CN118220811A - Clamping device and material conveying equipment - Google Patents

Abstract

The application discloses a clamping device and a material conveying device, and relates to the field of material conveying devices. A gripping device, comprising: a first clamping mechanism and a second clamping mechanism; the first clamping mechanism is provided with a first clamping part and a second clamping part which are respectively used for being contacted with two sides of the to-be-clamped piece along a first direction, the first clamping part and the second clamping part can be relatively close to or relatively far away from each other along the first direction, a first matching part protruding out of the side face is arranged on the side face of any one of the first clamping part and the second clamping part towards the other side face, and the first matching part is used for being matched with a second matching part arranged on the to-be-clamped piece; the second clamping mechanism is provided with a third clamping part and a fourth clamping part which are respectively used for being contacted with two sides of the to-be-clamped piece along the second direction, and the third clamping part and the fourth clamping part can be relatively close to or relatively far away from each other along the second direction. A material conveying device comprises the clamping device. The application can solve the problems of limited design of discharging and discharging positions and the like caused by adopting a bottom-holding structure mode.

Description

Clamping device and material conveying equipment

Technical Field

The application belongs to the technical field of material conveying equipment, and particularly relates to a clamping device and material conveying equipment.

Background

Along with the rapid expansion of the capacity of the new energy automobile industry, more and more products are put on the market, the battery module is used as a core component of the new energy automobile, and the discharging process belongs to the last process of an automatic production line in the manufacturing of a finished product module, so that the discharging process plays an important role in quality control. In the discharging mode of a plurality of battery modules, the discharging mode of grabbing the battery modules by the manipulator is adopted by a plurality of factories.

However, the manner in which the manipulator grabs the battery module for discharging basically adopts a bottom-holding structure, and the manner can lead to limitation of design of discharging and discharging positions; in addition, the manipulator snatchs battery module unloading in-process, appears the circumstances that the battery module inclined falls easily and takes place, finally leads to the battery module to scrap.

Disclosure of Invention

The embodiment of the application aims to provide a clamping device and a material conveying device, which can solve the problems of limited design of discharging and discharging positions caused by adopting a bottom-covering structure mode.

In order to solve the technical problems, the application is realized as follows:

the embodiment of the application provides a clamping device, which comprises: a first clamping mechanism and a second clamping mechanism;

The first clamping mechanism is provided with a first clamping part and a second clamping part which are respectively used for being contacted with two sides of a piece to be clamped along a first direction, the first clamping part and the second clamping part can be relatively close to or relatively far away from each other along the first direction, a side surface of any one of the first clamping part and the second clamping part facing the other side surface is provided with a first matching part protruding out of the side surface, and the first matching part is used for being matched with a second matching part arranged on the piece to be clamped;

The second clamping mechanism is provided with a third clamping part and a fourth clamping part which are respectively used for being contacted with two sides of the to-be-clamped piece along the second direction, and the third clamping part and the fourth clamping part can be relatively close to or relatively far away from each other along the second direction.

The embodiment of the application also provides a material conveying device, which comprises: a transfer device and the gripping device;

the conveying device is provided with a moving end, and the clamping device is connected with the moving end.

When the clamping device is used for clamping the workpiece to be clamped, the workpiece to be clamped is clamped from the two sides of the first clamping mechanism along the first direction through the first clamping part and the second clamping part of the first clamping mechanism, and the third clamping part and the fourth clamping part of the second clamping mechanism clamp the workpiece to be clamped from the two sides of the workpiece to be clamped along the second direction, so that the stability and the firmness of the clamping effect of the workpiece to be clamped can be ensured, and the workpiece to be clamped is prevented from falling off. Further, the inner side surfaces of the first clamping part and the second clamping part are respectively provided with a first matching part protruding from the inner side surface, the first matching part can be matched with the second matching part arranged on the side surface of the workpiece to be clamped when the first clamping part and the second clamping part are close to the side surface of the workpiece to be clamped, and therefore, the position relation between the workpiece to be clamped and the first clamping part and the second clamping part can be correspondingly adjusted under the matching action of the first matching part and the second matching part, and therefore position adjustment of the workpiece to be clamped is achieved, and position accuracy of the workpiece to be clamped is guaranteed. In addition, the embodiment of the application can also alleviate the problem that the piece to be clamped falls obliquely when the piece to be clamped is placed through the mutual matching of the first clamping mechanism and the second clamping mechanism, so that the condition that the piece to be clamped falls and is scrapped is avoided.

Drawings

FIG. 1 is a schematic view of a clamping device according to an embodiment of the present application;

FIG. 2 is a schematic view of a first structure of a gripping device for removing a portion of a substrate according to an embodiment of the present application;

FIG. 3 is a schematic view of a second structure of a gripping device for removing a portion of a substrate according to an embodiment of the present application;

FIG. 4 is a partial schematic view of a first clamping assembly or a second clamping assembly according to an embodiment of the present application;

FIG. 5 is a schematic view of a first configuration of a second clamping mechanism and a base disclosed in an embodiment of the present application;

FIG. 6 is a second schematic view of a second clamping mechanism and a second configuration of a base disclosed in an embodiment of the present application;

FIG. 7 is a partial schematic view of a first clamping plate and a first mating portion according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a material conveying device and a carrying pallet according to an embodiment of the present application.

Reference numerals illustrate:

100-clamping device;

110-a first clamping mechanism; 111-a first clamping assembly; 1111-mount; 1112-a first clamping drive module; 1113-first splint; 11131-grooves; 1114—a first rigid stop; 1115—a first flexible stop; 1116-adjusting the drive module; 1117-a second rigid stop; 1118-a second flexible stop; 1119—a first mating portion; 11191-a fixed structure; 11192-a guide post structure; 112-a second clamping assembly;

120-a second clamping mechanism; 121-a third clamping assembly; 1211-a second clamp drive module; 1212-a second splint; 1213-a third rigid stop; 1214-a third flexible stop; 122-a fourth clamping assembly;

130-matrix; 131-a frame; 132-a first fixing plate; 133-a second fixing plate; 134-a third fixing plate;

140-mounting flanges;

150-a detection element;

160-tie-down; 161-tie-down holes;

200-a conveyor;

300-carrying pallet.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The following describes embodiments of the present application in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

Referring to fig. 1 to 8, an embodiment of the present application discloses a gripping device 100 for gripping or releasing a member to be gripped (not shown in the drawings), wherein the member to be gripped may be a battery module, and of course, the member to be gripped may be another member. The disclosed gripping device 100 includes a first clamping mechanism 110 and a second clamping mechanism 120.

The first clamping mechanism 110 is configured to clamp a workpiece to be clamped in a first direction, in some embodiments, the first clamping mechanism 110 has a first clamping portion and a second clamping portion, and the first clamping portion and the second clamping portion are respectively configured to contact with two sides of the workpiece to be clamped along the first direction, so that the workpiece to be clamped can be abutted against from two sides of the workpiece to be clamped along the first direction through the first clamping portion and the second clamping portion, so that clamping and fixing of the workpiece to be clamped in the first direction can be achieved, and conveying of materials is facilitated for the workpiece to be clamped subsequently.

