CN115946143A - Material clamping structure and material taking mechanical arm device comprising same - Google Patents
Material clamping structure and material taking mechanical arm device comprising same Download PDFInfo
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- CN115946143A CN115946143A CN202111172291.9A CN202111172291A CN115946143A CN 115946143 A CN115946143 A CN 115946143A CN 202111172291 A CN202111172291 A CN 202111172291A CN 115946143 A CN115946143 A CN 115946143A
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- toothed belt
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention discloses a material clamping structure, which comprises two clamping pieces which are oppositely arranged, wherein each clamping piece comprises a connecting plate and an inclined guide plate; the lower end of the connecting plate is connected with one end of the inclined guide plate; the inclined guide plates of the two clamping pieces which are oppositely arranged incline towards the inner side; the clamping driving mechanism is respectively connected with the upper ends of the two connecting plates and is used for driving the two clamping pieces to move towards or away from each other so as to switch between a closed state and an open state; in a closed state, the inclined guide plates of the two clamping pieces abut against each other to jointly define a clamping space, and the two inclined guide plates guide the materials to enter the clamping space to clamp the materials in the process of moving towards each other; in the open state, the inclined guide plates of the two grippers are separated from each other to release the material. The invention also discloses a material taking manipulator device comprising the material clamping structure. The clamping device is suitable for clamping the strip-shaped meat blocks or meat slices, and the strip-shaped meat blocks or meat slices are prevented from being damaged in the clamping process.
Description
Technical Field
The invention relates to the technical field of food processing, in particular to a material clamping structure and a material taking manipulator device comprising the same.
Background
At present, most fillets are cut by manual processing of cooks, the mode is not only low in efficiency, but also the thickness of the cut fillets is not easy to control, and the uniformity of the fillets cutting is difficult to guarantee. With the continuous maturity and rapid market development of food machinery, the fish filleting machine is widely applied to various large and medium-sized restaurants, hotels and fish food processing and manufacturing factories, improves the processing efficiency of the food industry and saves the cost.
In the prior art, the invention patent with the application number of CN202011158293.8 discloses a feeding device and a beveling meat slicer, wherein the feeding device comprises a feeding mounting plate and an overturning feeding mechanism arranged on the feeding mounting plate; the overturning and feeding mechanism comprises an overturning structure and a feeding driving structure; the turnover structure comprises a feeding sliding seat, a bearing mechanism which is arranged on the feeding sliding seat and used for bearing materials, a trigger structure arranged on the feeding sliding seat and a trigger limiting part arranged on the feeding mounting plate; the feeding driving mechanism drives the feeding sliding seat to do reciprocating linear motion along the length direction of the feeding mounting plate, and the feeding sliding seat drives the trigger structure to collide or separate with the trigger limiting part, so that the bearing mechanism is switched between an opening state and a closing state. The device has the characteristics of convenient feeding operation, good feeding stability and no material stacking and stacking; meanwhile, the linear motion and the turning action are realized through one motor, so that the whole structure is more compact, the operation is smooth and stable, the cost is low, and the occupied space is smaller. However, the existing bevelling meat slicer has the following defects: the device's feeding, ejection of compact all need the manual work snatch and shift, have intensity of labour big, and manufacturing cost is high, low and the relatively poor shortcoming of food sanitation security of production efficiency. In addition, there is no material clamping device specially for the meat pieces and the sliced meat in the prior art, and therefore, there is a need for providing a material clamping device.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a material clamping structure and a material taking manipulator device comprising the same, which are suitable for clamping strip-shaped meat blocks or meat slices and avoid damage to the strip-shaped meat blocks or the meat slices in the clamping process.
