WO2019010805A1

WO2019010805A1 - Mechanical gripping jaw and gripping bar mechanism

Info

Publication number: WO2019010805A1
Application number: PCT/CN2017/101233
Authority: WO
Inventors: 陈飞跃; 张志平; 朱彦添; 蒋霁辉; 成睿; 刘振青
Original assignee: 广州市赛康尼机械设备有限公司
Priority date: 2017-07-13
Filing date: 2017-09-11
Publication date: 2019-01-17
Also published as: CN207077458U

Abstract

A mechanical gripping jaw and a gripping bar mechanism, comprising a mounting seat (100); a drive assembly (200), which is provided on the mounting seat, and is provided with a transmission member (210); a first gripping assembly (300), which is rotatably provided on the mounting seat, is in drive connection with the transmission member, and is provided with a first gripping head (310); and a second gripping assembly (400), which is rotatably provided on the mounting seat, is in drive connection with the transmission member, and is provided with a second gripping head (410); when the first gripping head and the second gripping head are able to rotate relative to and approach each other, the first gripping head cooperating with the second gripping head to form a gripping station. As the forces applied to the product are not opposite radial gripping forces applied by a traditional mechanical gripping arm, the gripping forces applied to the product are relatively small and also smoother, so that the invention can realize secure gripping of fragile products, and eliminate potential risk of said fragile products being broken, and the connection structure above is simple and is secure for operation, and the costs for manufacture, usage and maintenance are low.

Description

Mechanical jaw and clamping mechanism

Technical field

The invention relates to the technical field of labeling devices, in particular to a mechanical jaw and a clamping rod mechanism.

Background technique

At present, with the continuous development of the industrial automation level, the robot gradually replaces the manual operation of the manual because it can complete the automatic clamping or processing of the material according to the preset program. The important working part of the robot is a robot, which can realize a series of operations such as automatic clamping, shifting and unloading of the product. However, due to the complicated structure of the existing robot, the cost is high, the maintenance and maintenance cost is high, and at the same time, The straight relative movement of the two clamp arms ensures a firm clamping of the product, resulting in a generally large clamping force of the product. For some fragile products, there is a safety hazard of crushing and the reliability of use is poor. Moreover, the robot can only feed the material in a single way, and can not cooperate with the main machine for further distribution work, and the working space of the mounting robot is limited, and the robot cannot be installed. Therefore, only the special mechanical jaws and clips are designed according to the design requirements. Rod mechanism.

Summary of the invention

Based on this, it is necessary for the present invention to provide a mechanical jaw and a clamping rod mechanism, which can achieve reliable clamping of the fragile product by optimizing the direction of the clamping force, and eliminate the safety hazard of the crushing. The structure of the mechanism is simple, manufacturing, Low installation and maintenance costs.

Its technical solutions are as follows:

A mechanical jaw comprising:

Mounting seat

a drive assembly, the drive assembly is disposed on the mount, and the drive assembly is provided with a transmission member;

a first clamping assembly, the first clamping assembly is rotatably disposed on the mounting seat and drivingly coupled to the transmission member, and the first clamping assembly is provided with a first clamping head;

a second clamping assembly, the second clamping assembly is rotatably disposed on the mounting seat and drivingly coupled to the transmission member, and the second clamping assembly is provided with a second clamping head; When the first collet and the second collet are rotatable and close to each other, the first collet and the second collet cooperate to form a clamping station.

When the mechanical clamping jaw performs product clamping, the driving component mounted on the mounting seat acts to retract the transmission component, and the transmission component synchronously drives the first clamping component and the second clamping component to synchronize with the transmission component. Rotating, that is, the mutual rotation of the first chuck and the second chuck is achieved, so that the product is reliably clamped in the clamping station formed by the cooperation of the first chuck and the second chuck. Since the product is clamped by the rotation of the first chuck and the second chuck, it is not the relative radial clamping force applied by the conventional mechanical clamp arm, so the clamping force of the product is relatively small and more The flatness can achieve reliable clamping of fragile products and eliminate the safety hazard of crushing, and the above-mentioned connection structure is simple, reliable, and low in manufacturing, use and maintenance.