In order to facilitate the first clamping portion and the second clamping portion to move to two sides of the to-be-clamped piece in the first direction respectively, and to abut against two sides of the to-be-clamped piece in the first direction from the two sides, in the embodiment of the application, the first clamping portion and the second clamping portion can be relatively close to or relatively far away from each other in the first direction so as to adjust the relative distance between the first clamping portion and the second clamping portion, so that the first clamping portion and the second clamping portion can abut against or separate from two sides of the to-be-clamped piece respectively, and further clamping or releasing of the to-be-clamped piece can be achieved.

Illustratively, at least one of the first clamping portion and the second clamping portion is movable, specifically comprising: the first clamping part is movable and the second clamping part is fixed, the first clamping part is fixed and the second clamping part is movable, and both the first clamping part and the second clamping part can move. Of course, the above-mentioned various ways can be used for clamping or releasing the member to be clamped.

To improve the positional accuracy of the member to be gripped during gripping, in some embodiments, a side surface of either one of the first clamping portion and the second clamping portion facing the other may be provided with a first engaging portion 1119 protruding from the side surface. As shown in fig. 2 and 7, specifically, a side surface of the first clamping portion facing the second clamping portion is provided with a first engaging portion 1119, and a side surface of the second clamping portion facing the first clamping portion is also provided with a first engaging portion 1119; accordingly, two sides of the member to be gripped along the first direction may be respectively provided with second mating portions (not shown in the drawing), and the second mating portions are adapted to the first mating portions 1119. Based on this, when first clamping portion and second clamping portion are close to each other along first direction, first mating portion 1119 dock with the second mating portion at first, along with continuing to be close to, when first mating portion 1119 and second mating portion have the trace dislocation, can make to take the piece to produce the removal under the interact of first mating portion 1119 and second mating portion to can realize waiting to press from both sides fine setting of getting the piece position, and then can reduce and press from both sides and get the error, improve and wait to press from both sides the positional accuracy of getting the piece.

For example, the side surface of the first clamping portion may be provided with at least one first mating portion 1119, the side surface of the second clamping portion may be provided with at least one first mating portion 1119, and the first mating portion 1119 provided on the side surface of the first clamping portion may be provided opposite to the first mating portion 1119 provided on the side surface of the second clamping portion in the first direction, which may, of course, be also provided in a staggered manner in the first direction, so long as the first mating portion 1119 and the second mating portion can be ensured to mate, and the specific arrangement manner is not limited.

In order to improve the clamping effect of the workpiece to be clamped, the side surfaces of the first clamping part and the second clamping part, which are opposite to each other, can be provided with rough surfaces, and the arrangement can increase the contact friction force between the first clamping part and the second clamping part and the workpiece to be clamped, so that the workpiece to be clamped is not easy to move in a clamping state, and the stability and the firmness of clamping can be improved.

Of course, in other embodiments, when the side surface of the to-be-clamped member is provided with the protruding structure, the side surfaces of the first clamping portion and the second clamping portion, which face each other, may also be provided with the recessed structure, and this arrangement manner may also ensure the position accuracy of the to-be-clamped member through the cooperation of the protruding structure and the recessed structure.

The second clamping mechanism 120 is configured to clamp a workpiece to be clamped in the second direction, in some embodiments, the second clamping mechanism 120 has a third clamping portion and a fourth clamping portion, and the third clamping portion and the fourth clamping portion are respectively configured to contact two sides of the workpiece to be clamped along the second direction, so that the workpiece to be clamped can be abutted against the two sides of the workpiece to be clamped along the second direction through the third clamping portion and the fourth clamping portion, so that clamping and fixing of the workpiece to be clamped can be achieved, and conveying of the workpiece to be clamped can be facilitated.

In some embodiments, the first direction and the second direction may be perpendicular to each other and are both in a horizontal state; of course, the first direction and the second direction may also form other angles, which may be determined according to the shape of the member to be clamped.

In order to facilitate the third clamping portion and the fourth clamping portion to move to two sides of the to-be-clamped piece in the second direction respectively and to abut against two side surfaces of the to-be-clamped piece from the two sides, in the embodiment of the application, the third clamping portion and the fourth clamping portion can be relatively close to or relatively far away from each other along the second direction so as to adjust the relative distance between the two clamping portions, so that the third clamping portion and the fourth clamping portion can abut against or separate from the two side surfaces of the to-be-clamped piece respectively, and further clamping or releasing of the to-be-clamped piece is realized.

Illustratively, at least one of the third clamping portion and the fourth clamping portion is movable, and specifically comprises: the third clamping part is movable and the fourth clamping part is fixed, the third clamping part is fixed and the fourth clamping part is movable, and the third clamping part and the fourth clamping part can move. Of course, the above-mentioned various ways can be used for clamping or releasing the member to be clamped.

Based on the above arrangement, when the clamping device 100 in the embodiment of the present application clamps a workpiece to be clamped, the workpiece to be clamped is clamped from two sides of the first clamping mechanism 110 along the first direction by the first clamping portion and the second clamping portion, and the third clamping portion and the fourth clamping portion of the second clamping mechanism 120 clamp the workpiece to be clamped from two sides of the workpiece to be clamped along the second direction, so that stability and firmness of clamping action of the workpiece to be clamped can be ensured, and falling of the workpiece to be clamped can be prevented.

Further, the inner side surfaces of the first clamping part and the second clamping part are respectively provided with a first matching part 1119 protruding from the inner side surface, and the first matching part 1119 can be matched with the second matching part arranged on the side surface of the workpiece to be clamped when the first clamping part and the second clamping part are close to the side surface of the workpiece to be clamped, so that the position relation between the workpiece to be clamped and the first clamping part and the second clamping part can be correspondingly adjusted under the matching action of the first matching part 1119 and the second matching part, and the position adjustment of the workpiece to be clamped is realized, so that the position accuracy of the workpiece to be clamped is ensured.

In addition, the embodiment of the application can also alleviate the problem that the to-be-clamped piece falls obliquely when the to-be-clamped piece is placed by the mutual matching of the first clamping mechanism 110 and the second clamping mechanism 120, so as to avoid the condition that the to-be-clamped piece falls and is scrapped. Specifically, when the to-be-clamped workpiece is placed, the first clamping mechanism 110 can be released first, that is, the first clamping portion and the second clamping portion are relatively far away, so that the first matching portions 1119 on the sides of the first clamping portion and the second clamping portion are gradually separated from the second matching portions on the sides of the to-be-clamped workpiece, and then the second clamping mechanism 120 is gradually released, that is, the third clamping portion and the fourth clamping portion are relatively far away, so that the clamping effect of the to-be-clamped workpiece is completely released, the to-be-clamped workpiece slowly and stably falls onto the carrying pallet 300, and further the situation that the to-be-clamped workpiece obliquely falls due to the adhesion of the first matching portions 1119 and the second matching portions is prevented, and 100% of qualified product is ensured to be off line. Further, the problem of the first engagement portion 1119 being stressed for a long period of time to reduce the lifetime can be effectively alleviated.