The first aspect of the present invention provides a material clamping structure, including:
the clamping pieces comprise a connecting plate and an inclined guide plate; the lower end of the connecting plate is connected with one end of the inclined guide plate; the inclined guide plates of the two clamping pieces which are oppositely arranged incline towards the inner side;
a material clamping driving mechanism; the clamping driving mechanism is respectively connected with the upper ends of the two connecting plates and is used for driving the two clamping pieces to move towards or away from each other so as to switch between a closed state and an open state; in a closed state, the inclined guide plates of the two clamping pieces abut against each other to jointly define a clamping space, and the two inclined guide plates guide materials to enter the clamping space to clamp the materials in the process of moving towards each other; in the open state, the inclined guide plates of the two grippers are separated from each other to release the material.
In the first aspect of the present invention, as a preferred embodiment, the connecting plates include a first connecting plate and a second connecting plate which are connected in sequence from top to bottom, an upper end of the first connecting plate is connected to the material clamping driving mechanism, and a lower end of the second connecting plate is connected to an upper end of the inclined guide plate; the second connecting plates of the two clamping pieces which are arranged oppositely incline towards the outer side.
In a first aspect of the present invention, as a preferred embodiment, the material clamping driving mechanism is a pneumatic clamping jaw, the pneumatic clamping jaw includes a clamping jaw cylinder and two clamping fingers, a lower end portion of one of the clamping fingers is fixedly connected to an upper end portion of one of the clamping members, a lower end portion of the other of the clamping fingers is fixedly connected to an upper end portion of the other of the clamping members, and the clamping jaw cylinder is configured to drive the two clamping fingers to close or open so as to drive the two clamping members to move toward or away from each other.
In the first aspect of the present invention, as a preferred embodiment, an included angle is formed between two fingers.
In the first aspect of the present invention, as a preferred embodiment, the material clamping structure comprises at least two sets of pneumatic clamping jaws, and the at least two sets of pneumatic clamping jaws jointly drive the two clamping members to move towards or away from each other to clamp or release the material.
A second aspect of the present invention provides a material taking manipulator device, including:
a fixed bracket;
according to the clamping structure provided by the first aspect of the invention, the clamping structure is arranged on the fixed support;
and the lifting driving mechanism drives the fixed support to move up and down, so that the material clamping structure is driven to move up and down.
In the second aspect of the present invention, as a preferred embodiment, the method further includes:
a support frame;
the first sliding rail is arranged on the supporting frame;
the sliding seat is connected to the supporting frame in a sliding mode through the first sliding rail;
the fixed bracket is arranged on the sliding seat in a sliding manner along the vertical direction;
the horizontal driving mechanism drives the sliding seat to slide along the first sliding rail, so that the fixed support and the material clamping structure are driven to slide along the first sliding rail.
In the second aspect of the present invention, as a preferred embodiment,
the supporting frame comprises a vertical mounting plate which is vertically arranged and a horizontal fixing base plate which is horizontally arranged and fixedly mounted at the top of the vertical mounting plate;
the two first sliding rails are arranged on the top surface of the horizontal fixed substrate in parallel;
the sliding seat comprises a sliding seat body with an installation cavity and four first sliding blocks arranged at the bottom of the sliding seat body, and every two first sliding blocks are connected with one first sliding rail in a sliding fit manner;
the horizontal driving mechanism comprises a first motor, a first transmission gear, two first pressing wheels, a first toothed belt and two first toothed belt fixing seats; the first motor is arranged in the installation cavity of the sliding seat body, an output shaft of the first motor extends outwards from one side of the sliding seat body, the first transmission gear is arranged on the output shaft of the first motor, the two first pressing wheels are respectively and fixedly arranged on the sliding seat body and are respectively positioned at the left side and the right side of the first transmission gear, the two first toothed belt fixing seats are respectively and fixedly arranged at the two ends of the top surface of the horizontal fixing base plate and are positioned at the same side with the output shaft of the first motor, the two ends of the first toothed belt are respectively and fixedly connected with the two first toothed belt fixing seats, and meshing teeth are arranged on the bottom surface of the first toothed belt; the first transmission gear is positioned below the first toothed belt and meshed with the meshing teeth on the bottom surface of the first toothed belt, and the two first pressing wheels respectively press the top surface of the first toothed belt;
