CN108529209B

CN108529209B - Article clamping device

Info

Publication number: CN108529209B
Application number: CN201710124775.3A
Authority: CN
Inventors: 叶祐立; 江晁澄; 戴蔡乐
Original assignee: Top Most Technology Co ltd
Current assignee: Top Most Technology Co ltd
Priority date: 2017-03-03
Filing date: 2017-03-03
Publication date: 2020-05-12
Anticipated expiration: 2037-03-03
Also published as: CN108529209A

Abstract

An object clamping device comprises a body, two clamping units and two control units; the two clamping units are respectively combined on two sides of the body and respectively provided with a clamping plate and a supporting piece; the two clamping plates are controlled to be relatively close to each other or to be reversely separated; each supporting piece is provided with a first component and a second component which are connected; the second assembly is controlled to move between a first position and a second position, and when the second assembly is located at the second position, the second assembly is located below the object and is abutted against the bottom surface of the object so as to support the object when the object clamping device is controlled to move, and the object is moved to a position to be placed. Due to the structural design, the clamping device can clamp the objects in a limited space.

Description

Article clamping device

Technical Field

The present invention relates to mechanical equipment, and more particularly to an object clamping device.

Background

The known object clamping device is widely used in various production operations, and is mostly used for delivering objects. A common object clamping device includes a platform and two clamping structures combined at two sides of the platform, and an object clamping space is formed between the platform and the two clamping structures for accommodating an object to be clamped. The two clamping structures are controlled to move linearly back and forth along the rail on the platform, and the two clamping structures can move close to each other or move away from each other in opposite directions. When the object is located in the object clamping space, the object clamping device can approach the object through the two clamping structures, so that the side walls of the clamping jaws clamp and squeeze the side face of the object, and the bottoms of the clamping jaws support the bottom of the object, thereby achieving the effect of stably clamping the object.

However, the distance between the ends of the clamping jaws is greater than the distance between the side walls of the clamping jaws, so that in order to avoid interference collision between the ends of the clamping jaws and an object or the situation that the object cannot enter the object clamping space during the clamping process, generally, the distance between the two clamping structures is controlled to be much greater than the width of the object to be clamped. Therefore, the required space of the working environment is increased, and the object clamping device occupies a lot of available space, and is not suitable for being applied to a narrow clamping environment.

Disclosure of Invention

In view of the above, an object of the present invention is to provide an object clamping device, which can perform clamping operation in a limited space.

In order to achieve the above object, the present invention provides an object clamping device, which comprises a body and two clamping units; the two clamping units are respectively combined at two ends of the body, and an object clamping space is enclosed between the two clamping units and the body; each clamping unit comprises at least one supporting member; the supporting part is provided with a first component and a second component which are connected; the second assembly is controlled to move between a first position and a second position, and when the second assembly is located at the second position, the second assembly is located below the object.

The object clamping device has the advantages that the object clamping device can carry out clamping operation in a limited space.

Drawings

Fig. 1 is a perspective view of a machine 1 using an object holding device according to a preferred embodiment of the present invention.

FIG. 2 is a perspective view of the robot arm and the object holder relative to each other.

Fig. 3 is an exploded perspective view showing the structural relationship of the object holding device according to the preferred embodiment of the present invention.

FIG. 4 is a schematic view showing the second component of the support member in a first position.

FIG. 5 is similar to FIG. 4 and shows the support member controlled for rotation and the second assembly in a second position.

Fig. 6 is a schematic diagram showing the structural relationship of the control unit, wherein the engaging member is driven by the actuating member to move.

Fig. 7 is similar to fig. 6, and shows the structural relationship of the control unit, wherein the moving member moves along the cylinder body and one end is connected with the engaging member.

Fig. 8 is a schematic view showing the actuator driving the engagement member to reciprocate linearly in a horizontal direction.

FIG. 9 is a schematic view of an object holding device using the preferred embodiment of the present invention.