In addition, compared with the mode of adopting the bottom-holding structure in the related art, the clamping device 100 in the embodiment of the application does not limit the design modes of the discharging and blanking positions through the mutual matching of the four clamping parts, namely, the clamping device can adapt to various design modes, so that the design cost of the discharging and blanking positions can be reduced.

Referring to fig. 1, in some embodiments, the gripping device 100 may further include a base 130, the base 130 being a base mounting member of the gripping device 100 that may provide a mounting base for the first clamping mechanism 110 and the second clamping mechanism 120. Illustratively, the base 130 may include a frame 131 and a plurality of fixing plates, the frame 131 functioning as a basic skeleton, the plurality of fixing plates functioning to mount the first clamping mechanism 110 and the second clamping mechanism 120, the plurality of fixing plates being mounted to the frame 131 to form the entire base 130.

The first clamping mechanism 110 may include a first clamping assembly 111 and a second clamping assembly 112 that are used in cooperation with each other, the first clamping assembly 111 and the second clamping assembly 112 are respectively disposed on two sides of the base 130 along a first direction, the first clamping assembly 111 has a first clamping portion, and the second clamping assembly 112 has a second clamping portion.

Based on the above arrangement, the first clamping assembly 111 and the second clamping assembly 112 can be mounted and supported by the base 130, and the first clamping portion of the first clamping assembly 111 and the second clamping portion of the second clamping assembly 112 can be relatively close to or relatively far away from each other, so that the workpiece to be clamped can be clamped or released in the first direction, and the workpiece to be clamped can be conveniently conveyed.

Illustratively, the base 130 may include a frame 131, a first fixing plate 132 and a second fixing plate 133, wherein the first fixing plate 132 and the second fixing plate 133 are disposed at both sides of the frame 131 along a first direction, the first clamping assembly 111 is disposed at the first fixing plate 132, and the second clamping assembly 112 is disposed at the second fixing plate 133 to achieve the respective mounting of the first clamping assembly 111 and the second clamping assembly 112.

In some embodiments, the first clamping portion and the second clamping portion are each movable in a first direction so as to move the first clamping portion and the second clamping portion closer to or farther from both sides of the first direction of the article to be clamped, respectively, to effect clamping or release. Based on this, the specific structure of both the first clamping assembly 111 and the second clamping assembly 112 may be substantially the same to ensure consistent movement of the first clamping portion and the second clamping portion. Of course, the specific structures of both the first clamping assembly 111 and the second clamping assembly 112 may be different, so long as the clamping or releasing of the member to be clamped can be achieved, and the specific form is not limited.

Referring to fig. 2 to 4, in the embodiment of the present application, each of the first clamping assembly 111 and the second clamping assembly 112 may include a mounting base 1111, a first clamping driving module 1112 and a first clamping plate 1113, where the first clamping plate 1113 is the first clamping portion or the second clamping portion, the mounting base 1111 may provide a mounting and supporting base for the first clamping driving module 1112, the first clamping plate 1113, and other components, and the first clamping driving module 1112 is a power component for moving the first clamping plate 1113, and under the action of the first clamping driving module 1112, the first clamping plate 1113 may be close to or far away from a side surface of the workpiece to be clamped in a first direction.

Specifically, the mount 1111 is disposed on the base 130, where the mount 1111 may be fixedly mounted to the base 130, and may be movably mounted to the base 130, and the specific mounting form may be selected according to the actual working conditions. The first clamping driving module 1112 is disposed on the mounting base 1111, and the first clamping plate 1113 is connected to the driving end of the first clamping driving module 1112 and slidably connected to the mounting base 1111 or the base 130. Based on this, the first clamping plate 1113 may slide with respect to the mounting base 1111 or the base 130 under the driving action of the first clamping driving module 1112, so as to be close to or far from the side of the workpiece to be clamped in the first direction, so as to clamp or release the workpiece to be clamped.

Illustratively, the mounting base 1111 or the base 130 may be provided with a guide structure, specifically, a guide rail extending along the first direction, the first clamping plate 1113 may be directly slidably connected to the guide rail, and the first clamping plate 1113 may be connected to the guide rail through a sliding block, so that the first clamping plate 1113 may move smoothly.

The first clamping driving module 1112 may be a linear module such as an air cylinder, a hydraulic cylinder, or an electric cylinder, and the specific form is not limited.

In practice, the first clamping plates 1113 of the first clamping assembly 111 and the first clamping plates 1113 of the second clamping assembly 112 are spaced apart in the first direction and may be relatively close or relatively far apart so that they may be clamped or released from both sides of the first direction of the article to be clamped.

In order to prevent the first clamping plate 1113 of each of the first clamping assembly 111 and the second clamping assembly 112 from being damaged by the first clamping plate 1113 being excessively pressed against the side of the workpiece to be clamped due to an excessive distance therebetween, in an embodiment of the present application, each of the first clamping assembly 111 and the second clamping assembly 112 may further include a first rigid limiting member 1114, and the first rigid limiting member 1114 is disposed on one of the base 130 and the first clamping plate 1113 and is used to abut against the other, as shown in fig. 3.

Specifically, when the first rigid retainer 1114 is mounted to the base 130, as the first clamping plate 1113 gradually approaches the side surface of the member to be clamped, the first clamping plate 1113 abuts against the side surface of the member to be clamped, and at this time, a slight gap exists between the side surface of the first clamping plate 1113 and the first rigid retainer 1114, so as to prevent the first rigid retainer 1114 from interfering with the side surface of the member to be clamped by the first clamping plate 1113 to affect the clamping effect of the member to be clamped. However, when an unexpected situation occurs, after the first clamping plate 1113 abuts against the side surface of the workpiece to be clamped, the first clamping plate 1113 continues to increase the abutting force, so that the workpiece to be clamped generates micro deformation, and finally the first clamping plate 1113 contacts the first rigid limiting member 1114, and the first rigid limiting member 1114 can prevent the first clamping plate 1113 from moving continuously, so that the workpiece to be clamped is effectively prevented from being clamped by the first clamping plate 1113, and the integrity of the workpiece to be clamped is ensured. Similarly, when the first rigid limiting member 1114 is mounted to the first clamping plate 1113, the first clamping plate 1113 can be prevented from moving continuously by the first rigid limiting member 1114 abutting against the base 130, so that the clamping member can be protected to ensure the integrity of the clamping member.