the lifting driving mechanism comprises a second motor, a second transmission gear, two second pressing wheels, a second toothed belt, two second toothed belt fixing seats, two second sliding rails and four second sliding blocks; the second motor is arranged in the installation cavity of the sliding seat body, an output shaft of the second motor extends outwards from one side of the sliding seat body, the second transmission gear is arranged on the output shaft of the second motor, the two second pressing wheels are respectively and fixedly arranged on the sliding seat body and are respectively positioned at the upper side and the lower side of the second transmission gear, the two second toothed belt fixing seats are respectively and fixedly arranged at the upper end and the lower end of the fixing support and are positioned at the same side with the output shaft of the second motor, the two ends of the second toothed belt are respectively and fixedly connected with the two second toothed belt fixing seats, and the inner side surface of the second toothed belt is provided with meshing teeth; the second transmission gear is positioned below the second toothed belt and meshed with the meshing teeth of the second toothed belt, and the two second pressing wheels respectively press against the outer side face of the second toothed belt; the two second sliding rails are arranged on the fixed support in parallel along the vertical direction, the four first sliding blocks are respectively and fixedly arranged on the side wall of the sliding seat body, and each two second sliding blocks are connected with one second sliding rail in a sliding fit manner;
the first motor is positioned below the second motor, and output shafts of the first motor and the second motor are respectively positioned at two sides of the sliding seat.
In the second aspect of the present invention, as a preferred embodiment, the material clamping structures are at least two groups, and at least two groups of the material clamping structures are arranged side by side on the fixing support; in any two adjacent groups of the material clamping structures, two adjacent clamping pieces are respectively provided with an avoidance structure, so that the clamping pieces of one group of the material clamping structures and the clamping pieces of the other group of the material clamping structures do not interfere with each other when moving towards each other; dodge the structure for a plurality of intervals set up side by side in dodge the hole on the piece is got to the clamp, adjacent two dodge the hole crisscross setting on the piece is got to the clamp.
In the first aspect of the present invention, as a preferred embodiment, the fixing bracket includes a vertical sliding member disposed along a vertical direction, and an i-shaped fixing frame disposed along a horizontal direction; the middle part of the I-shaped fixing frame is fixed at the bottom end of the vertical sliding piece; and at least two groups of material clamping structures are fixedly arranged on the I-shaped fixing frame.
Compared with the prior art, the invention has the beneficial effects that:
the clamping structure comprises two clamping pieces which are oppositely arranged, each clamping piece comprises a connecting plate and an inclined guide plate, the inclined guide plates of the two clamping pieces which are oppositely arranged incline towards the inner side, and the clamping driving mechanism is used for driving the two clamping pieces to move towards or away from each other so as to switch between a closed state and an open state; in a closed state, the inclined guide plates of the two clamping pieces abut against each other to jointly define a clamping space, and the two inclined guide plates guide the materials to enter the clamping space to clamp the materials in the process of moving towards each other; in the open state, the inclined guide plates of the two grippers are separated from each other to release the material. By the design, in the process that the two inclined guide plates move towards each other, the two inclined guide plates guide the materials from the bottoms of the materials to enter the material clamping space, the materials are not required to be clamped, the clamping device is suitable for clamping strip-shaped meat blocks or meat slices, and the meat blocks or the meat slices are prevented from being damaged in the clamping process.
Drawings
FIG. 1 is a schematic structural view of a material clamping structure according to the present invention;
FIG. 2 is a schematic structural view of a material extraction robot apparatus of the present invention;
FIG. 3 is a schematic view of another angular configuration of the material extraction robot apparatus of the present invention;
FIG. 4 is a schematic view of the clamping structure and the fixing bracket of the present invention;
FIG. 5 is a schematic view of another angle structure of the clamping structure and the fixing bracket according to the present invention;
fig. 6 is a schematic structural view of the fixing bracket of the present invention.
