 6 is installed on the bracket, each longitudinal beam 11 is provided with at least one mating part 6. The mating part 6 is located at the end of the longitudinal beam 11 away from the first clamping assembly along the first direction. That is, in the first direction, the mating part 6 is located below the first clamping assembly so that the mating part 6 can contact and engage with the material box 8 to realize the clamping of the material box 8 by the second clamping assembly.

[0047] The aforementioned fitting 6 is hook-shaped, and the opening edge of the material box 8 has an outwardly folded overlapping part 9. The fitting 6 and the overlapping part 9 overlap and engage to clamp the material box 8, thereby lifting the material box 8 for handling.

[0048] In order to enable the mating components to reciprocate in the first direction, the distance between the mating component 6 and the corresponding clamping component is adjusted. This allows the mating components to accurately overlap and engage with the material box 8, and also prevents the mating components from interfering with the line where the round bars are placed and other equipment around the line, thus affecting the clamping of the round bars by the first clamping component 1 and the second clamping component 2. It also prevents the first clamping component 1 and the second clamping component 2 from contacting the round bars protruding from the opening of the material box 8 when the mating components are clamping the material box 8. This also makes the overall structure of the clamping device compact, making full use of the surrounding space of the line where the round bars are placed, so as to achieve both clamping of the round bars and clamping of the material box 8. Each mating component is connected to a clamping drive component 12, which is located on the side of the bracket near the first clamping assembly along the first direction. The clamping drive component 12 drives the mating component to move, causing the mating component to reciprocate in the first direction. That is, the mating component can rise or fall under the action of the clamping drive component 12. The clamping drive component 12 is connected to a corresponding clamping connector and installed on the corresponding first clamping member 1 or second clamping member 2. The clamping drive component 12 can move along with the first clamping member 1 or second clamping member 2 in the second direction, thereby allowing the mating component to move in the second direction and realize the adjustment of the position of the mating component to meet the clamping of material boxes 8 of different positions and sizes. The clamping drive component 12 is connected to the crossbeam 10. In order to make the bracket run smoothly in the first direction, preferably, the clamping drive component 12 is connected to the middle position of the crossbeam 10. The clamping drive component 12 is located on the side of the crossbeam 10 along the first direction close to the second clamping component. The clamping drive component 12 will not occupy the space below the first clamping component, so that the clamping device structure is compact.

[0049] In some feasible embodiments, the clamping drive member 12 described above can be a cylinder. The free end of the clamping drive member 12 is connected to the crossbeam 10 of the mating member, and the movement of the free end drives the movement of the mating member. Of course, the clamping drive member 12 can also be a lead screw transmission structure connected to a motor, or a gear and rack transmission structure, or other structures that can realize the linear reciprocating motion of the mating member. The selection and setting are based on actual needs, and no specific requirements are made here.

[0050] Both the first clamping member 1 and the second clamping member 2 are provided with mating components. Guide members 14 are provided between the mating components and the first clamping member 1, and between the mating components and the second clamping member 2. The guide members 14 guide and support the movement of the mating components relative to the first clamping member 1 or the second clamping member 2. That is, a guide member 14 is provided between the first mating component 4 and the first clamping member 1, guiding and supporting the movement of the first mating component 4 relative to the first clamping member 1; similarly, a guide member 14 is provided between the second mating component 5 and the second clamping member 2, guiding and supporting the movement of the second mating component 5 relative to the second clamping member 2. To ensure smooth operation of the support in the first direction, each longitudinal beam 11 is provided with at least one guide member 14. Multiple guide members 14 are sequentially arranged along the axial direction of the longitudinal beam 11. The number of guide members 14 on each longitudinal beam 11 is selected according to actual needs and is not specifically required here.

[0051] The guide 14 is a slide rail, which is fixedly installed on the clamping connector of the first clamping member 1. The longitudinal beam 11 of the first mating member 4 is fixedly connected to the slider of the slide rail. Similarly, for the slide rail between the second clamping member 2 and the second mating member 5, the slide rail is fixedly connected to the clamping connector of the second clamping member 2, and the longitudinal beam 11 of the second mating member 5 is fixedly connected to the slider of the slide rail.

