CN213386761U - Holding tool - Google Patents

Abstract

The application discloses a holding tool which comprises a carrying platform used for bearing a workpiece, a first holding arm and a second holding arm, wherein the first holding arm and the second holding arm are oppositely arranged on two sides of the carrying platform; the first arm and the second arm can be close to each other under the drive of the first driving mechanism, and then the holding cavity capable of limiting the workpiece is formed by matching the carrying platform, so that the workpieces can be stacked one by one in a uniform state. The clamp further comprises a first positioning mechanism, and the position of the first holding arm can be limited through a first positioning piece I and a second positioning piece II, wherein the first positioning piece I and the second positioning piece II are fixedly arranged relative to each other, and the first holding arm is guaranteed to move in place; similarly, the position of the second holding arm can be limited by the first positioning piece and the third positioning piece which are fixedly arranged relatively and connected with the second holding arm, so that the second holding arm can be ensured to move in place; furthermore, the position of the holding arm can be fixed by the matched positioning piece, the position state of the workpiece on the carrying platform can be accurately limited by the holding arm, and the position precision of the workpiece is improved.

Description

Holding tool

Technical Field

The application relates to the technical field of workpiece feeding equipment, in particular to a holding tool.

Background

The fuel cell stack is formed by laminating a plurality of polar plate membranes. When the electric pile is prepared, the pole plates need to be laminated, and in the prior art, the pole plates are laminated one by one through a mechanical arm to form the electric pile. During the lamination process, the relative position relationship between the plates may deviate, thereby reducing the stacking precision and affecting the quality of the stack.

Disclosure of Invention

The application provides a holding tool to solve the problem that stacking precision is low in the prior art.

In order to solve the technical problem, the application adopts a technical scheme that: a clamp is provided, comprising: the carrying platform is used for carrying a workpiece; the first holding arm and the second holding arm are oppositely arranged on two sides of the carrying platform; the first driving mechanism is used for driving the first holding arm and the second holding arm to move relatively; first positioning mechanism, first positioning mechanism includes: first locating piece one, the setting is on big board: the second first positioning piece is connected with the first holding arm; the first positioning piece III is connected with the second holding arm; the first driving mechanism drives the first holding arm and the second holding arm to move oppositely, and the first holding arm and the second holding arm can limit the position of a workpiece on the carrying platform; after the first arm is in place, the second first positioning piece is over against the first positioning piece, and the second first positioning piece is matched with the first positioning piece to limit the position of the first arm; after the second embracing arm is in place, the first positioning piece III is right opposite to the first positioning piece I, and the position of the second embracing arm can be limited by the cooperation of the first positioning piece III and the first positioning piece I.

Furthermore, the holding tool further comprises a second driving mechanism for driving the carrier to move along the vertical direction so that the carrier can receive the workpiece.

Further, the first arm comprises a first side plate, and the second arm comprises a second side plate; the first side plate and the second side plate are oppositely arranged; the first driving mechanism is used for driving the first side plate and the second side plate to move relatively.

Furthermore, the first arm further comprises a first clamping plate and a first clamping plate driving piece, and the first clamping plate driving piece is connected with the first clamping plate and used for driving the first clamping plate to move towards the carrying platform; and/or the second arm further comprises a second clamping plate and a second clamping plate driving piece, and the second clamping plate driving piece is connected with the second clamping plate and used for driving the second clamping plate to move towards the carrying platform.

Further, first armful of arm still includes second positioning mechanism, and second positioning mechanism includes: the first second positioning piece is connected with the first side plate; the second positioning piece II is connected with the first clamping plate; after the first clamping plate driving piece drives the first clamping plate to be in place, the first second positioning piece is over against the second positioning piece, and the first second positioning piece is matched with the second positioning piece to limit the relative positions of the first side plate and the first clamping plate.

Further, the second armful of arm still includes third positioning mechanism, and third positioning mechanism includes: the first third positioning piece is connected with the second side plate; the second positioning piece is connected with the second clamping plate; after the second clamping plate driving piece drives the second clamping plate to be in place, the first third positioning piece is over against the second third positioning piece, and the first third positioning piece is matched with the second third positioning piece to limit the relative position of the second side plate and the second clamping plate.

Furthermore, a first positioning block II is arranged on one side, close to the carrying platform, of the first clamping plate, and a first positioning block III is arranged on one side, close to the carrying platform, of the large plate; after the first clamping plate is in place, the first positioning block II and the first positioning block III can clamp two opposite surfaces of a workpiece so as to limit the position of the workpiece; and/or a second positioning block II is arranged on one side of the second clamping plate close to the carrying platform, and a second positioning block III is arranged on one side of the large plate close to the carrying platform; after the second clamping plate is in place, the second positioning block II and the second positioning block III can clamp two opposite surfaces of the workpiece so as to limit the position of the workpiece.

Further, the holding tool further comprises a third driving mechanism for driving the carrying platform to be close to or far away from the feeding station.