In the figure: 10. fixing a bracket; 11. a vertical slide; 12. an I-shaped fixing frame; 121. a longitudinal fixing rod; 122. a transverse fixing rod; 20. a material clamping structure; 21. clamping and taking the workpiece; 211. a connecting plate; 2111. a first connecting plate; 2112. a second connecting plate; 212. a tilt guide plate; 22. a pneumatic clamping jaw; 221. a clamping jaw cylinder; 222. a claw finger; 31. avoiding holes; 32. a spacer bar; 40. a support frame; 41. a vertical mounting plate; 42. horizontally fixing the substrate; 50. a first slide rail; 60. a sliding seat; 61. a sliding seat body; 62. a first slider; 71. a first motor; 72. a first drive gear; 73. a first pinch roller; 74. a first toothed belt; 75. a first toothed belt fixing seat; 81. a second motor; 82. a second transmission gear; 83. a second pinch roller; 84. a second toothed belt; 85. a second toothed belt fixing seat; 86. a second slide rail; 87. and a second slider.
Detailed Description
The invention is further described with reference to the drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict. Except as specifically noted, the materials and equipment used in this example are commercially available. Examples of embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. In the description of the present application, "a plurality" means two or more unless specifically stated otherwise.
In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "connected," "communicating," and "connecting" are to be construed broadly, e.g., as meaning fixedly connected, connected through an intervening medium, connected internally between two elements, or in an interactive relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Referring to fig. 1 to 6, the present embodiment provides a material clamping structure 20, which includes two clamping members 21 and a material clamping driving mechanism, which are oppositely disposed;
specifically, the gripper 21 includes a connecting plate 211 and an inclined guide plate 212; the lower end of the connecting plate 211 is connected with one end of the inclined guide plate 212; the inclined guide plates 212 of the two oppositely arranged clamping pieces 21 are inclined towards the inner side;
specifically, the clamping driving mechanism is respectively connected with the upper ends of the two connecting plates 211, and the clamping driving mechanism is used for driving the two clamping pieces 21 to move towards or away from each other so as to switch between a closed state and an open state; in the closed state, the inclined guide plates 212 of the two clamping pieces 21 abut against each other to jointly define a clamping space, and the two inclined guide plates 212 guide the materials to enter the clamping space to clamp the materials in the process of moving towards each other; in the open state, the inclined guide plates 212 of the two grippers 21 are separated from each other to release the material.
On the basis of the structure, in the process that the two inclined guide plates 212 move towards each other, the two inclined guide plates 212 guide the materials from the bottoms of the materials to enter the material clamping space, the materials do not need to be clamped, and the meat clamping device is suitable for clamping strip-shaped meat blocks or meat slices and avoids damage to the meat blocks or the meat slices in the clamping process.
In a preferred embodiment of the present invention, the connection plate 211 includes a first connection plate 2111 and a second connection plate 2112 connected in sequence from top to bottom, an upper end portion of the first connection plate 2111 is connected to the material clamping driving mechanism, and a lower end portion of the second connection plate 2112 is connected to an upper end portion of the inclined guide plate 212; the second connection plates 2112 of the two oppositely disposed grippers 21 are each inclined toward the outside. Design like this, can increase the centre gripping space, be suitable for getting the strip meat piece of various sizes and press from both sides.
In a preferred embodiment of the present invention, the material clamping driving mechanism is a pneumatic clamping jaw 22, the pneumatic clamping jaw 22 includes a clamping jaw cylinder 221 and two clamping fingers 222, the clamping jaw cylinder 221 is mounted on the fixing bracket 10, a lower end portion of one of the clamping fingers 222 is fixedly connected to an upper end portion of one of the clamping members 21, a lower end portion of the other clamping finger 222 is fixedly connected to an upper end portion of the other clamping member 21, and the clamping jaw cylinder 221 is configured to drive the two clamping fingers 222 to close or open so as to drive the two clamping members 21 to move toward or away from each other. Specifically, the pneumatic gripper 22 may be of conventional construction. Preferably, an included angle is formed between the two fingers 222, the included angle is preferably an acute angle, and the specific angle can be adjusted accordingly according to actual conditions.