[0052] A limiting member 13 is provided at one end of the longitudinal beam 11 near the first clamping assembly along the first direction. The limiting member 13 is located at the end of the longitudinal beam 11 without the mating part 6. The limiting member 13 is used to limit the travel of the support in the first direction. When the support moves along the first direction, the limiting member 13 can abut against the first clamping assembly along the first direction, preventing the support from rapidly descending due to a failure of the clamping drive component 12, which would cause the mating part to come into contact with the line holding the round bar, resulting in damage to the mating part and preventing production accidents. The limiting member 13 is movably connected to the longitudinal beam 11, making the installation position of the limiting member 13 on the longitudinal beam 11 adjustable. Multiple mounting holes are provided on the longitudinal beam 11, arranged sequentially along the axial direction of the longitudinal beam 11. Mounting holes are also provided on the limiting member 13. The mounting holes of the limiting member 13 correspond to different mounting holes on the longitudinal beam 11 and are connected by bolts to adjust the different positions of the limiting member 13 on the longitudinal beam 11. The limiting member 13 includes a transverse connecting part and a longitudinal connecting part connected together. The transverse connecting part and the longitudinal connecting part are arranged perpendicularly to form an L-shaped limiting member 13. The mounting hole is provided on the longitudinal connecting part. The longitudinal connecting part is arranged along the first direction and is connected to the longitudinal beam 11. In the first direction, the transverse connecting part is located above the first clamping assembly. When the transverse connecting part reaches its limit position during movement, it abuts against the first clamping assembly to limit the movement stroke of the entire bracket in the first direction.

[0053] In a further optimized design, the longitudinal beam 11 and the mating component 6 are connected by an expansion structure 15. The expansion structure 15 creates a gap between the mating component 6 and the longitudinal beam 11 in the second direction, allowing the mating component 6 to mate with material boxes 8 of different sizes. The expansion structure 15 is a plate structure, located on the side of the longitudinal beam 11 away from the first clamping assembly. The expansion structure 15 is positioned along the second direction, with one end connected to the end of the longitudinal beam 11 and the other end connected to the mating component 6.

[0054] The mating part 6 is located on the side of the bracket away from the first clamping assembly along the first direction. That is, in the first direction, the mating part 6 on the first clamping part 1 is located below the first clamping part 1, and the mating part 6 on the second clamping part 2 is located below the second clamping part 2 in the first direction, so as to adjust the distance between the first clamping part 1 and the corresponding mating part 6, and also to facilitate the adjustment of the distance between the second clamping part 2 and the corresponding mating part 6.

[0055] A handling and clamping device includes a robotic arm 7 and a clamping device as described above. The clamping device is mounted on the robotic arm 7, which is a multi-axis robotic arm 7. The clamping device can move under the action of the robotic arm 7 to handle a round bar and a material box 8. A first power component and a second power component are both connected to the robotic arm 7, thereby mounting a first clamping member 1 and a second clamping member 2 on the robotic arm 7.

[0056] The handling and clamping equipment also includes a control device, which is connected to the robotic arm 7, the first power component, the second power component, the first clamping drive component, and the second clamping drive component, respectively, to control the movement of the robotic arm 7, the first power component, the second power component, the first clamping drive component, and the second clamping drive component, thereby realizing the automation of the handling and clamping equipment.

[0057] For ease of description, the clamping device is defined as follows: the clamping device includes a first clamping member 1 and a second clamping member 2. The first clamping member 1 is connected to a first power member, and the second clamping member 2 is connected to a second power member. The first clamping member 1 is provided with a first clamping drive member and a first mating member 4, and the second clamping member 2 is provided with a second clamping drive member and a second mating member 5. The working process of the handling clamping device will be described below.

[0058] like Figure 2As shown, when the handling and clamping device clamps and moves the round bar placed on the production line, the first clamping drive component and the second clamping drive component operate simultaneously, driving the first mating component 4 and the second mating component 5 to move upwards simultaneously. The first mating component 4 and the second mating component 5 move upwards to a first position close to the first clamping member 1 and the second clamping member 2, respectively. The first power component and the second power component operate simultaneously, driving the first clamping member 1 and the second clamping member 2 to move simultaneously, moving them relatively away in the horizontal direction, so that the distance between the first clamping member 1 and the second clamping member 2 is greater than the diameter of the round bar. The robotic arm 7 moves, causing the entire clamping device to move downwards simultaneously, with the first clamping member 1 and the second clamping member 2 positioned at the first position of the round bar placed on the production line. Radially to both sides, the first power component and the second power component act simultaneously, driving the first clamping component 1 and the second clamping component 2 to approach each other. The first clamping component 1 and the second clamping component 2 simultaneously contact the round bar and clamp it. The robotic arm 7 moves upward to transport the round bar to the designated position. During the clamping process of the round bar by the first clamping component 1 and the second clamping component 2, since the first cooperating component 4 and the second cooperating component 5 move upward to the first position close to the first clamping component 1 and the second clamping component 2, the first cooperating component 4 and the second cooperating component 5 will not contact the line on which the round bar is placed or other equipment around the line, and will not affect the descent of the first clamping component 1 and the second clamping component 2 to achieve the clamping of the round bar.