Further, the third drive mechanism includes: the gun changing plate is connected with the carrying platform; the mechanical arm is used for butt joint of the gun changing plate so as to drive the carrying platform to move; after the carrying platform is fully loaded, the mechanical arm is connected with the gun changing plate, and then the carrying platform is pulled to leave the feeding station.

Further, the locking device further comprises a fourth positioning mechanism, and the fourth positioning mechanism comprises: the first fourth positioning piece is arranged at the feeding station; the fourth positioning part II is connected with the carrying platform; after the carrying platform reaches the feeding station, the first fourth positioning part is over against the second fourth positioning part, and the first fourth positioning part is matched with the second fourth positioning part to limit the position of the carrying platform.

The application provides a holding tool which comprises a carrying platform for bearing a workpiece, a first holding arm and a second holding arm, wherein the first holding arm and the second holding arm are oppositely arranged on two sides of the carrying platform; the first holding arm and the second holding arm can be driven by the first driving mechanism to approach each other, and further cooperate with the carrier to form an accommodating cavity capable of limiting workpieces, so that the workpieces can be stacked one by one in a uniform state; or after the workpiece is fed, the first holding arm and the second holding arm are matched to regulate the workpiece; further, the positions and states of workpieces which are loaded randomly are unified, and downstream processing is facilitated.

Furthermore, the holding tool also comprises a first positioning mechanism, and the position of the first holding arm can be limited through a first positioning piece I and a second positioning piece II which are fixedly arranged relatively and connected with the first holding arm, so that the first holding arm can be ensured to move in place; similarly, the position of the second holding arm can be limited by the first positioning piece and the third positioning piece which are fixedly arranged relatively and connected with the second holding arm, so that the second holding arm can be ensured to move in place; furthermore, the position of the holding arm can be fixed by the matched positioning piece, the position state of the workpiece on the carrying platform can be accurately limited by the holding arm, and the position precision of the workpiece is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic top view of a clamp according to the present disclosure;

FIG. 2 is a rear view of the clamp of FIG. 1;

FIG. 3 is a left side view of the clamp of FIG. 1;

fig. 4 is a schematic right-view structural diagram of the clamp of fig. 1.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The application discloses a locking device includes: a carrier 10 for receiving a workpiece; the first holding arm 20 and the second holding arm 30 are oppositely arranged on two sides of the carrying platform 10; and the first driving mechanism 40 is used for driving the first embracing arm 20 and the second embracing arm 30 to move relatively.

Wherein, the carrier 10 may be a relatively fixed bearing platform; at the loading station, a robot (not shown) carries the workpiece onto the carrier 10. In one embodiment, the workpiece is a pole plate; when feeding, the manipulator carries the polar plates one by one onto the carrier 10 and stacks them; after a certain number of pole plates are stacked, a galvanic pile is formed.

In one embodiment, after the workpiece is conveyed to the stage 10, the first driving mechanism 40 drives the first arm 20 and the second arm 30 to move towards each other; at this time, as the first holding arm 20 and the second holding arm 30 are continuously close to the carrier 10, the first holding arm and the second holding arm respectively contact one side of the workpiece, so that the workpiece is calibrated; finally, the workpiece is clamped between the first holding arm 20 and the second holding arm 30, and the position state of the workpiece can be adjusted by the first holding arm 20 and the second holding arm 30.

In another embodiment, before loading a workpiece, the first driving mechanism 40 drives the first arm 20 and the second arm 30 to move towards each other; at this time, after the first arm 20 and the second arm 30 move in place, the carrier 10 cooperates with the first arm 20 and the second arm 30 to form a semi-closed accommodating cavity; referring to fig. 1, at this time, the robot can transport the workpiece from the top of the accommodating chamber to the carrier 10; in the accommodating cavity, multiple sides of the workpiece are blocked by the holding arm or the edge of the carrier 10, so that the workpiece is supported by the carrier 10 in a uniform position.

In other embodiments, the stage 10 receives a plurality of workpieces when stacked on the stage 10; the stacking of partial workpieces can be carried out firstly, after a certain number of workpieces are stacked, the first driving mechanism 40 drives the first holding arm 20 and the second holding arm 30 to move oppositely, and further, when the stacked workpieces are normalized, the workpieces to be stacked are enabled to be stacked continuously in a uniform state through the containing cavity.

Wherein the first drive mechanism 40 may comprise only one drive member; the driving part can adopt an air claw or a motor and a double-screw rod, the first holding arm 20 and the second holding arm 30 are respectively arranged on one movable end of the driving part, and the driving part acts to drive the first holding arm 20 and the second holding arm 30 to act synchronously; or, one of the first embracing arm 20 and the second embracing arm 30 is relatively fixedly arranged, in this case, the driving member may adopt a cylinder, an electric cylinder or other driving members, and the other one of the first embracing arm 20 and the second embracing arm 30 is connected to the driving member and can be driven by the driving member to approach or depart from the fixed embracing arm.

In addition, the first driving mechanism 40 may include two driving members respectively connected to the first arm 20 and the second arm 30; in this case, the driving member may be an air cylinder, an electric cylinder, or the like, and the first arm 20 and the second arm 30 may be driven by the corresponding driving member to be close to or away from each other.