In the preferred embodiment of the present invention, the upper end of the first connection plate 2111 is detachably connected to the lower end of the finger 222. Specifically, the detachable connection may be through a screw connection, a snap connection, or the like.
In the preferred embodiment of the present invention, the material gripping structure 20 comprises at least two sets of pneumatic jaws 22, and the at least two sets of pneumatic jaws 22 drive the two gripping members 21 to move towards or away from each other to grip or release the material. Therefore, the action process of the two clamping pieces 21 can be more stable, and the situation that one end of each clamping piece 21 inclines is avoided.
Example two
The second embodiment is an improvement based on the first embodiment.
Referring to fig. 1 to 6, a second embodiment provides a material taking manipulator device, including:
a fixed bracket 10;
in the material clamping structure 20 of the first embodiment, the material clamping structure 20 is disposed on the fixing support 10;
and the lifting driving mechanism drives the fixed support 10 to move up and down, so that the material clamping structure 20 is driven to move up and down.
In a preferred embodiment of the present invention, the material taking manipulator device further comprises:
a support frame 40;
the first slide rail 50, the first slide rail 50 locates on the support 40;
the sliding seat is connected to the support frame 40 in a sliding manner through a first sliding rail 50;
the fixed bracket 10 is slidably arranged on the sliding seat along the vertical direction;
the horizontal driving mechanism drives the sliding seat to slide along the first sliding rail 50, so as to drive the fixing support 10 and the clamping structure 20 to slide along the first sliding rail 50.
Specifically, the supporting frame 40 includes a vertically arranged vertical mounting plate 41 and a horizontally arranged horizontal fixing base plate 42 for fixedly mounting the top of the vertical mounting plate 41;
specifically, the number of the first slide rails 50 is two, and the two first slide rails 50 are disposed in parallel on the top surface of the horizontal fixed substrate 42.
Specifically, the sliding seat 60 includes a sliding seat body 61 having a mounting cavity and four first sliding blocks 62 disposed at the bottom of the sliding seat body 61, and every two first sliding blocks 62 are connected with one first sliding rail 50 in a sliding fit manner.
Specifically, the horizontal driving mechanism comprises a first motor 71, a first transmission gear 72, two first pressing wheels 73, a first toothed belt 74 and two first toothed belt fixing seats 75; the first motor 71 is installed in the installation cavity of the sliding seat body 61, an output shaft of the first motor 71 extends outwards from one side of the sliding seat body 61, the first transmission gear 72 is arranged on the output shaft of the first motor 71, the two first press wheels 73 are respectively and fixedly installed on the sliding seat body 61 and are respectively positioned at the left side and the right side of the first transmission gear 72, the two first toothed belt fixing seats 75 are respectively and fixedly installed at the two ends of the top surface of the horizontal fixing base plate 42 and are positioned at the same side with the output shaft of the first motor 71, the two ends of the first toothed belt 74 are respectively and fixedly connected with the two first toothed belt fixing seats 75, and the bottom surface of the first toothed belt is provided with meshing teeth; the first transmission gear 72 is located below the first toothed belt and meshed with the meshing teeth on the bottom surface of the first toothed belt, and the two first pressing wheels 73 respectively press against the top surface of the first toothed belt.
In the working process, the first motor 71 drives the first transmission gear 72 to rotate, the first transmission gear 72 is meshed with the meshing teeth on the bottom surface of the first toothed belt, and the first motor 71 drives the sliding seat 60 to slide along the first sliding rail 50 under the action of the reaction force of the first toothed belt because the two ends of the first toothed belt are fixed.