For the protection function of the to-be-clamped parts, the first rigid limiting part 1114 can be connected to the base 130 or the first clamping plate 1113 in an adjustable mode, and the position of the first rigid limiting part 1114 can be adjusted by the arrangement, so that the clamping conditions of the to-be-clamped parts with different external dimensions can be adapted to, and the to-be-clamped parts with different external dimensions can be prevented from being damaged. It should be noted that, the relative distance between the first rigid limiting member 1114 and the base 130 or the first clamping plate 1113 abutted against the first rigid limiting member can be adjusted according to the external dimension of the to-be-clamped member, so that when the abutment force of the first clamping plate 1113 against the side surface of the to-be-clamped member reaches the limit abutment force (i.e., the maximum abutment force of the to-be-clamped member which is not clamped), the first rigid limiting member 1114 is abutted against the base 130 or the first clamping plate 1113 exactly, thereby avoiding the occurrence of the situation that the to-be-clamped member is clamped and damaged due to the continued increase of the abutment force.

Illustratively, the first rigid retainer 1114 may be a bolt, screw, pin, dowel, or the like. The first rigid retainer 1114 may be threadably mounted to the base 130 or the first clamp plate 1113 to facilitate adjustment of the relative distance, thereby accommodating the protective action of the member to be clamped in a variety of different physical dimensions.

Of course, the first clamping assembly 111 and the second clamping assembly 112 may each further include a first flexible stop 1115, which first flexible stop 1115 may be disposed on one of the base 130 and the first clamp plate 1113 and configured to abut the other, as shown in FIG. 3.

Specifically, when the first flexible limiting member 1115 is mounted to the base 130, as the first clamping plate 1113 gradually approaches the side surface of the member to be clamped, the first clamping plate 1113 gradually abuts against the first flexible limiting member 1115, and as the first clamping plate 1113 gradually abuts against the side surface of the member to be clamped, the first flexible limiting member 1115 deforms, and applies a reaction force to the first clamping plate 1113, so that the reaction force borne by the first clamping driving module 1112 is gradually increased, and when the reaction force reaches a certain degree, the first clamping driving module 1112 stops continuously driving the first clamping plate 1113 to abut against the member to be clamped, so that the condition that the member to be clamped is damaged by the first clamping plate 1113 can be effectively prevented, and the integrity of the member to be clamped is ensured. Similarly, when the first flexible limiting member 1115 is mounted to the first clamping plate 1113, the reaction force born by the first clamping driving module 1112 can be increased by the first flexible limiting member 1115 abutting against the base 130, so that the workpiece to be clamped can be protected, and the integrity of the workpiece to be clamped can be ensured.

It should be noted that, a force detecting member, such as a pressure sensor, may be added to detect a reaction force borne by the first clamping driving module 1112, and when the reaction force reaches a preset reaction force, the force detecting member sends a control signal to the first clamping driving module 1112, so that the first clamping driving module 1112 stops continuously driving the first clamping plate 1113 to squeeze the workpiece to be clamped. In addition, when the first clamping driving module 1112 is a cylinder or a hydraulic cylinder, a pressure sensor may be further disposed in a corresponding air path or oil path, so as to detect air pressure or oil pressure, thereby facilitating control of the cylinder or the hydraulic cylinder.

Illustratively, the first flexible limiting member 1115 may be a pneumatic rod or a hydraulic rod, which can retract when receiving the extrusion force, and compress the gas or the compressed liquid accordingly, so as to play a certain role in blocking the movement of the first clamping plate 1113, and gradually increase the reaction force to the first clamping plate 1113, so as to make the first clamping driving module 1112 for driving the first clamping plate 1113 to move stop driving in time, and ensure that the first clamping plate 1113 does not clamp the workpiece to be clamped. Of course, the first flexible limiting member 1115 may also be an elastic body, such as a spring, which also can function as a member for blocking the movement of the first clamping plate 1113, so as to also provide a certain protection effect for the gripping member.

In an embodiment of the present application, one of the first rigid limiting member 1114 and the first flexible limiting member 1115 may be used to limit the first clamping plate 1113, so as to ensure that the to-be-clamped member is not damaged by clamping. Of course, in order to further improve the protection guarantee, the first rigid limiting member 1114 and the first flexible limiting member 1115 may be adopted at the same time, in this case, as the first clamping plate 1113 gradually approaches the to-be-clamped member, the first flexible limiting member 1115 acts first to play a certain role in blocking the first clamping plate 1113, however, in unexpected situations, when the first flexible limiting member 1115 cannot prevent the first clamping plate 1113 from moving continuously, the first rigid limiting member 1114 acts, so that the first clamping plate 1113 can be directly blocked from moving continuously. Based on this, through the dual protection effect of the first flexible limiting member 1115 and the first rigid limiting member 1114, the to-be-clamped member can be ensured not to be clamped by the first clamping plate 1113, and the integrity of the to-be-clamped member is ensured.

In order to enable the first clamping mechanism 110 to adapt to the to-be-clamped workpiece with various external dimensions, in the embodiment of the present application, the first clamping assembly 111 and the second clamping assembly 112 may further each include an adjustment driving module 1116, as shown in fig. 2, where the adjustment driving module 1116 is disposed on the base 130, and the mounting seat 1111 is connected to the driving end of the adjustment driving module 1116 and slidably connected to the base 130. Based on this, under the driving action of the adjustment driving module 1116, the mounting seat 1111 can slide along the first direction relative to the base 130 to adjust the position of the mounting seat 1111 in the first direction; meanwhile, the mounting seat 1111 drives the first clamping driving module 1112 and the first clamping plate 1113 to move along the first direction, so that the position of the first clamping plate 1113 can be adjusted before clamping the workpiece to be clamped, so that the first clamping plate 1113 is positioned at the side part of the workpiece to be clamped in the first direction, and meanwhile, the moving distance of the first clamping plate 1113 in the first direction can be increased or reduced through adjusting the driving module 1116, and the clamping effect on the workpiece to be clamped in various different external dimensions can be adapted.

The adjustment drive module 1116 may be, for example, a linear module such as an air cylinder, a hydraulic cylinder, an electric cylinder, or the like, but may be other modules, and the specific form of the adjustment drive module 1116 is not particularly limited herein.

To improve the stability of the movement of the mount 1111, the base 130 may be provided with a guide rail, and the mount 1111 may be directly slidably connected to the guide rail; of course, the mounting seat 1111 and the guide rail may also be connected by a slider. Both of the above-mentioned modes can ensure stable movement of the mount 1111 with respect to the base 130, and improve movement accuracy of the mount 1111, and further ensure movement stability and movement accuracy of the first clamping plate 1113.

To prevent excessive movement of the mount 1111 in the first direction, the first clamping assembly 111 and the second clamping assembly 112 may each further include a second rigid stop 1117, the second rigid stop 1117 being disposed on one of the base 130 or the mount 1111 and configured to abut the other, as shown in fig. 2 and 4.