Further, the locking device further comprises a first positioning mechanism 50, and the first positioning mechanism 50 comprises: a first positioning member 51 disposed on the large plate 1: the second first positioning piece 52 is connected with the first arm-embracing 20; the third positioning piece 53 is connected with the second arm-embracing arm 30; the first driving mechanism 40 drives the first holding arm 20 and the second holding arm 30 to move towards each other, and the first holding arm 20 and the second holding arm 30 can limit the position of a workpiece on the carrying platform 10; after the first arm-embracing arm 20 is in place, the first positioning piece II 52 is over against the first positioning piece I51, and the first positioning piece II 52 is matched with the first positioning piece I51, so that the position of the first arm-embracing arm 20 can be limited; after the second embracing arm 30 is in place, the first positioning piece III 53 is over against the first positioning piece I51, and the first positioning piece III 53 is matched with the first positioning piece I51, so that the position of the second embracing arm 30 can be limited.

It should be noted that the large plate 1 is a relatively fixed mounting plate at the feeding station, and the position of the first positioning member 51 is relatively fixed at the feeding station by arranging the first positioning member 51 on the large plate 1. Thus, when the first positioning member 51 is opposite to the second positioning member 52, the first arm 20 can be confirmed to be in place; further, when the first positioning member 51 is matched with the second positioning member 52, the position of the first arm 20 can be fixed, so that the first arm 20 is ensured to be accurately matched with the carrier 10. Similarly, when the first positioning piece 51 is opposite to the third positioning piece 53, the second holding arm 30 can be confirmed to be positioned; further, when the first positioning member 51 is engaged with the third positioning member 53, the position of the second arm 30 can be fixed.

It should be added that the first arm 20 and the second arm 30 are "in place", which means that they are driven by the first driving mechanism 40 to approach each other to a preset position. When the arm reaches the preset position, the arm and the arm can regulate the fed workpiece, or the arm and the arm can cooperate with the carrier 10 to form an accommodating cavity. For example, referring to fig. 1, a workpiece is symmetrically placed on a stage 10, and left and right side portions of the workpiece protrude from the stage 10; the first holding arm 20 is in place and can contact the left side of the projection of the workpiece; the second holding arm 30 is in place and can contact the right side of the projection of the workpiece; in the embodiment of fig. 1, if the arm calibrates a workpiece after the workpiece is loaded, the first arm 20 and the second arm 30 move to the right position in the opposite direction, and then push the workpiece to a position where the workpiece is clamped symmetrically with respect to the carrier 10; if the arm is limited before the workpiece is fed, after the first arm 20 and the second arm 30 move in place in opposite directions, the accommodating cavities formed by the first arm and the second arm and the platform 10 are symmetrical relative to the platform 10, and the workpiece can only enter the platform 10 along the accommodating cavities.

In summary, by arranging the first positioning mechanism 50, on one hand, whether each arm moves in place can be determined, and only after the arms move in place, the two positioning pieces can be matched with each other; on the other hand, after the two positioning parts are matched, the arm and the large plate 1 can be connected, and then the arm is fixedly held, so that the arm is kept at a preset position, and the limitation of the arm on a workpiece is avoided.

One of the first positioning piece 51 and the second positioning piece 52 can be a positioning hole, and the other can be a positioning pin, a positioning rod, a positioning block and the like which can extend into the positioning hole; thus, the positioning piece is clamped in the positioning hole, and the relative position of the positioning piece and the positioning hole can be limited. Alternatively, the first positioning member 51 and the second positioning member 52 may adopt a sliding groove and a sliding block which can be clamped with each other, or a similar structure; therefore, one positioning piece can be clamped with the other positioning piece, and the relative position of the two positioning pieces is further limited. Alternatively, the first positioning element 51 and the second positioning element 52 may be configured to be connected to each other in a plugging manner … ….

In summary, the fact that the first positioning element two 52 and the first positioning element one 51 are "matched" means that, as the arm is in place, the first positioning element two 52 and the first positioning element one 51 are connected together, so that the first arm 20 and the large plate 1 are connected together. Therefore, after the first positioning piece 51 is matched with the second positioning piece 52, the positions of the first positioning piece 51 and the second positioning piece 52 are relatively fixed, the first positioning piece and the second positioning piece cannot be passively separated, and the arm can be ensured to be kept in a proper position.

Further, in order to prevent the first positioning member 51 and the second positioning member 52 from interfering with each other and interfering with the movement of the first arm 20, the first positioning mechanism 50 further includes a first positioning driving member 54 for driving the first positioning member 51 and the second positioning member 52 to move relatively.

The first positioning mechanism 50 may only include a first positioning driving member 54, and at this time, one of the first positioning member 51 and the second positioning member 52 is relatively fixedly disposed, and the other is connected to the first positioning driving member 54 and can move toward the fixedly disposed positioning member under the driving of the first positioning driving member 54. Alternatively, the first positioning mechanism 50 may include two first positioning driving members 54 respectively connected to the first positioning members 51 and the second positioning members 52. The first positioning driving member 54 may be a pneumatic cylinder, an electric cylinder, or the like.