The technical solution is further explained below:

In one embodiment, the driving assembly further includes a cylinder, the transmission member is a rack, and the racks are respectively provided with first transmission teeth and second transmission teeth on both sides in the longitudinal direction, the first a clamping assembly includes a first gear disposed on the mounting seat and located on one side of the rack and engaged with the first transmission tooth, and a first gear coupled to the first gear and synchronously rotatable a clamping rod, the first clamping head is disposed on the first clamping rod; the second clamping assembly comprises a second clamping assembly disposed on the mounting seat and located on the other side of the rack and a second gear engaged with the two teeth, and a second clamping rod connected to the second gear and synchronously rotatable, the second clamping head being disposed on the second clamping rod. Thus, the meshing of the rack with the first gear and the second gear can form a reliable synchronous driving of the first clamping rod and the second clamping rod, so that the first clamping head and the second clamping head are synchronized to form a clamping station pair. The product is clamped to ensure the performance of the mechanical jaws. The single mechanical jaw and the clamping rod mechanism assembly can be evenly distributed and installed on the main body mounting plate, and the number of components can be randomly increased or decreased according to design requirements and the main machine working distribution needs.

In one embodiment, the mount is provided with a sliding guide between the first gear and the second gear, the rack being in guiding engagement with the sliding guide. Thus through the guide of the sliding guide The action can make the rack move reliably according to a predetermined path, thereby ensuring that the first clamping assembly and the second clamping assembly form an effective synchronous rotation to clamp the product, thereby avoiding the occurrence of swings during the movement of the rack, etc., affecting the mechanical jaws. Work performance.

In one embodiment, the mounting seat is further provided with a first rotating support seat, the first rotating support seat is provided with a first mounting hole, and the first clamping rod is inserted and rotatably disposed on the first The mounting seat is further provided with a second rotating support seat, the second rotating support seat is provided with a second mounting hole, and the second clamping rod is inserted and rotatably disposed in the second mounting hole . Therefore, the first rotating rod and the second rotating rod can be reliably rotated along the axial direction thereof by the first rotating support seat and the second rotating support seat, thereby ensuring high rotation precision, thereby improving the first chuck and the second chuck. Matching accuracy to form an effective clamping station.

In one embodiment, the first chuck includes at least one first clamping plate, the first clamping plate is provided with a clamping groove, the second clamping head is provided with a second clamping plate, the first clamping plate and the first clamping plate The second jaws are spaced apart and cooperate with the clamping slots to form the clamping station. In this way, the product can be firmly clamped and fixed by the relative abutment of the clamping slot and the second clamping plate, and the fitting structure is simple, and the manufacturing and the use cost are low.

In one embodiment, the first collet includes two first splints, and the two first splints are longitudinally spaced and cooperatively formed to form a receiving groove, and the end of the second clamping plate may be The clamping station is formed by extending into the receiving groove and engaging with the upper and lower clamping grooves. Thus, the three-pinch clamping position of the product can be formed by the relative spacing of the slot walls of the two clamping slots arranged longitudinally and the second clamping plate extending into the receiving groove, thereby further improving the clamping stability of the product.

In one embodiment, the mounting seat is further provided with a limiting surface, and the rack is further provided with a blocking portion, and the blocking portion and the limiting surface are abuttable. In this way, the cylinder pushes the protruding portion of the pushing member, and the moving position of the pushing member is realized by the abutting of the blocking portion and the limiting surface, thereby avoiding excessive movement and affecting the working performance of the mechanical clamping jaw.

In one embodiment, a reset elastic member is further disposed, the return elastic member being disposed between the piston rod of the cylinder and the rack. Thus, by resetting the resilience of the elastic member, the piston cylinder of the cylinder can be moved and reset, so that the mechanical jaw can achieve secondary work.