[ invention ]

1 mechanical device 2 mechanical arm

3 bearing the item 4

100 article holding device

10 body 12 platform 121 elongate rail

14 slide rail frame 141 combined seat 16 driving set

20 clamping unit 22 clamping plate 221 accommodating groove

24 shutter 26 support 261 first Assembly

261a engaged portion 262 second component

30 control unit 32 actuator 321 cylinder

322 moving part 34 meshing part 341 tooth part

S-shaped object space P1 first position P2 second position

Detailed Description

To illustrate the present invention more clearly, a preferred embodiment will now be described in detail with reference to the accompanying drawings. Referring to fig. 1 and 2, a robot 1 including an object holding device 100 according to a preferred embodiment of the present invention is shown, in which the robot 1 includes a robot arm 2 and a carriage 3. The robot 2 is adjacent to the carriage 3, and one end of the robot is coupled to the object holding device 100, and the robot 2 is controlled to drive the object holding device 100 to move; the object 4 to be gripped is placed on the carriage 3 so that the object gripping device 100 performs the operation of gripping the object 4. In the present embodiment, the object 4 is a plate formed by stacking a plurality of paper plates, and in other embodiments, the object 4 may be other types of objects.

Referring to fig. 3, the object holding device 100 includes a main body 10, two clamping units 20, and two control units 30. The main body 10 includes a platform 12, two slide rail frames 14 and a driving set 16; the top surface of the platform 12 is combined with the robot 2; in the present embodiment, the platform 12 is provided with a rail, which is two long rails 121 and is disposed at the bottom position of the platform 12 in parallel.

Each of the rail frames 14 is controlled to move along the extending direction of the long rail 121 of the platform 12, and each of the rail frames 14 has a connecting seat 141 perpendicular to the long rail 121. The driving unit 16 is disposed on the body 10 for driving the two rail frames 14 to move linearly along the long rail 121 and to approach or separate from each other oppositely.

Each of the clamping units 20 is disposed at two ends of the main body 10, and an object-clamping space S is defined between the clamping units and the main body 10. Each clamping unit 20 is controlled to move and comprises a clamping plate 22, a plurality of shielding plates 24 and at least one supporting member 26; the clamping plates 22 are connected to the coupling seats 141 and driven by the rail frames 14 to move linearly. Each of the clamping plates 22 has a plurality of receiving grooves 221, which are formed by being recessed from the side surface of the clamping plate 22 toward the opposite direction of the object-clamping space S.

The shielding plates 24 are respectively combined at the openings of the accommodating grooves 221 and parallel to the side surfaces of the clamping plates 22. The side surfaces of the shields 24 and the clamps 22 are configured to contact the left and right side surfaces of the object 4 when the clamping units 20 are controlled to move, thereby allowing the side edges of the object 4 to be flattened by the clamps 22.

In the present embodiment, the number of the supporting members 26 in each clamping unit 20 is two, and the supporting members are rod-shaped. Each of the supporting members 26 is disposed in the receiving groove 221 of each of the clamping plates 22, and includes a first assembly 261 and a second assembly 262; wherein, the first component 261 has an engaged portion 261a, the engaged portion 261a is located at the top of the first component 261, in this embodiment, is an outer ring tooth portion disposed on the outer surface of each first component 261; in other embodiments, the engaged portion may also be a toothed ring sleeved on the first component. Each second element 262 is connected to the bottom end of each first element 261, and forms an included angle with each first element 261, preferably, the included angle is 90 degrees with respect to the vertical clamp.

Each of the supports 26 is controlled to rotate in place, and its associated control structure will be described later. Wherein each first element 261 extends along the rotation axis of the supporting element 26, the above design enables each second element 262 to move between a first position P1 and a second position P2, i.e. rotate around the connection between the second element 262 and the first element 261, when the second element 262 is located at the first position P1, the second element 262 is parallel to the clamping plate 22 and located below the clamping plate 22 (as shown in fig. 4); when the second element 262 is in the second position P2 (shown in FIG. 5), the second element 262 is positioned below the object 4 and may contact the bottom surface of the object 4. In other words, when the robot arm 2 moves upward, the object 4 is lifted by the second elements 262 of the supports 26, thereby leaving the carrier 3.

In conjunction with the contents shown in fig. 6 to 8, the two control units 30 are respectively located at two sides of the main body 10 and are combined on the corresponding combining seats 141. Each control unit 30 includes an actuating member 32 and two engaging members 34; in the embodiment, the actuating device 32 is a parallel pneumatic cylinder, and includes a cylinder 321 and two moving members 322, the two moving members 322 are located on the top surface of the cylinder 321 and are acted by air pressure to move toward or away from each other along the cylinder 321. Since the parallel pneumatic cylinder is a well-known technique, the internal structure and principle will not be further described.