Specifically, when the second rigid limiting member 1117 is mounted to the mounting seat 1111, as the adjustment driving module 1116 drives the mounting seat 1111 to slide relative to the base 130 along the first direction, the limiting end of the second rigid limiting member 1117 gradually approaches the base 130, when the mounting seat 1111 moves to the limiting position, the first clamping plate 1113 is located at the outer sides of the to-be-clamped members with different sizes, and the first clamping plate 1113 can abut against the side surfaces of the to-be-clamped members, and the limiting end of the second rigid limiting member 1117 abuts against the base 130, so that the base 130 prevents the mounting seat 1111 and the first clamping plate 1113 from moving continuously through the second rigid limiting member 1117, thereby effectively preventing the mounting seat 1111 from moving excessively, so as to avoid the mounting seat 1111 from being separated from the base 130 (i.e. under the condition that the mounting seat 1111 moves outwards), or the side surface distance of the first clamping plate 1113 from the to-be-clamped member is too small to place the to-be-clamped members between the first clamping member 1113 of the first clamping assembly 111 and the second clamping assembly 112 (i.e. under the condition that the mounting seat 1111 moves inwards). Similarly, when the second rigid limiting member 1117 is mounted to the base 130, the second rigid limiting member 1117 can collide with the mounting seat 1111 to prevent the mounting seat 1111 from moving continuously, so that the mounting seat 1111 can be prevented from moving excessively, and the mounting seat 1111 is prevented from being separated from the base 130, or the distance between the first clamping plate 1113 and the side surface of the member to be clamped is too small to enable the member to be clamped to be placed between the first clamping plate 1113 of both the first clamping assembly 111 and the second clamping assembly 112.

For the to-be-clamped members with different external dimensions, the second rigid limiting member 1117 can be connected to the base 130 or the mounting seat 1111 in an adjustable manner, and the position of the second rigid limiting member 1117 can be adjusted in such a manner that the to-be-clamped members with different external dimensions can be compatible.

In some embodiments, the base 130 may be provided with a stopper opposite to the first rigid limiting member 1114 in the first direction, and the stopper is located outside the first rigid limiting member 1114, so that the first rigid limiting member 1114 may be blocked by the stopper, so as to prevent the mounting seat 1111 from excessively moving outwards to be separated from the base 130.

Illustratively, the second rigid stop 1117 may be a bolt, screw, pin, dowel, or the like. The second rigid retainer 1117 may be threadably mounted to the base 130 or the mounting base 1111 to facilitate adjustment of the relative distance, so as to accommodate a variety of different physical dimensions of the member to be gripped.

Of course, the first clamping assembly 111 and the second clamping assembly 112 may each further include a second flexible stop 1118, which second flexible stop 1118 may be provided to one of the base 130 and the mount 1111 and adapted to abut the other, as shown in fig. 2 and 4.

Specifically, when the second flexible limiting member 1118 is mounted to the base 130, as the mounting seat 1111 moves (e.g., moves outwards or moves inwards) relative to the base 130, the mounting seat 1111 gradually abuts against the second flexible limiting member 1118, and as the mounting seat 1111 continues to move, the second flexible limiting member 1118 deforms, at the same time, the second flexible limiting member 1118 applies a reaction force to the mounting seat 1111, so that the reaction force borne by the adjustment driving module 1116 is gradually increased, and when the reaction force is increased to a certain extent, the adjustment driving module 1116 stops continuously driving the movement of the mounting seat 1111, so that the first clamping assembly 111 and the second clamping assembly 112 can be compatible with the to-be-clamped members of various external dimensions. Similarly, when the second flexible limiting member 1118 is mounted on the mounting seat 1111, the reaction force borne by the adjustment driving module 1116 can be increased by the interference of the second flexible limiting member 1118 with the base 130, so that the first clamping assembly 111 and the second clamping assembly 112 can be compatible with multiple to-be-clamped members with different external dimensions.

Here, a force detecting member, such as a pressure sensor, may be added to detect the reaction force borne by the adjustment driving module 1116, and when the reaction force reaches the preset reaction force, the force detecting member sends a control signal to the adjustment driving module 1116 so that the adjustment driving module 1116 stops continuously driving the mounting seat 1111 to move. In addition, when the adjusting driving module 1116 is an air cylinder or a hydraulic cylinder, a pressure sensor can be further arranged in a corresponding air path or oil path so as to detect air pressure or oil pressure, thereby being convenient for controlling the air cylinder or the hydraulic cylinder.

The second flexible limiting member 1118 may be a pneumatic rod or a hydraulic rod, and when receiving an extrusion force, it may retract and compress gas or compressed liquid accordingly, so as to play a certain role in blocking the movement of the mounting seat 1111 and gradually increase the reaction force to the mounting seat 1111, so as to facilitate the adjustment driving module 1116 for driving the movement of the mounting seat 1111 to stop driving in time, so as to adapt to the to-be-gripped members with various external dimensions. Of course, the second flexible limiting member 1118 may also be an elastic body, such as a spring, which may also function as a barrier to the movement of the mounting base 1111, so that the first clamping assembly 111 and the second clamping assembly 112 may also be compatible with a plurality of to-be-clamped members having different external dimensions.

In the embodiment of the present application, one of the second rigid limiting member 1117 and the second flexible limiting member 1118 may be used to limit the mounting seat 1111, so as to ensure that the mounting seat 1111 does not excessively move to separate from the base 130 or cause that the to-be-clamped member cannot be clamped normally. Of course, in order to further improve the limit guarantee, the second rigid limiting member 1117 and the second flexible limiting member 1118 may be adopted at the same time, in this case, as the mount 1111 moves, the second flexible limiting member 1118 first acts to perform a certain blocking effect on the mount 1111, however, in an unexpected case, when the second flexible limiting member 1118 cannot prevent the mount 1111 from moving continuously, the second rigid limiting member 1117 may act, so as to directly block the mount 1111 from moving continuously. Based on this, by the dual protection of the second flexible stop 1118 and the second rigid stop 1117, it is ensured that the mount 1111 does not disengage from the base 130 or interfere with normal gripping of the part to be gripped.

Referring to fig. 2 and 7, in some embodiments, the first mating portion 1119 may include a fixed structure 11191 and a guide post structure 11192 disposed on the fixed structure 11191. Illustratively, the fixing structure 11191 and the guide post structure 11192 may be integrally formed, i.e., the first mating portion 1119 is integrally manufactured to form a unitary structure, which may improve manufacturing efficiency and overall strength of the first mating portion 1119. Of course, the fixing structure 11191 and the guide pillar structure 11192 may be manufactured separately, and the guide pillar structure 11192 and the fixing structure 11191 may be fixedly connected, such as welded, bonded, etc., in the later stage, so as to ensure the connection firmness between the guide pillar structure 11192 and the fixing structure 11191, and in this manner, the manufacturing difficulty of the first mating portion 1119 may be reduced.

Accordingly, the side of either the first clamping portion or the second clamping portion facing the other is provided with a groove 11131, the fixing structure 11191 is arranged in the groove 11131, the guide pillar structure 11192 protrudes out of the groove 11131, so that the first matching portion 1119 can be mounted through the matching of the fixing structure 11191 and the groove 11131, the stability of the first matching portion 1119 assembled on the first clamping portion and the second clamping portion is ensured, and the guide pillar structure 11192 protruding out of the groove 11131 is inserted into the second matching portion on the side of the piece to be clamped, so that the piece to be clamped can be guided and positioned, and the position accuracy of the piece to be clamped is ensured.