The invention also provides a clamping rod mechanism comprising a positioning component, a linkage rod, a cam rotor, a drive a cam, a triggering electric eye, and a mechanical jaw as described above, the linkage rod is slidably engaged with the positioning assembly, and one end of the linkage rod is coupled to the mechanical jaw and the other end is coupled to the cam rotor. The cam rotor is in rolling engagement with the driving cam, and the triggering electric eye is disposed on the driving cam and can be triggered to cooperate with the positioning component.

When the clamping mechanism is operated, the positioning of the positioning component and the triggering electric eye is triggered by the cooperation of the cam rotor and the driving cam. At this time, the cylinder retracted on the mounting seat retracts the rack, and the rack is synchronized at this time. Driving the first clamping component and the second clamping component to rotate synchronously in the direction of the transmission component, that is, the mutual rotation of the first clamping head and the second clamping head is achieved, thereby reliably clamping the product to the first clamping chuck and the second clamping body. The clamping head is formed in the clamping station. Since the product is clamped by the rotation of the first chuck and the second chuck, it is not the relative radial clamping force applied by the conventional mechanical clamp arm, so the clamping force of the product is relatively small and more The flatness can achieve reliable clamping of fragile products and eliminate the safety hazard of crushing, and the above-mentioned connection structure is simple, reliable, and low in manufacturing, use and maintenance.

DRAWINGS

1 is a schematic top plan view of a mechanical jaw according to an embodiment of the present invention;

2 is a side view showing the mechanical jaw of the embodiment of the present invention;

FIG. 3 is a schematic structural view of a clamping lever mechanism according to an embodiment of the present invention.

Description of the reference signs:

100, mounting seat, 110, sliding guide groove, 120, first rotating support base, 130, second rotating support base, 200, drive assembly, 210, transmission member, 211, first transmission tooth, 212, second transmission tooth , 220, cylinder, 300, first clamping assembly, 310, first collet, 311, first clamping plate, 320, first gear, 330, first clamping bar, 400, second clamping assembly, 410, Two chucks, 411, second plate, 420, second gear, 430, second clamping bar, 500, fitting groove, 600, reset elastic member, 700, positioning assembly, 800, linkage rod, 900, cam rotor, 1000, drive cam, 1100, trigger electric eye.

Detailed ways

In order to make the objects, technical solutions and advantages of the present invention more clear, the following The present invention will be further described in detail in the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.

It should be noted that when an element is referred to as being "fixed on", "in" or "in" another element, it may be directly on the other element or the element may be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or the central element can be present at the same time. The specific manner in which one element is fixedly connected to the other element can be achieved by the prior art. Further, it is preferable to use a fixing method of a screw connection.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" in the present invention do not represent a specific number and order, but are merely used for distinguishing names.

As shown in FIG. 1 and FIG. 2, a mechanical jaw according to an embodiment of the present invention includes: a mounting base 100; a driving assembly 200, the driving assembly 200 is disposed on the mounting base 100, and the The driving assembly 200 is provided with a transmission member 210; a first clamping assembly 300, the first clamping assembly 300 is rotatably disposed on the mounting base 100, and is drivingly coupled to the transmission member 210, and the first A clamping assembly 300 is provided with a first collet 310; and a second clamping assembly 400. The second clamping assembly 400 is rotatably disposed on the mounting base 100 and is drivingly coupled to the transmission member 210. And the second clamping component 400 is provided with a second clamping head 410; wherein, when the first clamping head 310 and the second clamping head 410 are mutually rotatable and close to each other, the first clamping head 310 and The second collet 410 cooperates to form a clamping station.