Specifically, the lifting driving mechanism comprises a second motor 81, a second transmission gear 82, two second pressing wheels 83, a second toothed belt 84, two second toothed belt fixing seats 85, two second sliding rails 86 and four second sliding blocks 87; the second motor 81 is installed in the installation cavity of the sliding seat body 61, an output shaft of the second motor 81 extends outwards from one side of the sliding seat body 61, the second transmission gear 82 is arranged on the output shaft of the second motor 81, the two second pressing wheels 83 are respectively and fixedly installed on the sliding seat body 61 and are respectively positioned at the upper side and the lower side of the second transmission gear 82, the two second toothed belt fixing seats 85 are respectively and fixedly installed at the upper end and the lower end of the fixed support 10 and are positioned at the same side as the output shaft of the second motor 81, two ends of the second toothed belt are respectively and fixedly connected with the two second toothed belt fixing seats 85, and the inner side surface of the second toothed belt is provided with meshing teeth; the second transmission gear 82 is positioned below the second toothed belt and meshed with the meshing teeth of the second toothed belt, and the two second pressing wheels 83 respectively press the outer side surface of the second toothed belt; the two second sliding rails 86 are arranged on the fixed bracket 10 in parallel along the vertical direction, the four first sliding blocks 62 are respectively and fixedly mounted on the side wall of the sliding seat body 61, and every two second sliding blocks 87 are connected with one second sliding rail 86 in a sliding fit manner.
In the working process, the second motor 81 drives the second transmission gear 82 to rotate, the second transmission gear 82 is meshed with the meshing teeth on the bottom surface of the second toothed belt, and the second motor 81 is fixed in the vertical direction, so that the second toothed belt drives the fixed support 10 to move up and down along the second sliding rail 86 under the action of the second motor 81, and the material clamping structure 20 is driven to move up and down.
Preferably, the first motor 71 is located below the second motor 81, and the output shafts thereof are located at two sides of the sliding seat, so that the advantages of compact structure and convenient control are achieved.
In the preferred embodiment of the present invention, the material-clamping structures 20 are at least two groups, and the at least two groups of material-clamping structures 20 are arranged side by side on the fixing bracket 10; in any two adjacent groups of material clamping structures 20, two adjacent clamping pieces 21 are respectively provided with an avoiding structure, so that the clamping pieces 21 of one group of material clamping structures 20 and the clamping pieces 21 of the other group of material clamping structures 20 do not interfere with each other when moving towards each other.
In the preferred embodiment of the present invention, the avoiding structure is a plurality of avoiding holes 31 spaced side by side on the clamping members 21, and the avoiding holes 31 on two adjacent clamping members 21 are staggered.
In a preferred embodiment of the present invention, the plurality of avoiding holes 31 are arranged side by side at intervals along the width direction of the clamping member 21, and the avoiding holes 31 are distributed on the second connecting plate 2112 and the inclined guiding plate 212; on the same clamping piece 21, a spacing bar 32 is formed between every two adjacent avoidance holes 31, and the width of each avoidance hole 31 is larger than that of each spacing bar 32. Therefore, in the process that the two clamping pieces 21 move towards each other, the spacing bars 32 on the clamping pieces 21 can more smoothly penetrate through the corresponding avoiding holes 31, so that the operation of the clamping device is more stable and smoother.
In the preferred embodiment of the present invention, the fixing bracket 10 includes a vertical sliding member 11 disposed in a vertical direction, an i-shaped fixing bracket 12 disposed in a horizontal direction; the middle part of the I-shaped fixing frame 12 is fixed at the bottom end of the vertical sliding piece 11; at least two groups of material clamping structures 20 are fixedly arranged on the I-shaped fixed frame 12. Specifically, the i-shaped fixing frame 12 includes a longitudinal fixing rod 121 and a transverse fixing rod 122 symmetrically fixed at two ends of the longitudinal fixing rod 121. Preferably, two pneumatic clamping jaws 22 are symmetrically installed at two ends of each transverse fixing rod 122, and the two pneumatic clamping jaws 22 located on the same side are respectively connected with a pair of clamping pieces 21. So, have the advantage that the structure is compacter, stability is better.