Furthermore, in order to prevent the first positioning member 51 and the second positioning member 52 from being separated along the direction of the relative movement of the two embracing arms, the direction of the connection and matching between the first positioning member 51 and the second positioning member 52 is not consistent with the direction of the relative movement of the two embracing arms. For example, referring to fig. 2, in the illustrated embodiment, the first driving mechanism 40 includes a first guide 41 extending in the left-right direction (the first guide 41 may be a guide member such as a guide rod or a guide rail), a first driving member 42 connected to the first swing arm 20, and a first driving member 43 connected to the second swing arm 30 (the first driving member 42 and the first driving member 43 may be a driving member such as an air cylinder or an electric cylinder); in order to conveniently install the first driving mechanism 40, the carrier 10 is arranged on the front surface of the large plate 1, the first guide piece 41 is arranged on the back surface of the large plate 1, a gap for the arm to move is formed in the large plate 1, and the arm part penetrates through the gap and is connected with the first guide piece 41 in a sliding manner; the first driving piece 42 and the second driving piece 43 are also arranged on the back surface of the large plate 1 and are respectively connected with corresponding arm holding arms; in addition, the first positioning piece 51 adopts a positioning pin and is arranged on the back surface of the large plate 1; the second first positioning piece 52 adopts a positioning block provided with a positioning hole and is arranged on the part of the embracing arm penetrating through the gap; the first positioning driving piece 54 adopts an air cylinder, is connected with a positioning pin and can drive the positioning pin to move along the up-and-down direction; therefore, the first embracing arm 20 is in place, the first positioning piece 51 and the second positioning piece 52 are opposite to each other in the vertical direction, the first positioning driving piece 54 drives the first positioning piece 51 to move downwards, and the positioning pin is inserted into the positioning hole, so that stable positioning of the embracing arm is realized.

The first positioning element 51 and the third positioning element 53 have similar structures and arrangement relationships to the first positioning element 51 and the second positioning element 52, and are not repeated herein.

In addition, in order to facilitate the first positioning member 51 to cooperate with the first positioning member three 53, the first positioning mechanism 50 further includes a first positioning driving member two 55, and the first positioning driving member two 55 is similar to the first positioning driving member one 54 in structure, and thus the description thereof is omitted.

It should also be added that the first positioning mechanism 50 may comprise only one first positioning element one 51; for example, the first positioning element 51 is a positioning block, the positioning block is provided with two positioning holes, and after the two holding arms are in place, the first positioning element two 52 and the first positioning element three 53 thereon can correspondingly extend into the corresponding positioning holes to realize position limitation. Alternatively, the first positioning mechanism 50 may include two sets of first positioning members 51, corresponding to the first positioning members two 52 and the first positioning members three 53, respectively.

In addition, when the arm has a certain height, the first positioning mechanism 50 may include a plurality of first positioning members 52 and/or a plurality of first positioning members 53, for example, in the embodiment shown in fig. 2, two first positioning members 52 and two first positioning members 53 are disposed along the height direction of the arm, and are disposed at the top and the bottom of the protruding portion of the arm respectively; meanwhile, a plurality of first positioning pieces 51 are further provided corresponding to the first positioning pieces 52 and the first positioning pieces 53, so that the position of the arm can be more stably defined.

Further, the clamp further includes a second driving mechanism 60 for driving the carrier 10 to move in the vertical direction so that the carrier 10 receives the workpiece.

In one embodiment, referring to fig. 1, 3 and 4, the second driving mechanism 60 includes a second guide 61 arranged along the vertical direction (the second guide 61 may be a guide member such as a guide rod or a guide rail), the second guide 61 is arranged on the large board 1, and the stage 10 is slidably connected to the second guide 61; the second driving mechanism 60 further includes a supporting plate 62 capable of contacting the stage 10, and a second driving member 63 connected to the supporting plate 62 and capable of driving the supporting plate 62 to move in the vertical direction (the second driving member 63 may adopt a driving member such as an electric cylinder or a linear module); after the carrier 10 reaches the feeding station, the supporting plate 62 can support the bottom of the carrier 10, and then the carrier 10 is driven by the second driving member 63 to move in the vertical direction.

In another embodiment (not shown), the second driving mechanism 60 may be a driving member such as an electric cylinder or a linear module, and the stage 10 is provided at a movable end of the second driving mechanism 60 and is movable in the vertical direction by the driving of the second driving mechanism 60.

It can be seen that when a plurality of workpieces are stacked, if the carrier 10 is relatively fixed at the feeding station, the manipulator needs to change its position continuously with the height of the workpieces stacked layer by layer to perform the stacking operation. Under this condition, the material loading position of manipulator is unset, causes the work piece easily to deviate, influences the lamination precision. By arranging the second driving mechanism 60, when the workpieces are stacked, the height of the carrier 10 can be adjusted, so that the surface of the carrier 10 for receiving the next workpiece is always at the same height, and the manipulator can conveniently feed materials at the same position.