When the mechanical jaws are gripped by the product, the driving assembly 200 mounted on the mounting base 100 acts to retract the transmission member 210, and the transmission member 210 synchronously drives the first clamping assembly 300 and the second clamping assembly 400. Synchronously rotating toward the direction of the transmission member 210, that is, the mutual rotation of the first collet 310 and the second collet 410 is achieved, so that the product is reliably clamped to the clamp formed by the cooperation between the first collet 310 and the second collet 410. Holding a station. Due to the rotation of the product through the first collet 310 and the second collet 410 Now it is not the relative radial clamping force applied by the traditional mechanical clamping arm. Therefore, the clamping force of the product is relatively small and gentle, which can achieve reliable clamping of fragile products and eliminate The safety hazard of crushing, and the above-mentioned connection structure is simple, reliable, and low in manufacturing, use and maintenance.

When the product clamping operation is performed by using the above mechanical jaws, taking the product as a needle bar as an example, the needle bar is fed from the conveying plate to the clamping station, at which time the cylinder 220 is retracted, the rack is driven, and the first clamp is driven. The holding assembly 300 and the second clamping assembly 400 are synchronously rotated in opposite directions. At this time, the first collet 310 and the second collet 410 which are arranged in an outwardly expanding manner are also rotated in opposite directions, and the arc direction is rotated. The needle bar is contacted and further fixed by entering the clamping station under the pushing action of the first chuck 310 and the second chuck 410. At this time, the first chuck 310 and the second chuck 410 are disposed opposite each other. Since the force received by the needle bar is the force in the direction of the arc in the direction of rotation of the chuck during the process of entering the clamping station, the clamping force applied to the needle bar is small, and the needle bar can be prevented from being subjected to relative The positive impact is broken by the clamping force.

As shown in FIG. 2, in one embodiment, the driving assembly 200 further includes a cylinder 220, the transmission member 210 is a rack, and the first transmission teeth 211 are respectively extended on two sides of the rack along the longitudinal direction. And the second transmission tooth 212, the first clamping assembly 300 includes a first gear 320 disposed on the mounting seat 100 and located on one side of the rack and engaged with the first transmission tooth 211, And a first clamping bar 330 connected to the first gear 320 and synchronously rotatable, the first clamping head 310 is disposed on the first clamping bar 330; the second clamping component 400 comprises a setting a second gear 420 on the mounting base 100 and located on the other side of the rack and engaged with the second transmission tooth 212, and a second clamping rod connected to the second gear 420 and synchronously rotatable 430, the second chuck 410 is disposed on the second clamping bar 430. Thus, by the engagement of the rack with the first gear 320 and the second gear 420, reliable synchronous driving of the first clamping bar 330 and the second clamping bar 430 can be formed, thereby bringing the first collet 310 and the second collet 410 into close proximity. Forming a clamping station to clamp the product and ensure the performance of the mechanical jaws.

Or in another embodiment, as an alternative embodiment, the first gear 320 and the second gear 420 may also be replaced by a crank link, one end of which is fixedly connected with the piston rod of the cylinder 220, and the other end is clamped. The rod is rotatably connected, and when the piston cylinder is telescopically moved, the two clamping rods are driven to form a synchronous rotation, thereby driving the first chuck 310 and the second chuck 410 to clamp the product.

Referring to FIG. 2 , on the basis of any of the above embodiments, the first collet 310 includes at least one first clamping plate 311 , the first clamping plate 311 is provided with a clamping slot, and the second clamping head 410 is provided. The second clamping plate 411 is spaced apart from the second clamping plate 411 and cooperates with the clamping groove to form the clamping station. Thus, the product can be firmly clamped and fixed by the relative abutment of the clamping slot and the second clamping plate 411, and the fitting structure is simple, and the manufacturing and use cost is low. Wherein, the first clamping plate 311 is parallel to the second clamping plate 411 and arranged side by side, the gap between the two is convenient for the needle bar to enter the clamping groove without being damaged by compression; the groove wall of the clamping groove and the end of the second clamping plate 411 are simultaneously The needle bar is resisted to prevent the needle bar from moving in the radial direction, and the needle bar can be fastened and supported on the first plate 311 by the pressing plate of the head.