Each of the engaging members 34 is an elongated body coupled to each of the moving members 322 such that each of the engaging members 34 is driven by the actuating member 32 to be reset in a horizontal direction. In this embodiment, each of the engaging members 34 has a tooth portion 341 arranged in the horizontal direction, and each of the tooth portions 341 engages with the engaged portion 261a of each of the first members 261. Therefore, when the actuator 32 drives the two engaging members 34 to move linearly, the supporting members 26 engaged with the engaging members 34 are rotated by the engaging members 34, so that the second elements 262 can move to the second position P2 below the object 4.

The aforesaid object holding device 100 is designed to allow each second assembly 262 at the first position to be located below the clamping plate 22, so as to avoid interference during the process of the object 4 entering the object-clamping space S, therefore, when the object 4 is clamped, the distance between the two clamping units 20 only needs to be slightly larger than the width of the object 4, so as to directly control the object holding device 100 to move downwards, so that the object 4 enters the object-clamping space S of the object holding device 100, and then, each control unit 30 is actuated to drive each support 26 to rotate, and each second assembly 262 is moved from the first position P1 to the second position P2, so that the second assembly 262 contacts the bottom surface of the object 4 (as shown in fig. 9). Then, the object holding device 100 is controlled to move upward, so that the object 4 is supported by each supporting member 26 to leave the loading frame 3, and the object 4 is moved to a desired position. The advantage is that, in the face of a narrow clamping space, the second assembly 262 can still move to the lower part of the object 4 by rotating the supporting member 26, so as to achieve the function of clamping the object 4, and the disadvantages of the prior clamping device, such as large volume and large required working environment, can be improved.

It should be noted that whether to control each clamping unit 20 to move towards the two sides of the object 4 may be added to the operation and control operation at a proper time after considering the flatness of the object or the relationship between the width of the object 4 and the width of the two clamping units 20. That is, when the object 4 has poor flatness, after the two clamping units 20 of the object holding device 100 are located at both sides of the object 4, the two clamping units 20 are controlled to move horizontally and abut against both sides of the object 4, so as to improve the flatness of the object 4 and then perform the clamping operation. Alternatively, before the object holding device 100 is controlled to move downward, the width of the object 4 is evaluated, and if the distance between the two clamping units 20 is too small to allow the object 4 to enter the object holding space S of the object holding device 100, the distance between the two clamping units 20 can be appropriately changed by controlling the positions of the two clamping units 20 in the horizontal direction.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An object holding device, comprising:

a body;

two clamping units respectively arranged at two ends of the body, and an object clamping space is enclosed between the two clamping units and the body; each clamping unit comprises at least one supporting member; the supporting part is provided with a first component and a second component which are connected; wherein the second assembly is controlled to move between a first position and a second position, and when the second assembly is located at the second position, the second assembly is located below the object; and

and the two control units are respectively connected with the supporting pieces, each control unit drives each supporting piece to rotate in situ, each first assembly extends along the rotating shaft of each supporting piece, and an included angle is clamped between each first assembly and each second assembly.

2. The object holding device as claimed in claim 1, wherein each of the clamping units comprises a clamping plate, and two clamping plates are respectively disposed on both sides of the body and controlled to be moved toward each other or separated from each other in opposite directions.

3. The article clamping device of claim 2, wherein each of the clamping units includes a shutter; each clamping plate is provided with at least one accommodating groove which is sunken from the side surface of the clamping plate to the direction opposite to the object clamping space; each supporting piece is positioned in each accommodating groove; each shielding plate is combined with the opening of each containing groove and is parallel to the side surface of the clamping plate.

4. The object holding device as claimed in claim 2, wherein the body comprises a platform and two slide rails, each slide rail being controlled to move along an extension direction of the platform; each clamping plate is arranged on each sliding rail frame and is driven by each sliding rail frame to move.

5. An object holding device according to claim 1 or 2, wherein each control unit comprises an actuator and an engagement member, the actuator actuating the engagement member to move, the moving engagement members causing the support members to rotate.

6. The article holding device of claim 5, wherein each of the actuators linearly reciprocates each of the engaging members in a horizontal direction, each of the engaging members having a tooth portion arranged in the horizontal direction; each first assembly is provided with an engaged part engaged with each tooth part, so that each first assembly is driven by each engaging part to rotate.

7. The object holding device of claim 6, wherein the actuator of the control unit comprises a cylinder and at least one moving member; the moving member moves along the cylinder body, and one end of the moving member is connected with the meshing member.