In order to define the position of the workpiece on the carrier 10, the first arm 20 includes a first side plate 21, and the second arm 30 includes a second side plate 31; the first side plate 21 and the second side plate 31 are oppositely arranged; the first driving mechanism 40 is used for driving the first side plate 21 and the second side plate 31 to move relatively.

For convenience of understanding, referring to fig. 1, the first side plate 21 is disposed on the left side of the carrier 10, and the second side plate 31 is disposed on the right side of the carrier 10, so that the first side plate 21 and the second side plate 31 are close to each other, and it can be ensured that the left and right sides of the workpiece on the carrier 10 are relatively neat and uniform in position.

Further, the orientation shown in fig. 1 is taken as an example for explanation; a plurality of workpieces are stacked on the carrier 10, with left and right sides thereof defined by the first side plate 21 and the second side plate 31, in relative alignment. In order to avoid the uneven upper and lower sides of the workpiece, in one embodiment, a positioning block (the specific structure of the "positioning block" is also described below) may be disposed on the upper side of the carrier 10 or on the side of the large plate 1 close to the carrier 10, and after the workpiece is loaded, the upper side of the workpiece abuts against the positioning block, and the left and right sides of the workpiece abut against the first side plate 21 and the second side plate 31 respectively; in this way, the position of the workpiece can be accurately defined.

Alternatively, to better define the position of the workpiece on the stage 10, the first clamp arm 20 further includes a first clamp plate 22 and a first clamp plate driving member 23, the first clamp plate driving member 23 is connected to the first clamp plate 22 and is configured to drive the first clamp plate 22 to move toward the stage 10; and/or the second clamp arm 30 further comprises a second clamp plate 32 and a second clamp plate driving member 33, wherein the second clamp plate driving member 33 is connected to the second clamp plate 32 and is used for driving the second clamp plate 32 to move towards the carrier 10.

Here, the first and second clamp drivers 23 and 33 may be driven by an air cylinder, an electric cylinder, or the like.

For convenience of understanding, referring to fig. 1, at this time, the first clamping plate 22 and the second clamping plate 32 are both arranged opposite to the large plate 1, the upper side of the carrier 10 is opposite to the large plate, the lower side of the carrier is opposite to the first clamping plate 22 and the second clamping plate 32, the left side of the carrier is opposite to the first side plate 21, and the right side of the carrier is opposite to the second side plate 31; the first jaw drive 23 can drive the first jaw 22 towards the large plate 1 and the second jaw drive 33 can drive the second jaw 32 towards the large plate 1, thereby pushing the underside of the workpiece so that the underside of the workpiece is relatively neat.

Meanwhile, when the carrier 10 or the large plate 1 is provided with the positioning block, the clamping plate can push the workpiece until the upper side of the workpiece abuts against the positioning block; at the moment, the upper side and the lower side of the workpiece are clamped by the positioning blocks and the clamping plates, and the holding arm can accurately regulate or limit the position and the position state of the workpiece.

It should be noted that the first arm 20 and the second arm 30 may each include a clamp and a corresponding clamp driving member; at this time, referring to fig. 1, the two clamp plates act on the left and right portions of the lower side of the workpiece, respectively, thereby preventing the workpiece from being inclined in the left-right direction when only one side of the workpiece is subjected to a force. Alternatively, only one of the first and second clamp arms 20 and 30 may include a clamp plate and a corresponding clamp plate driving member, and at this time, the clamp plate may be correspondingly disposed at the middle of the lower side of the workpiece to ensure that the workpiece is accurately pushed.

It should be added that, in order to facilitate the first side plate 21, the second side plate 31 and/or the positioning block, the first clamping plate 22, and the second clamping plate 32 to act on the workpiece, the workpiece surface supported by the carrier 10 may be smaller than the workpiece, and at this time, the upper, lower, left, and right sides of the workpiece at least partially protrude from the carrier 10 to facilitate contact with the respective plates.

Further, to facilitate the positioning of the clamp plates and clamp plate drivers, in one embodiment, the clamp plates may be slidably positioned on the corresponding side plates. Referring specifically to fig. 1, in the illustrated embodiment, the first clamp arm 20 includes a first side plate 21, a first clamp plate 22, and a first clamp plate drive member 23; the first side plate 21 is arranged on the large plate 1 in a sliding mode along the left-right direction, the first clamping plate 22 is arranged on one side, away from the carrier 10, of the first side plate 21 in a sliding mode along the up-down direction, the fixed end of the first clamping plate driving piece 23 is arranged on one side, away from the carrier 10, of the first side plate 21, and the movable end of the first clamping plate driving piece is connected with the first clamping plate 22; the second arm 30 is similar to the first arm 20 in structure, and is not described in detail herein; at this time, the first side plate 21 and the second side plate 31 move relatively to drive the first clamping plate 22 and the second clamping plate 32 to approach the carrier 10, so that the positions of the main body of the clamp are relatively uniform, and the final limiting effect on the workpiece is ensured.