On the basis of any of the above embodiments, the first chuck includes two first clamping plates 311, and the two first clamping plates 311 are longitudinally spaced apart and cooperate to form a receiving groove 500. The end of the second clamping plate 411 can extend into the receiving groove 500 and cooperate with the upper and lower clamping grooves to form the clamping station. Thus, the three-clamping positioning of the product (the most stable principle of the triangle) is formed by the relative spacing of the slot walls of the two clamping slots arranged longitudinally and the second clamping plate 411 extending into the receiving slot 500. Improve the stability of the product.

As shown in FIG. 1 , the mounting base 100 is provided with a sliding guide groove 110 between the first gear 320 and the second gear 420 , and the rack and the sliding guide 110 are guided. Cooperate. Thus, by the guiding action of the sliding guide groove 110, the rack can be reliably moved according to a predetermined path, thereby ensuring that the first clamping assembly 300 and the second clamping assembly 400 form an effective synchronous rotation to clamp the product and avoid rack movement. During the process, oscillations and the like affect the working performance of the mechanical jaws.

Referring to FIG. 2, the mounting base 100 is further provided with a first rotating support base 120. The first rotating support base 120 is provided with a first mounting hole, and the first clamping rod 330 is penetrated and rotatable. The first mounting hole is disposed in the first mounting hole; the mounting base 100 is further provided with a second rotating support seat 130, and the second rotating support base 130 is provided with a second mounting hole, and the second clamping bar 430 is penetrated and The rotation is disposed in the second fitting hole. Therefore, the first rotating rod 330 and the second clamping rod 430 can be reliably rotated along the axial direction thereof by the first rotating support seat and the second rotating support seat 130, thereby ensuring high rotation precision, thereby improving the first chuck 310 and The mating precision of the second collet 410 is such as to form an effective clamping station.

Further, the mounting base 100 further has a limiting surface, and the rack is further provided with a blocking portion, and the blocking portion and the limiting surface are abuttable. In this way, the cylinder 220 can be prevented from pushing the protruding portion of the pushing member, and the moving position of the pushing member can be realized by the abutting of the blocking portion and the limiting surface, thereby avoiding excessive movement and affecting the working efficiency of the mechanical clamping jaw.

In addition, a reset elastic member 600 is further disposed, and the return elastic member 600 is abutted between the piston rod of the cylinder 220 and the rack. Thus, by restoring the resilience of the elastic member 600, the piston cylinder of the cylinder 220 can be moved and reset, so that the mechanical jaw can achieve secondary work. Specifically, the reset elastic member 600 may be a spring; for some cylinders 220, the driving force of the cylinder 220 is caused to be large due to the large driving force required to push the first rotating clamping assembly and the second rotating clamping assembly to rotate. Weakness, at this time, it is necessary to achieve retraction by the spring resilience.

As shown in FIG. 3, the present invention also provides a clamping lever mechanism including a positioning assembly 700, a linkage rod 800, a cam rotor 900, a driving cam 1000, a triggering electric eye 1100, and a mechanical jaw as described above, the linkage rod The sliding assembly 800 is slidably engaged with the positioning assembly 700, and one end of the linkage rod 800 is coupled to the mechanical jaw and the other end is coupled to the cam rotor 900. The cam rotor 900 is in rolling engagement with the driving cam 1000. The triggering electric eye 1100 is disposed on the driving cam 1000 and can be triggered to cooperate with the positioning component 700.

When the clamping mechanism is operated, the positioning of the positioning assembly 700 and the triggering electric eye 1100 is triggered by the cooperation of the cam rotor 900 and the driving cam 1000. At this time, the cylinder 220 mounted on the mounting base 100 is retracted to retract the rack. At this time, the rack synchronously drives the first clamping assembly 300 and the second clamping assembly 400 to rotate synchronously in the direction of the transmission member 210, that is, the mutual rotation of the first collet 310 and the second collet 410 is achieved, thereby It is reliably clamped in the clamping station formed by the cooperation of the first chuck 310 and the second chuck 410. Since the product is clamped by the rotation of the first chuck 310 and the second chuck 410, the relative radial clamping force applied by the conventional mechanical clamp arm is not received, and the clamping force of the product is relatively small. It is also more gradual, can achieve reliable clamping of fragile products, eliminate the safety hazard of crushing, and the above-mentioned connection structure is simple, reliable, and low in manufacturing, use and maintenance.