While only certain features and embodiments of the present application have been illustrated and described, many modifications and changes may occur to those skilled in the art without departing substantially from the scope and spirit of the appended claims, for example: variations in the size, dimensions, structure, shape and proportions of the various elements, mounting arrangements, use of materials, colors, orientations, etc.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A material clamping structure is characterized by comprising:
the clamping pieces comprise a connecting plate and an inclined guide plate; the lower end of the connecting plate is connected with one end of the inclined guide plate; the inclined guide plates of the two clamping pieces which are oppositely arranged incline towards the inner side;
a material clamping driving mechanism; the clamping driving mechanism is respectively connected with the upper ends of the two connecting plates and is used for driving the two clamping pieces to move towards or away from each other so as to switch between a closed state and an open state; in a closed state, the inclined guide plates of the two clamping pieces abut against each other to jointly define a clamping space, and the two inclined guide plates guide materials to enter the clamping space to clamp the materials in the process of moving towards each other; in the open state, the inclined guide plates of the two grippers are separated from each other to release the material.
2. A clip structure as defined in claim 1, wherein: the connecting plates comprise a first connecting plate and a second connecting plate which are sequentially connected from top to bottom, the upper end of the first connecting plate is connected with the clamping driving mechanism, and the lower end of the second connecting plate is connected with the upper end of the inclined guide plate; the second connecting plates of the two clamping pieces which are arranged oppositely incline towards the outer side.
3. A clip structure as defined in claim 1, wherein: the material clamping driving mechanism is a pneumatic clamping jaw, the pneumatic clamping jaw comprises a clamping jaw cylinder and two clamping fingers, the lower end part of one clamping finger is fixedly connected with the upper end part of one clamping part, the lower end part of the other clamping finger is fixedly connected with the upper end part of the other clamping part, and the clamping jaw cylinder is used for driving the two clamping fingers to be closed or opened so as to drive the two clamping parts to move towards or away from each other.
4. A clip structure as defined in claim 3, wherein: an included angle is formed between the two claw fingers.
5. A clip structure as defined in claim 3, wherein: the material clamping structure comprises at least two groups of pneumatic clamping jaws, and the at least two groups of pneumatic clamping jaws drive the two clamping parts to move towards or away from each other so as to clamp or release the material.
6. A material handling robot apparatus comprising:
fixing a bracket;
the clamping structure according to any one of claims 1 to 5, which is arranged on the fixing support;
and the lifting driving mechanism drives the fixed support to move up and down, so that the material clamping structure is driven to move up and down.
7. A material handling robot apparatus as claimed in claim 6, further comprising:
a support frame;
the first sliding rail is arranged on the supporting frame;
the sliding seat is connected to the supporting frame in a sliding mode through the first sliding rail;
the fixed bracket is slidably arranged on the sliding seat along the vertical direction;
the horizontal driving mechanism drives the sliding seat to slide along the first sliding rail, so that the fixed support and the material clamping structure are driven to slide along the first sliding rail.