Of course, in other embodiments, the first clamping plate 22 and the second clamping plate 32 may be disposed on the large plate 1 or other mechanisms, or the first clamping plate 22 and the second clamping plate 32 may also be disposed at the feeding station; the present application is not particularly limited as long as the first clamping plate 22 and the second clamping plate 32 can act on the "lower side" of the workpiece under the driving of the corresponding clamping plate driving members.

Furthermore, when the workpieces are stacked, no matter the workpieces are lifted by the aid of the carrying platform 10 or the manipulators are laminated layer by layer, the positions of the holding arms are adjusted, and the accommodating cavities are formed, so that when the position state of the workpieces is limited, the side edges of the workpieces can rub against the plates of the holding arms; in order to avoid the contact positions of the excessive friction area and the abrasion, in one embodiment, a first positioning block II 27 is arranged on one side of the first clamping plate 22 close to the carrier 10, and a first positioning block III 28 is arranged on one side of the large plate 1 close to the carrier 10; after the first holding arm 20 is in place, the two opposite surfaces of the workpiece can be clamped by the first positioning block II 27 and the first positioning block III 28, and the position of the workpiece is further limited; and/or a second positioning block II 37 is arranged on one side of the second clamping plate 32 close to the carrier 10, and a second positioning block III 38 is arranged on one side of the large plate 1 close to the carrier 10; after the second arm-embracing arm 30 is in place, the second positioning block two 37 and the second positioning block three 38 can clamp two opposite surfaces of the workpiece, so as to limit the position of the workpiece.

Specifically, referring to fig. 1, the second first positioning block 27 is disposed at the left portion of the side of the large board 1 close to the stage 10, and the second positioning block 37 is disposed at the right portion of the side of the large board 1 close to the stage 10; the surfaces of the second first positioning block 27 and the second positioning block 37, which are contacted with the workpiece, are small, so that the workpiece can be clamped by matching with the third first positioning block 28 and the third second positioning block 38, and meanwhile, the contact area is reduced, and the friction to the side surface of the workpiece is reduced.

It should be added that, in other embodiments, only one positioning element may be disposed on the large plate 1 for supporting the middle of the upper side of the workpiece, and then the positioning elements on the clamping plate are matched to limit the upper and lower sides of the workpiece. Similarly, one of the first clamping plate 22 and the second clamping plate 32 may be provided with a positioning member, which is matched with the positioning member of the large plate 1.

Furthermore, the first side plate 21 and/or the second side plate 31 may further be provided with a first positioning block 29 or a second positioning block 39, so as to reduce the contact area between the side plates and the left and right sides of the workpiece.

In addition, to define the relative positions of the first clamping plate 22 and the first side plate 21, the first arm 20 further includes a second positioning mechanism, which includes: the first second positioning piece 24 is connected with the first side plate 21; a second positioning part 25 connected with the first clamping plate 22; after the first clamping plate driving member 23 drives the first clamping plate 22 to be in place, the first second positioning member 24 is over against the second positioning member 25, and the first second positioning member 24 is matched with the second positioning member 25, so that the relative positions of the first side plate 21 and the first clamping plate 22 can be limited.

The structure and arrangement relationship of the first second positioning element 24 and the second positioning element 25 are similar to those of the first positioning element 51 and the second first positioning element 52, and are not described herein again.

Through setting up second setting element 24 and second setting element 25, can connect first curb plate 21 and first splint 22, and then avoid in the state of injecing the work piece, first splint 22 displacement, influence final limited effect.

In a specific embodiment, referring to fig. 3, a first second positioning element 24 is disposed on a side of the first side plate 21 away from the carrier 10, and the first second positioning element 24 is a positioning pin; a second positioning driving member 26 is correspondingly connected to any one of the second positioning members 24 (the second positioning driving member 26 may adopt a driving member such as an air cylinder, an electric cylinder, etc.), and the second positioning driving member 26 is used for driving the second positioning member 24 to move along the vertical direction. The first clamping plate 22 is arranged on the first side plate 21 in a sliding manner along the left-right direction, a second positioning element 25 is arranged on a part of the first clamping plate 22, which is connected with the first side plate 21, and the second positioning element 25 adopts a positioning block with a positioning hole. After the first clamping plate driving member 23 drives the first clamping plate 22 to move along the left-right direction and the first clamping plate 22 is in place, the positioning pin is over against the positioning hole, and the second positioning driving member 26 drives the positioning pin above to be inserted into the positioning hole, so that the first side plate 21 and the first clamping plate 22 are fixed.

Furthermore, as the side plates and the clamping plates have a certain height, a plurality of groups of corresponding first second positioning parts 24 and second positioning parts 25 can be arranged; for example, in fig. 3, two sets of first positioning elements 24 are disposed on the first side plate 21, and two sets of second positioning elements 25 are disposed on the first clamping plate 22.

Correspondingly, the second arm 30 further includes a third positioning mechanism, and the third positioning mechanism includes: a first third positioning member 34 connected to the second side plate 31; a second third positioning part 35 connected with the second clamping plate 32; after the second clamping plate driving member 33 drives the second clamping plate 32 to be in place, the first third positioning member 34 is over against the second third positioning member 35, and the first third positioning member 34 is matched with the second third positioning member 35, so that the relative positions of the second side plate 31 and the second clamping plate 32 can be limited.