[0059] like Figure 3 As shown, this handling and clamping device has two methods for clamping and handling the material box 8 containing head and tail materials and sample pieces:

[0060] Method 1

[0061] The first and second power components operate simultaneously, driving the first clamping member 1 and the second clamping member 2 to move away from each other. When the distance between the first clamping member 1 and the second clamping member 2 is the same as the distance between the overlapping portions 9 on the material box 8, the first and second power components stop operating, and the first clamping member 1 and the second clamping member 2 maintain a certain opening, with the distance between them remaining equal to the distance between the overlapping portions 9 on the material box 8. The first clamping drive component and the second clamping drive component operate simultaneously, driving the first mating component 4 and the second mating component 5 to move downwards simultaneously. The first mating component 4 and the second mating component 5 stop operating at the second position. At this time, there is a certain distance between the first mating component 4 and the first clamping member 1, and a certain distance between the second mating component 5 and the second clamping member 2, to prevent the first clamping member 1 and the second clamping member 2 from contacting the material box 8 when the first mating component 4 and the second mating component 5 clamp the material box 8, and also to prevent the first clamping member 1 and the second clamping member 2 from contacting the round bar protruding from the opening of the material box 8 inside the material box 8.

[0062] The robotic arm 7 drives the entire clamping device to move. The first mating component 4 and the second mating component 5 gradually approach the material box 8 from the outside of one end of the material box 8 and move from one end of the material box 8 to the other end. Finally, the mating parts 6 of the first mating component 4 and the second mating component 5 move to the lower part of the corresponding overlapping portion 9 of the material box 8. The robotic arm 7 moves upward, and the mating parts 6 of the first mating component 4 and the corresponding overlapping portion 9 of the material box 8 come into contact and engage. The mating parts 6 of the second mating component 5 also come into contact and engage with the corresponding overlapping portion 9 of the material box 8. As the robotic arm 7 continues to move upward, the first mating component 4 and the second mating component 5 lift the material box 8, thereby clamping and lifting the material box 8. Then, by moving the robotic arm 7 in the horizontal direction, the material box 8 is transported to the designated position.

[0063] Method 2

[0064] The first and second power components operate simultaneously, driving the first clamping member 1 and the second clamping member 2 to move away from each other. When the distance between the first clamping member 1 and the second clamping member 2 is greater than the distance between the overlapping portions 9 on the material box 8, the first and second power components stop operating, and the first clamping member 1 and the second clamping member 2 maintain a certain opening, with the distance between them remaining greater than the distance between the overlapping portions 9 on the material box 8. The first clamping drive component and the second clamping drive component operate simultaneously, driving the first mating component 4 and the second mating component 5 to move downwards simultaneously. The first mating component 4 and the second mating component 5 stop operating at the second position. At this time, there is a certain distance between the first mating component 4 and the first clamping member 1, and a certain distance between the second mating component 5 and the second clamping member 2, to prevent the first clamping member 1 and the second clamping member 2 from contacting the material box 8 when the first mating component 4 and the second mating component 5 clamp the material box 8, and also to prevent the first clamping member 1 and the second clamping member 2 from contacting the round bar protruding from the opening of the material box 8 inside the material box 8.

[0065] The robotic arm 7 drives the entire clamping device to move. The first mating component 4 and the second mating component 5 gradually approach the material box 8 from above and move downwards, until the mating parts 6 of the first mating component 4 and the second mating component 5 both move to below the corresponding overlapping portions 9 of the material box 8. The first power component and the second power component act simultaneously, driving the first clamping component 1 and the second clamping component 2 to move in a relatively close direction until the mating parts 6 of the first mating component 4 are located directly below the corresponding overlapping portions 9 of the material box 8 and the mating parts 6 of the second mating component 5 are located directly below the corresponding overlapping portions 9 of the material box 8. The first power component and the second power component then stop moving.