In order to achieve accurate guiding, in the embodiment of the present application, the cross-sectional area of the guide pillar structure 11192 gradually decreases in the direction away from the groove 11131, so that the end portion of the guide pillar structure 11192 can be conveniently inserted into the second matching portion, and along with the gradual penetration of the guide pillar structure 11192, the error of the size of the second matching portion can be compatible and absorbed through the mutual matching of the guide pillar structure 11192 and the second matching portion, that is, the guide pillar structure 11192 can adaptively guide at a small angle so as to achieve accurate guiding function of the workpiece to be clamped, so that the position accuracy of the workpiece to be clamped can be ensured, and accurate clamping of the workpiece to be clamped can be achieved. Therefore, through the accurate cooperation of the first cooperation portion 1119 and the second cooperation portion, the normal operation of the first clamping driving module 1112 can be ensured, so that the sensor for detecting the normal condition of the first clamping driving module 1112 can not alarm, the DT of the clamping device 100 is reduced, and the product yield is improved.

Illustratively, the second mating portion may be a positioning hole or a positioning slot that is adapted to the guide post structure 11192. Of course, when the guide post structure 11192 is in a truncated cone shape, the second mating portion may be a tapered hole, so that the guide post structure 11192 and the second mating portion cooperate with each other to improve positioning accuracy.

Alternatively, the first mating portion 1119 may be a long pin, which may be made of different steel materials to ensure strength and rigidity thereof, thereby improving the load-bearing capacity of the long pin.

Referring to fig. 5 and 6, in some embodiments, the gripping device 100 may further include a base 130, the second clamping mechanism 120 may include a third clamping assembly 121 and a fourth clamping assembly 122 that are used in cooperation with each other, the third clamping assembly 121 and the fourth clamping assembly 122 are disposed on two sides of the base 130 along the second direction, respectively, and the third clamping assembly 121 has a third clamping portion, and the fourth clamping assembly 122 has a fourth clamping portion.

Based on the above arrangement, the third clamping assembly 121 and the fourth clamping assembly 122 can be mounted and supported by the base 130, and the third clamping portion of the third clamping assembly 121 and the fourth clamping portion of the fourth clamping assembly 122 can be relatively close to or relatively far away from each other, so that the workpiece to be clamped can be clamped or released in the second direction, and the workpiece to be clamped can be conveniently conveyed.

Illustratively, the base 130 may include a frame 131 and a third fixing plate 134, wherein the third fixing plate 134 is disposed at a middle portion of the frame 131, and the third clamping assembly 121 and the fourth clamping assembly 122 are disposed at intervals in the second direction on the third fixing plate 134 to achieve the respective mounting of the third clamping assembly 121 and the fourth clamping assembly 122 by the third fixing plate 134.

Further, the third fixing plate 134 may be located at an area between the first fixing plate 132 and the second fixing plate 133.

In some embodiments, the third clamping portion and the fourth clamping portion are each movable in the second direction so as to move the third clamping portion and the fourth clamping portion closer to or farther from both sides of the second direction of the article to be gripped, respectively, to effect clamping or release. Based on this, the specific structures of both the third clamping assembly 121 and the fourth clamping assembly 122 may be substantially identical to ensure consistent movement of the third clamping portion and the fourth clamping portion. Of course, the specific structures of both the third clamping assembly 121 and the fourth clamping assembly 122 may be different, so long as the clamping or releasing of the member to be clamped can be achieved, and the specific form is not limited.

In this embodiment of the present application, the third clamping assembly 121 and the fourth clamping assembly 122 may each include a second clamping driving module 1211 and a second clamping plate 1212, where the second clamping plate 1212 is the third clamping portion or the fourth clamping portion, and the second clamping driving module 1211 is a power member for moving the second clamping plate 1212, and under the action of the second clamping driving module 1211, the second clamping plate 1212 may be close to or far from the side surface of the workpiece to be clamped along the second direction.

Specifically, the second clamping driving module 1211 is disposed on the base 130, and the second clamping plate 1212 is connected to the driving end of the second clamping driving module 1211 and is slidably connected to the base 130. Based on this, the second clamping plate 1212 is slidable with respect to the base 130 by the driving of the second clamping driving module 1211 so as to be moved toward or away from the side of the workpiece in the second direction, so as to clamp or release the workpiece.

For example, the second clamping plate 1212 and the base 130 may be slidably connected by a guide rail, and a slider may be added to improve sliding stability.

In addition, the second clamping driving module 1211 may be a linear module such as an air cylinder, a hydraulic cylinder, an electric cylinder, etc., and the specific form is not limited.

In practice, the second clamping plate 1212 of the third clamping assembly 121 and the second clamping plate 1212 of the fourth clamping assembly 122 are spaced apart in the second direction and may be relatively close or relatively far apart so that they may be clamped or released from both sides of the second direction of the article to be clamped.

In order to prevent the second clamping assembly 1212 from being separated from the base 130 by too much distance relative to the second clamping assembly 1212 of each of the third clamping assembly 121 and the fourth clamping assembly 122, in an embodiment of the present application, the third clamping assembly 121 and the fourth clamping assembly 122 may each further include a third rigid stop 1213, the third rigid stop 1213 being disposed on one of the base 130 and the second clamping assembly 1212 and adapted to abut the other as shown in fig. 3.

Specifically, when the third rigid limiting member 1213 is mounted to the base 130, as the second clamping driving module 1211 drives the second clamping plate 1212 to slide relative to the base 130 along the second direction, the second clamping plate 1212 gradually approaches the limiting end of the third rigid limiting member 1213, and when the second clamping plate 1212 moves to the limiting position, the second clamping plate 1212 abuts against the limiting end of the third rigid limiting member 1213, so that the second clamping plate 1212 can be prevented from moving continuously by the third rigid limiting member 1213, and the second clamping plate 1212 can be effectively prevented from moving excessively, so as to avoid the second clamping plate 1212 from being separated from the base 130. Similarly, when the third rigid limiting member 1213 is disposed on the second clamping plate 1212, the second clamping plate 1212 can be prevented from moving continuously by the second rigid limiting member 1117 abutting against the base 130, so as to prevent the second clamping plate 1212 from moving excessively, thereby preventing the second clamping plate 1212 from being separated from the base 130.

For the to-be-clamped components with different external dimensions, the third rigid limiting component 1213 can be connected to the second clamping plate 1212 of the base 130 in an adjustable manner, and the position of the third rigid limiting component 1213 can be adjusted in such a manner that the to-be-clamped components with different external dimensions can be compatible.

By way of example, the third rigid retainer 1213 may be a bolt, screw, pin, dowel, or the like. Third rigid retainer 1213 may be threadably mounted to base 130 or second clamp plate 1212 to facilitate adjustment of the relative distance, thereby allowing for compatibility with a variety of different physical dimensions of the article to be clamped.