When the above clamping mechanism is in operation, a plurality of sets of single mechanical jaws and clamping rod mechanism components can be evenly distributed and mounted on the main body mounting plate 1200, and independently move under the conduction of the driving cam, according to design requirements To be assigned to the main machine, the number of components can be increased or decreased randomly.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A mechanical jaw characterized by comprising:

Mounting seat

a drive assembly, the drive assembly is disposed on the mount, and the drive assembly is provided with a transmission member;

a first clamping assembly, the first clamping assembly is rotatably disposed on the mounting seat and drivingly coupled to the transmission member, and the first clamping assembly is provided with a first clamping head;

a second clamping assembly, the second clamping assembly is rotatably disposed on the mounting seat and drivingly coupled to the transmission member, and the second clamping assembly is provided with a second clamping head; When the first collet and the second collet are rotatable and close to each other, the first collet and the second collet cooperate to form a clamping station.
The mechanical jaw according to claim 1, wherein the driving assembly further comprises a cylinder, the transmission member is a rack, and the racks are respectively provided with first transmission teeth on both sides in the longitudinal direction thereof. a second transmission tooth, the first clamping assembly includes a first gear disposed on the mounting seat and located on one side of the rack and meshingly engaged with the first transmission tooth, and the first gear a first clamping rod connected to the gear and synchronously rotating, the first clamping head being disposed on the first clamping rod; the second clamping assembly comprising a first clamping assembly disposed on the mounting seat and located on the rack a second gear coupled to the second transmission tooth on the other side, and a second clamping rod connected to the second gear and synchronously rotatable, the second clamping head being disposed on the second clamping rod on.
The mechanical jaw according to claim 2, wherein said mounting seat is provided with a sliding guide groove between said first gear and said second gear, said rack and said sliding guide groove Guided coordination.
The mechanical jaw according to claim 2, wherein the mounting seat is further provided with a first rotating support seat, the first rotating support seat is provided with a first mounting hole, and the first clamping rod runs through Rotatablely disposed in the first assembly hole; the mounting seat is further provided with a second rotation support seat, the second rotation support seat is provided with a second assembly hole, and the second clamping rod is inserted and rotatable In the second assembly hole.
The mechanical jaw according to claim 1, wherein said first chuck comprises at least one first clamping plate, said first clamping plate is provided with a clamping groove, and said second clamping head is provided with a second clamping plate, The first clamping plate is spaced apart from the second clamping plate and cooperates with the clamping groove to form the clamping station.
The mechanical jaw according to claim 5, wherein the first chuck comprises two first clamping plates, and the two first clamping plates are longitudinally spaced apart and cooperate to form a receiving groove. The end of the second clamping plate can extend into the receiving groove and cooperate with the upper and lower clamping grooves to form the clamping station.
The mechanical jaw according to claim 2, wherein the mounting seat further comprises a limiting surface, the rack further comprises a blocking portion, the blocking portion and the limiting surface are abuttable Cooperate.
The mechanical jaw according to claim 2, further comprising a return elastic member that is abutted between the piston rod of the cylinder and the rack.
A clamping rod mechanism, comprising: a positioning assembly, a linkage rod, a cam rotor, a driving cam, a triggering electric eye, and the mechanical jaw according to any one of claims 1 to 8, the linkage rod and the a positioning assembly is slidably engaged, and one end of the linkage rod is coupled to the mechanical jaw and the other end is coupled to the cam rotor, the cam rotor is in rolling engagement with the driving cam, and the triggering electric eye is disposed on the driving A cam can be coupled to the positioning assembly to trigger engagement.