Referring to fig. 4, the structure and arrangement relationship of the first positioning element 34 and the second positioning element 35 are similar to those of the first positioning element 24 and the second positioning element 25, which is not described herein again.

As will be readily appreciated, in order to prevent the first positioning element 34 and the second positioning element 35 from interfering with each other when the second side plate 31 and the second clamping plate 32 move relatively, the third positioning mechanism further includes a third positioning driving element 36 for driving the first positioning element 34 and the second positioning element 35 to move relatively, so that the first positioning element 34 and the second positioning element 35 approach each other to be connected together, or move away from each other to be disconnected from each other.

In order to facilitate blanking of the workpiece, the clamp further includes a third driving mechanism 70 for driving the carrier 10 to approach or depart from the feeding station.

The loading station is a station where the manipulator carries a workpiece to the carrier 10; after the carrier 10 is fully loaded, the third driving mechanism 70 can drive the carrier 10 to be away from the feeding station, so that the blanking is facilitated. After the stage 10 is empty, the third driving mechanism 70 can drive the stage 10 back to the loading station, and facilitate the robot to transport the workpiece to the stage 10.

The third driving mechanism 70 may adopt driving members such as an electric cylinder and a linear module; at this time, at least the stage 10 is disposed at the movable end of the third driving mechanism 70, and after being fully loaded, the arm is released from the workpiece, so that the third driving mechanism 70 drives the stage 10 to carry the workpiece away.

Alternatively, the third drive mechanism 70 includes: the gun changing plate is connected with the carrying platform 10; and a mechanical arm (not shown) for butting against the gun changing plate so as to drive the carrying platform 10 to move. At the moment, the mechanical arm can be connected with the gun changing plate so as to drive the gun changing plate to move; meanwhile, the mechanical arm can also be disconnected from the gun changing plate, so that the mechanical arm can be separated from the gun changing plate to do other things when the carrying platform 10 is used for feeding.

Further, in order to avoid that the workpiece is displaced on the stage 10 and the position accuracy is affected when the third driving mechanism 70 drives the stage 10 to move; after the carrier 10 is fully loaded, the arm is driven by the third driving mechanism 70 to move away from the feeding station together with the carrier 10 in a state of limiting the workpiece, and when the workpiece reaches the discharging station, the arm releases the workpiece again so that the workpiece can be taken away.

Specifically, at this time, the carrier 10, the first arm 20, the second arm 30, and the first driving mechanism 40 are all disposed on the large board 1; the gun changing plate is connected with the large plate 1. At a feeding station, the first driving mechanism 40 drives the first holding arm 20 and the second holding arm 30 to move towards each other and to be close to the carrier 10, and the large plate 1, the first holding arm 20 and the second holding arm 30 form an accommodating cavity for conveniently accommodating a workpiece, so that the position state of the workpiece on the carrier 10 is limited. After the carrying platform 10 is fully loaded, the mechanical arm is connected with the gun plate to be changed, and then the carrying platform 10 is pulled to leave the feeding station; at this time, the workpiece on the stage 10 is limited by the first arm 20 and the second arm 30; during blanking, the first driving mechanism 40 drives the first embracing arm 20 and the second embracing arm 30 to move in opposite directions, so that the embracing arms release workpieces.

It should be added that when the clamp includes the second driving mechanism 60, the second driving mechanism 60 may stay at the loading station and does not perform the unloading operation with the carrier 10.

Because the locking device moves between the upper station and the lower station, the locking device further comprises a fourth positioning mechanism 80 for ensuring that the carrier 10 returns to the feeding station, and the fourth positioning mechanism 80 comprises: the fourth positioning piece I81 is fixedly arranged at the feeding station; the second fourth positioning part 82 is connected with the carrier 10; after the carrier 10 reaches the feeding station, the first fourth positioning element 81 is opposite to the second fourth positioning element 82, and the first fourth positioning element 81 is matched with the second fourth positioning element 82, so that the position of the carrier 10 can be limited.

The structure and arrangement relationship of the first fourth positioning element 81 facing the second fourth positioning element 82 are similar to those of the first positioning element 51 and the second first positioning element 52, and are not described herein again.

In a specific embodiment, referring to fig. 1, 3 and 4, the first fourth positioning element 81 adopts a positioning pin, and meanwhile, at the loading station, a fourth positioning driving element 83 is further provided (the fourth positioning driving element 83 may adopt a driving member such as an air cylinder, an electric cylinder, etc.); the fourth positioning driving component 83 is connected to the first fourth positioning component 81 and can drive the first fourth positioning component 81 to move towards the second fourth positioning component 82 after the carrier 10 is in place; the second fourth positioning piece 82 adopts a positioning piece with a positioning hole, and the positioning piece is connected with the large plate 1; the carrier 10 is in place, the positioning holes are opposite to the positioning pins, and the fourth positioning driving member 83 drives the positioning pins to extend into the positioning holes, so as to fix the position of the carrier 10.

Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. Such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims (10)

1. A clamp, comprising:

a carrier (10) for receiving a workpiece;

the first holding arm (20) and the second holding arm (30) are oppositely arranged on two sides of the carrying platform (10);

the first driving mechanism (40) is used for driving the first embracing arm (20) and the second embracing arm (30) to move relatively;

a first positioning mechanism (50), the first positioning mechanism (50) comprising:

a first positioning member (51) arranged on the large plate (1):

a second first positioning piece (52) connected with the first arm (20);

a third positioning piece (53) connected with the second arm (30);

the first driving mechanism (40) drives the first holding arm (20) and the second holding arm (30) to move towards each other, and the first holding arm (20) and the second holding arm (30) can limit the position of a workpiece on the carrying platform (10);

after the first arm (20) is in place, the second first positioning piece (52) is over against the first positioning piece (51), and the second first positioning piece (52) is matched with the first positioning piece (51) and can limit the position of the first arm (20);

after the second arm (30) is in place, the first positioning piece III (53) is right opposite to the first positioning piece I (51), the first positioning piece III (53) is matched with the first positioning piece I (51), and the position of the second arm (30) can be limited.

2. A tool according to claim 1, further comprising a second drive mechanism (60) for driving the carrier (10) in a vertical direction so that the carrier (10) receives a workpiece.

3. A harness as claimed in claim 1, characterised in that the first arm (20) comprises a first side plate (21) and the second arm (30) comprises a second side plate (31);

the first side plate (21) and the second side plate (31) are oppositely arranged; the first driving mechanism (40) is used for driving the first side plate (21) and the second side plate (31) to move relatively.

4. A tool according to claim 3, wherein the first arm (20) further comprises a first clamp plate (22) and a first clamp plate driving member (23), the first clamp plate driving member (23) being connected to the first clamp plate (22) and being configured to drive the first clamp plate (22) towards the carrier (10); and/or the presence of a gas in the gas,

the second arm (30) further comprises a second clamping plate (32) and a second clamping plate driving part (33), and the second clamping plate driving part (33) is connected with the second clamping plate (32) and used for driving the second clamping plate (32) to move towards the carrier (10).

5. The clamp according to claim 4, wherein the first clamp arm (20) further comprises a second positioning mechanism, the second positioning mechanism comprising:

a first second positioning piece (24) connected with the first side plate (21);

a second positioning piece (25) connected with the first clamping plate (22);

after the first clamping plate driving piece (23) drives the first clamping plate (22) to be in place, the first second positioning piece (24) is right opposite to the second positioning piece (25), and the first second positioning piece (24) is matched with the second positioning piece (25) to limit the relative position of the first side plate (21) and the first clamping plate (22).

6. The clamp according to claim 4, wherein the second clamp arm (30) further comprises a third positioning mechanism, the third positioning mechanism comprising:

a first third positioning member (34) connected to the second side plate (31);

a second third positioning part (35) connected with the second clamping plate (32);

after the second clamping plate driving piece (33) drives the second clamping plate (32) to be in place, the first third positioning piece (34) is right opposite to the second third positioning piece (35), and the first third positioning piece (34) is matched with the second third positioning piece (35) to limit the relative position of the second side plate (31) and the second clamping plate (32).

7. The clamp according to claim 4, wherein a second first positioning block (27) is arranged on one side of the first clamping plate (22) close to the carrier (10), and a third first positioning block (28) is arranged on one side of the large plate (1) close to the carrier (10);

after the first clamping plate (22) is in place, the second first positioning block (27) and the third first positioning block (28) can clamp two opposite surfaces of a workpiece so as to limit the position of the workpiece;

and/or the presence of a gas in the gas,

a second positioning block II (37) is arranged on one side, close to the carrying platform (10), of the second clamping plate (32), and a second positioning block III (38) is arranged on one side, close to the carrying platform (10), of the large plate (1);

after the second clamping plate (32) is in place, the second positioning block II (37) and the second positioning block III (38) can clamp two opposite surfaces of a workpiece, and the position of the workpiece is further limited.

8. A tool according to any one of claims 1 to 7, further comprising a third drive mechanism (70) for driving the carrier (10) towards and away from a loading station.

9. The clamp according to claim 8, wherein the third drive mechanism (70) comprises:

a gun changing plate connected with the carrier (10);

the mechanical arm is used for butting the gun changing plate so as to drive the carrying platform (10) to move;

and after the carrying platform (10) is fully loaded, the mechanical arm is in butt joint with the gun changing plate, and then the carrying platform (10) is pulled to leave the feeding station.

10. The clamp according to claim 8, further comprising a fourth positioning mechanism (80), the fourth positioning mechanism (80) comprising:

the first fourth positioning piece (81) is arranged at the feeding station;

a second fourth positioning part (82) connected with the carrier (10);

after the carrying platform (10) reaches the feeding station, the first fourth positioning part (81) is over against the second fourth positioning part (82), and the first fourth positioning part (81) is matched with the second fourth positioning part (82) to limit the position of the carrying platform (10).

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