[0066] The robotic arm 7 moves upward, and the mating part 6 of the first mating component 4 contacts and engages with the overlapping part 9 of the corresponding material box 8. The mating part 6 of the second mating component 5 also contacts and engages with the overlapping part 9 of the corresponding material box 8. As the robotic arm 7 continues to move upward, the first mating component 4 and the second mating component 5 lift the material box 8, thereby clamping and raising the material box 8. Then, by moving the robotic arm 7 in the horizontal direction, the material box 8 is transported to the designated position.

[0067] By adopting the above technical solution, the clamping device has a first clamping assembly and a second clamping assembly, which can both clamp and transport round bars and transport material boxes, improving the efficiency of transporting cut round bars and material boxes containing head and tail materials, shortening working hours, and reducing labor intensity. The second clamping assembly is set on the first clamping assembly and has two spaced-apart mating members. The mating members can reciprocate relative to the first clamping assembly in the vertical direction, moving closer to or away from the first clamping assembly, so that the distance between the mating members and the first clamping assembly is adjustable. When it is necessary to clamp the round bar, the mating members are located in a first position below the first clamping assembly, and the mating members are close to the first clamping assembly. During the clamping process of the lowering component, the component moves closer to the line on which the round bar is placed, preventing the mating component from contacting the line on which the round bar is placed. This avoids the mating component abutting against the line on which the round bar is placed and other equipment around the line when the first clamping component clamps the round bar, and does not affect the first clamping component's downward movement towards the round bar. When it is necessary to clamp the hopper, the mating component is located in a second position below the first clamping component, which is larger than the first position. The mating component is away from the first clamping component. When the mating component moves downward towards the hopper, the first clamping component will not contact the hopper or the round bar protruding from the hopper opening inside the hopper, thus avoiding contact between the mating component and the overlapping part of the hopper, and preventing the first clamping component from abutting against the round bar protruding from the hopper opening inside the hopper.

[0068] The embodiments of this utility model have been described in detail above, but the content described is only a preferred embodiment of this utility model and should not be considered as limiting the scope of implementation of this utility model. All equivalent changes and improvements made in accordance with the claims of this utility model should still fall within the patent coverage of this utility model.

Claims

1. A clamping device, characterized in that: It includes a first clamping assembly for clamping materials and a second clamping assembly for clamping a hopper. The second clamping assembly includes mating members, two of which are spaced apart and are capable of moving closer to or further away from the first clamping assembly along a first direction.

2. The clamping device according to claim 1, characterized in that: The mating component is slidably connected to the first clamping assembly along the first direction.

3. The clamping device according to claim 2, characterized in that: The mating component includes a bracket and a mating part. The mating part is disposed on the side of the bracket away from the first clamping assembly along a first direction. A guide is provided between the bracket and the first clamping assembly. A clamping drive component is provided on the side of the bracket close to the first clamping assembly along the first direction.

4. The clamping device according to claim 3, characterized in that: The two mating parts, spaced apart, extend toward each other.

5. The clamping device according to any one of claims 1-4, characterized in that: The first clamping assembly includes a first clamping member and a second clamping member disposed opposite to each other. The first clamping member and the second clamping member are configured to be movable relative to each other in the spaced direction of the two mating members. The two mating members are respectively disposed on the first clamping member and the second clamping member.

6. The clamping device according to claim 5, characterized in that: The first clamping member and the second clamping member are provided with a fitting portion on their opposite sides, and the first clamping member and the second clamping member are provided with the mating member on their opposite sides.

7. The clamping device according to claim 3, characterized in that: The support includes a crossbeam and longitudinal beams at both ends of the crossbeam. The clamping drive component is connected to the crossbeam. Each longitudinal beam is provided with at least one guide member and at least one mating member.

8. The clamping device according to claim 7, characterized in that: A limiting member is provided at one end of the longitudinal beam near the first clamping assembly along the first direction. The limiting member is movably connected to the longitudinal beam and can abut against the first clamping assembly along the first direction.

9. The clamping device according to claim 7, characterized in that: The longitudinal beam and the mating component are connected by an outward expansion structure.

10. A conveying and clamping device, characterized in that: It includes a robotic arm and a gripping device as described in any one of claims 1-9, wherein the gripping device is disposed on the robotic arm.

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