Of course, third clamping assembly 121 and fourth clamping assembly 122 may each further include a third flexible stop 1214, which third flexible stop 1214 may be disposed on one of base 130 and second clamp plate 1212 and configured to abut the other, as shown in FIG. 3.

Specifically, when the third flexible limiting element 1214 is mounted to the base 130, as the second clamping plate 1212 moves (e.g., moves forward or backward) relative to the base 130, the second clamping plate 1212 gradually abuts against the third flexible limiting element 1214, and as the second clamping plate 1212 moves further, the third flexible limiting element 1214 deforms, and at the same time, the third flexible limiting element 1214 applies a reaction force to the second clamping plate 1212, so that the reaction force borne by the second clamping driving module 1211 gradually increases, and when the reaction force increases to a certain extent, the second clamping driving module 1211 stops continuously driving the second clamping plate 1212 to move, so that the third clamping assembly 121 and the fourth clamping assembly 122 can be compatible with the to-be-clamped elements of various external dimensions. Similarly, when the third flexible limiting element 1214 is mounted to the second clamping plate 1212, the reaction force borne by the second clamping driving module 1211 can be increased by the third flexible limiting element 1214 abutting against the base 130, so that the third clamping assembly 121 and the fourth clamping assembly 122 can be compatible with a plurality of to-be-clamped pieces with different external dimensions.

Here, a force detecting member, such as a pressure sensor, may be added to detect the reaction force received by the second clamping driving module 1211, and when the reaction force reaches the preset reaction force, the force detecting member sends a control signal to the second clamping driving module 1211 so as to stop the second clamping driving module 1211 from continuously driving the second clamping plate 1212 to move. In addition, when the second clamping driving module 1211 is a cylinder or a hydraulic cylinder, a pressure sensor may be further disposed in a corresponding air path or oil path, so as to detect air pressure or oil pressure, thereby facilitating control of the cylinder or the hydraulic cylinder.

For example, the third flexible limiting element 1214 may be a pneumatic rod or a hydraulic rod, and when receiving an extrusion force, the third flexible limiting element 1214 may retract and compress air or compressed liquid accordingly, so as to play a role in blocking the movement of the second clamping plate 1212, and gradually increase the reaction force to the second clamping plate 1212, so as to facilitate timely stopping the second clamping driving module 1211 driving the second clamping plate 1212 to move, so as to adapt to the to-be-clamped elements with various external dimensions. Of course, the third flexible limiting member 1214 may also be an elastic body, such as a spring, which may also function as a barrier to the movement of the mounting base 1111, so that the third clamping assembly 121 and the fourth clamping assembly 122 may also be compatible with a plurality of different external dimensions of the to-be-clamped member.

In embodiments of the present application, one of third rigid retainer 1213 and third flexible retainer 1214 may be used to retain second clamp plate 1212 to ensure second clamp plate 1212 does not excessively move out of engagement with base 130. Of course, to further improve the limit guarantee, the third rigid limiting member 1213 and the third flexible limiting member 1214 may be simultaneously used, in this case, as the second clamping plate 1212 moves, the third flexible limiting member 1214 acts first to play a certain role in blocking the second clamping plate 1212, however, in an unexpected case, when the third flexible limiting member 1214 cannot prevent the second clamping plate 1212 from moving continuously, the third rigid limiting member 1213 may act, so as to directly block the second clamping plate 1212 from moving continuously. Based on this, by the dual shielding action of third flexible retainer 1214 and third rigid retainer 1213, it is ensured that second clamp plate 1212 does not disengage from base 130.

In order to avoid the collision between the to-be-clamped components during the blanking process, and to avoid the rejection of the to-be-clamped components, the clamping device 100 may further include a detection element 150, as shown in fig. 2, where the detection element 150 is disposed on the base 130, and the detection element 150 is electrically connected to the first clamping mechanism 110 and the second clamping mechanism 120 respectively. With this arrangement, the detecting member 150 can detect the position where the gripping member gripped by the gripping device 100 is to be placed, to detect whether the gripping member has been placed at this position.

Specifically, when the detecting element 150 detects that the to-be-clamped workpiece has been placed, the detecting element 150 sends signals to the first clamping mechanism 110 and the second clamping mechanism 120, so that the first clamping mechanism 110 and the second clamping mechanism 120 stop releasing the to-be-clamped workpiece, and therefore, the situation that the to-be-clamped workpiece clamped by the clamping device 100 collides with the to-be-clamped workpiece placed at the preset position to cause the to-be-clamped workpiece to be scrapped can be avoided, and further, stacking is avoided; when the detecting element 150 does not detect that the workpiece to be clamped is placed at the preset position, no signal is sent to the first clamping mechanism 110 and the second clamping mechanism 120, and at this time, the first clamping mechanism 110 and the second clamping mechanism 120 can normally release the workpiece to be clamped so as to place the workpiece to be clamped at the preset position.

In some embodiments, the detecting element 150 may be electrically connected to the first clamping driving module 1112 and the second clamping driving module 1211, so as to control the first clamping driving module 1112 and the second clamping driving module 1211 to perform a clamping action or a releasing action, respectively, according to the detection result.

Illustratively, the detection element 150 may include at least one of a distance sensor, a displacement sensor, or an image sensor. When the detecting element 150 includes a distance sensor, it can detect the height distance from the preset position in real time, and when the difference between the detected distance and the preset distance is large, it indicates that the preset position has placed the workpiece to be clamped, at this time, the workpiece to be clamped needs to be removed before being removed, and then the next workpiece to be clamped needs to be released, so as to avoid the collision of the front workpiece and the rear workpiece to be clamped, which results in scrapping.

Similarly, when the detecting member 150 includes a displacement sensor or an image sensor, it is also possible to detect whether or not the gripping member is placed at the predetermined position.

In order to improve the safety guarantee of detection and judgment, at least two of the distance sensor, the displacement sensor and the image sensor can be combined for use, so that various detection and judgment processes can be realized, the accuracy of detection and judgment is ensured, and the safety guarantee of the blanking process is improved.

The detection and judgment principle is referred to in the related art, and will not be described in detail herein.

Referring to fig. 1 to 8, based on the above-mentioned clamping device 100, the embodiment of the application further discloses a material conveying device for conveying, discharging or blanking the to-be-clamped piece. The disclosed material conveying equipment comprises a conveying device 200 and the clamping device 100, wherein the conveying device 200 is provided with a moving end, and the clamping device 100 is connected with the moving end. Based on this, the conveying device 200 may move by carrying the gripping device 100 on the moving end, so that the gripping device 100 carries the workpiece to be gripped to move to a preset position, so as to realize conveying, discharging or blanking of the workpiece to be gripped.