8. Material withdrawal manipulator device according to claim 7,
the supporting frame comprises a vertical mounting plate which is vertically arranged and a horizontal fixing base plate which is horizontally arranged and fixedly mounted at the top of the vertical mounting plate;
the two first sliding rails are arranged on the top surface of the horizontal fixed substrate in parallel;
the sliding seat comprises a sliding seat body with an installation cavity and four first sliding blocks arranged at the bottom of the sliding seat body, and every two first sliding blocks are connected with one first sliding rail in a sliding fit manner;
the horizontal driving mechanism comprises a first motor, a first transmission gear, two first pressing wheels, a first toothed belt and two first toothed belt fixing seats; the first motor is arranged in the installation cavity of the sliding seat body, an output shaft of the first motor extends outwards from one side of the sliding seat body, the first transmission gear is arranged on the output shaft of the first motor, the two first pressing wheels are respectively and fixedly arranged on the sliding seat body and are respectively positioned at the left side and the right side of the first transmission gear, the two first toothed belt fixing seats are respectively and fixedly arranged at the two ends of the top surface of the horizontal fixing base plate and are positioned at the same side with the output shaft of the first motor, the two ends of the first toothed belt are respectively and fixedly connected with the two first toothed belt fixing seats, and meshing teeth are arranged on the bottom surface of the first toothed belt; the first transmission gear is positioned below the first toothed belt and meshed with the meshing teeth on the bottom surface of the first toothed belt, and the two first pressing wheels respectively press the top surface of the first toothed belt;
the lifting driving mechanism comprises a second motor, a second transmission gear, two second pressing wheels, a second toothed belt, two second toothed belt fixing seats, two second sliding rails and four second sliding blocks; the second motor is arranged in the installation cavity of the sliding seat body, an output shaft of the second motor extends outwards from one side of the sliding seat body, the second transmission gear is arranged on the output shaft of the second motor, the two second pressing wheels are respectively and fixedly arranged on the sliding seat body and are respectively positioned at the upper side and the lower side of the second transmission gear, the two second toothed belt fixing seats are respectively and fixedly arranged at the upper end and the lower end of the fixing support and are positioned at the same side with the output shaft of the second motor, the two ends of the second toothed belt are respectively and fixedly connected with the two second toothed belt fixing seats, and the inner side surface of the second toothed belt is provided with meshing teeth; the second transmission gear is positioned below the second toothed belt and meshed with the meshing teeth of the second toothed belt, and the two second pressing wheels respectively press the outer side surface of the second toothed belt; the two second sliding rails are arranged on the fixed support in parallel along the vertical direction, the four first sliding blocks are respectively and fixedly arranged on the side wall of the sliding seat body, and each two second sliding blocks are connected with one second sliding rail in a sliding fit manner;
the first motor is positioned below the second motor, and output shafts of the first motor and the second motor are respectively positioned at two sides of the sliding seat.
9. The material-taking manipulator device according to claim 6, wherein the material-clamping structures are at least two groups, and at least two groups of the material-clamping structures are arranged on the fixed bracket side by side; in any two adjacent groups of the clamping structures, two adjacent clamping pieces are respectively provided with an avoiding structure, so that the clamping pieces of one group of the clamping structures and the clamping pieces of the other group of the clamping structures do not interfere with each other when moving towards each other; dodge the structure for a plurality of intervals set up side by side in dodge the hole on the piece is got to the clamp, adjacent two dodge the hole crisscross setting on the piece is got to the clamp.
10. The material taking manipulator device according to claim 6, wherein the fixed bracket comprises a vertical sliding member arranged in a vertical direction, an I-shaped fixed frame arranged in a horizontal direction; the middle part of the I-shaped fixing frame is fixed at the bottom end of the vertical sliding piece; and at least two groups of material clamping structures are fixedly arranged on the I-shaped fixing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111172291.9A CN115946143A (en) | 2021-10-08 | 2021-10-08 | Material clamping structure and material taking mechanical arm device comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111172291.9A CN115946143A (en) | 2021-10-08 | 2021-10-08 | Material clamping structure and material taking mechanical arm device comprising same |
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| Publication Number | Publication Date |
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| CN115946143A true CN115946143A (en) | 2023-04-11 |
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|---|---|---|---|
| CN202111172291.9A Pending CN115946143A (en) | 2021-10-08 | 2021-10-08 | Material clamping structure and material taking mechanical arm device comprising same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117383245B (en) * | 2023-12-12 | 2024-03-08 | 河南科技学院 | Clamping device and method for square meat in pig carcass strip |
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2021
- 2021-10-08 CN CN202111172291.9A patent/CN115946143A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117383245B (en) * | 2023-12-12 | 2024-03-08 | 河南科技学院 | Clamping device and method for square meat in pig carcass strip |
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