In some embodiments, the transfer device 200 may include a robotic arm or gantry transfer module. The mechanical arm may be a multi-axis mechanical arm, for example, a six-axis mechanical arm, etc., and may carry the clamping device 100 to move or swing in multiple directions, so as to meet the requirements of material conveying, material discharging or material discharging under actual working conditions; the gantry conveying module may also be a multi-axis gantry conveying module, for example, a tri-axis gantry conveying module, which may also carry the clamping device 100 to move according to a preset track, so as to meet the requirements of conveying, discharging or blanking under actual working conditions. Of course, the conveying device 200 may take other forms, which are not particularly limited in the embodiment of the present application.

It should be noted that, the specific structure and the working principle of the conveying device 200 may refer to the related art, and are not described in detail herein.

As shown in fig. 8, a plurality of load-bearing pallets 300 may be disposed around the conveying device 200, and after the conveying device 200 carries the to-be-clamped pieces clamped by the clamping device 100 to move above the corresponding load-bearing pallets 300, the first clamping mechanism 110 and the second clamping mechanism 120 respectively release the clamping effect, so that the to-be-clamped pieces may fall on the corresponding load-bearing pallets 300 for subsequent processing.

As shown in fig. 1, in some embodiments, the base 130 has a mounting flange 140 attached thereto, and the base 130 may be connected to the moving end of the conveying device 200 by the mounting flange 140, so as to implement the assembly of the gripping device 100 and the conveying device 200.

In addition, the mounting flange 140 is connected with a binding member 160, as shown in fig. 1, the binding member 160 is provided with a binding hole 161, and various cables connected between the conveying device 200 and the clamping device 100 can be bound through the binding hole 161, so that the cables can be prevented from randomly moving to influence the normal operation of the conveying device.

In summary, the embodiment of the application does not limit the design form of the discharging and blanking positions, so as to reduce the cost, and can ensure that the workpiece to be clamped cannot fall obliquely through the mutual cooperation of the first clamping mechanism 110 and the second clamping mechanism 120, thereby effectively avoiding the scrapping of the workpiece to be clamped.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims (13)

1. A gripping device, comprising: a first clamping mechanism (110) and a second clamping mechanism (120);

The first clamping mechanism (110) is provided with a first clamping part and a second clamping part which are respectively used for being contacted with two sides of a piece to be clamped along a first direction, the first clamping part and the second clamping part can be relatively close to or relatively far away from each other along the first direction, a side surface of any one of the first clamping part and the second clamping part facing the other side surface is provided with a first matching part (1119) protruding out of the side surface, and the first matching part (1119) is used for being matched with a second matching part arranged on the piece to be clamped;

The second clamping mechanism (120) is provided with a third clamping part and a fourth clamping part which are respectively used for being contacted with two sides of the to-be-clamped piece along the second direction, and the third clamping part and the fourth clamping part can be relatively close to or relatively far away from each other along the second direction.

2. The gripping device according to claim 1, characterized in that the gripping device (100) further comprises a base body (130);

the first clamping mechanism (110) comprises a first clamping assembly (111) and a second clamping assembly (112), and the first clamping assembly (111) and the second clamping assembly (112) are respectively arranged on two sides of the base body (130) along the first direction;

the first clamping assembly (111) has the first clamping portion and the second clamping assembly (112) has the second clamping portion.

3. The gripping device according to claim 2, characterized in that the first clamping assembly (111) and the second clamping assembly (112) each comprise a mounting seat (1111), a first clamping drive module (1112) and a first clamping plate (1113) as the first clamping portion or the second clamping portion;

The mounting seat (1111) is arranged on the base body (130), the first clamping driving module (1112) is arranged on the mounting seat (1111), and the first clamping plate (1113) is connected with the driving end of the first clamping driving module (1112) and is in sliding connection with the mounting seat (1111) or the base body (130).

4. A gripping device according to claim 3, characterised in that the first clamping assembly (111) and the second clamping assembly (112) each further comprise a first rigid stop (1114) and/or a first flexible stop (1115);

The first rigid stop (1114) and/or the first flexible stop (1115) are disposed on one of the base (130) and the first cleat (1113) and are configured to bear against the other.

5. A gripping device according to claim 3, characterized in that the first clamping assembly (111) and the second clamping assembly (112) each further comprise an adjustment drive module (1116);

The adjusting driving module (1116) is arranged on the base body (130), and the mounting seat (1111) is connected with the driving end of the adjusting driving module (1116) and is in sliding connection with the base body (130).

6. The gripping device of claim 5, wherein the first clamping assembly (111) and the second clamping assembly (112) each further comprise a second rigid stop (1117) and/or a second flexible stop (1118);

A second rigid stop (1117) and/or a second flexible stop (1118) is provided to one of the base (130) and the mount (1111) and is adapted to abut the other.

7. The gripping device according to any of the claims 1 to 6, characterized in that the first mating portion (1119) comprises a fixation structure (11191) and a guide post structure (11192) provided to the fixation structure (11191);

The side of either one of the first clamping part and the second clamping part facing the other is provided with a groove (11131), the fixing structure (11191) is arranged in the groove (11131), the guide pillar structure (11192) protrudes out of the groove (11131), and the cross-sectional area of the guide pillar structure (11192) is gradually reduced in a direction away from the groove (11131).

8. The gripping device according to claim 1, characterized in that the gripping device (100) further comprises a base body (130);

the second clamping mechanism (120) comprises a third clamping assembly (121) and a fourth clamping assembly (122), and the third clamping assembly (121) and the fourth clamping assembly (122) are respectively arranged on two sides of the base body (130) along the second direction;

the third clamping assembly (121) has the third clamping portion and the fourth clamping assembly (122) has the fourth clamping portion.

9. The clamping device as claimed in claim 8, characterized in that the third clamping assembly (121) and the fourth clamping assembly (122) each comprise a second clamping drive module (1211) and a second clamping plate (1212) as the third clamping portion or the fourth clamping portion;

The second clamping driving module (1211) is arranged on the base body (130), and the second clamping plate (1212) is connected with the driving end of the second clamping driving module (1211) and is in sliding connection with the base body (130).

10. The gripping device of claim 9, wherein the third clamping assembly (121) and the fourth clamping assembly (122) each further comprise a third rigid stop (1213) and/or a third flexible stop (1214);

The third rigid stop (1213) and/or the third flexible stop (1214) is disposed on one of the base (130) and the second clamp (1212) and is configured to abut the other.

11. The gripping device according to claim 1, wherein the gripping device (100) further comprises a base body (130) and a detection element (150) provided to the base body (130), the detection element (150) being electrically connected to the first clamping mechanism (110) and the second clamping mechanism (120), respectively;

wherein the detection element (150) comprises at least one of a distance sensor, a displacement sensor or an image sensor.

12. A material conveying apparatus, comprising: a transfer device (200) and a gripping device (100) according to any one of claims 1 to 11;

the conveying device (200) is provided with a moving end, and the clamping device (100) is connected with the moving end.

13. The material transfer apparatus of claim 12, wherein the conveyor (200) comprises a robotic arm or gantry conveyor module.