CN214114129U - Anchor clamps and material loading machine - Google Patents

Abstract

The utility model discloses an anchor clamps and material loading machine relates to flat screen television equipment technical field, under the condition that improves the precision of removing the reciprocal linear motion of fixture, improves positioning accuracy. The clamp includes a support and at least one moving clamp assembly disposed on the support. Each movable clamp assembly comprises a driving mechanism and a movable clamping mechanism, and the driving mechanism is used for driving the movable clamping mechanism to do reciprocating linear motion. The utility model also provides a material loading machine, this material loading machine includes above-mentioned anchor clamps.

Description

Anchor clamps and material loading machine

Technical Field

The utility model relates to a flat screen television assembles technical field, especially relates to an anchor clamps and material loading machine.

Background

The liquid crystal display screen of the liquid crystal television does not emit light, the backlight module of the liquid crystal display screen is a light source of the liquid crystal display screen, and the backlight module can provide enough brightness and uniformly distributed light for the liquid crystal display screen.

The light bar (or light strip) is one of the important components of the backlight module. The light bar can be fixed on a back plate of the liquid crystal television in an adhesive or bolt (screw) connection mode. Before fixedly connecting the light bar to the back plate, the light bar is generally required to be placed at the mounting position of the back plate by using a light bar clamp.

The existing lamp strip clamp has the problem of inaccurate positioning in the process of placing a lamp strip at a mounting position.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an anchor clamps and material loading machine improves positioning accuracy under the condition of the precision that improves the reciprocal linear motion of removal fixture.

In a first aspect, the present invention provides a clamp including a support member and at least one movable clamp assembly disposed on the support member. Each movable clamp assembly comprises a driving mechanism and a movable clamping mechanism, and the driving mechanism is used for driving the movable clamping mechanism to do reciprocating linear motion.

Compared with the prior art, the movable clamping mechanism can do reciprocating linear motion under the driving of the driving mechanism. Will the utility model provides an anchor clamps are used when the equipment like the lamp strip of LCD TV, remove fixture under actuating mechanism's drive, and the position at the lamp strip place of treating the equipment can be accurate reachs. At this time, the movable clamping mechanism can clamp the light bar. On the premise that a backboard assembled with the lamp strip is arranged on an assembly production line of the liquid crystal display television, the movable clamping mechanism clamping the lamp strip can accurately move to a preset position (the preset position refers to the position of the lamp strip to be installed on the backboard) under the driving of the driving mechanism, and the lamp strip is placed at the preset position to complete the accurate positioning of the lamp strip. According to the application process, the movable clamping mechanism can accurately reach the preset position under the driving of the driving mechanism so as to improve the positioning precision of the movable clamping mechanism, and based on the positioning precision and the mounting precision of the light bar, the positioning precision and the mounting precision of the light bar can be improved.

In one possible implementation, the at least one moving gripper assembly comprises a plurality of moving gripper assemblies, the moving gripper mechanisms comprised by the plurality of moving gripper assemblies being arranged parallel to each other on the support.

In a possible implementation manner, the clamp further comprises a fixed clamping mechanism, and the fixed clamping mechanism is arranged on one side of the movable clamping mechanism in parallel.

In one possible implementation, the movable clamping mechanism and the fixed clamping mechanism each comprise a connecting plate, a bearing plate and a clamping part; the connecting plate included in the movable clamping mechanism is driven by the driving mechanism to do reciprocating linear motion; the connecting plate that fixed fixture includes is fixed on support piece. The bearing plate is arranged on one surface of the connecting plate, which is far away from the support piece; the clamping part is arranged on one surface of the bearing plate, which is far away from the connecting plate.

In a possible implementation manner, the clamping portion is an adsorption type clamping portion, the adsorption type clamping portion comprises a plurality of adsorption type clamping portions, and the plurality of adsorption type clamping portions are arranged on the supporting plate at intervals. Each absorption formula clamping part all includes the support column to and set up the sucking disc of keeping away from loading board one end at the support column.

In a possible implementation mode, the plurality of adsorption type clamping parts are arranged on the bearing plate at equal intervals, and intersection points of central axes of the supporting columns and the bearing plate, which are included by the plurality of adsorption type clamping parts, are located on the same straight line.

In a possible implementation, the clamp further comprises at least one guide rail. The movable clamping mechanism is arranged on at least one guide rail in a sliding mode.

In one possible implementation, each drive mechanism includes a power source, and a linear transmission in power communication with the power source. The movable clamping mechanism is arranged on the linear transmission device.

In one possible implementation, the power source is a servo motor. The linear transmission device is a screw nut, a screw rod included in the linear transmission device is in power connection with the servo motor, and the movable clamping mechanism is arranged on the nut included in the linear transmission device.

In a second aspect, the present invention further provides a feeding machine, which includes the fixture and the controller described in the first aspect or any possible implementation manner of the first aspect. The controller is in communication with the clamp. Under the control of the controller, the movable clamping mechanism included in the clamp moves to a preset position.

The advantages of the feeder provided by the second aspect may refer to the advantages of the clamp described in the first aspect or any possible implementation manner of the first aspect.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram of a clamp according to an embodiment of the present invention.

Wherein:

1-a support, 2-a moving clamp assembly, 20-a drive mechanism,

200-power source, 201-linear transmission device, 21-movable clamping mechanism,

30-a fixed clamping mechanism, a-a connecting plate, b-a bearing plate,

c-clamping part, c 1-supporting column, c 2-sucking disc,

4-guide rail.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Various schematic diagrams of embodiments of the invention are shown in the drawings, which are not drawn to scale. Wherein certain details are exaggerated and possibly omitted for clarity of understanding. The shapes of various regions, layers, and relative sizes and positional relationships therebetween shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, as actually required.

In the following, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

Furthermore, in the present disclosure, directional terms such as "upper" and "lower" are defined relative to the schematically-placed orientation of components in the drawings, and it is to be understood that these directional terms are relative concepts that are used for relative description and clarification and that can be changed accordingly according to the orientation in which components are placed in the drawings.

In the present application, unless expressly stated or limited otherwise, the term "connected" is to be construed broadly, e.g., "connected" may be a fixed connection, a removable connection, or an integral part; may be directly connected or indirectly connected through an intermediate.

Fig. 1 shows a schematic structural diagram of a clamp provided by an embodiment of the present invention. As shown in fig. 1, the jig includes a support 1 and at least one moving jig assembly 2 provided on the support 1. Each moving gripper assembly 2 comprises a drive mechanism 20 and a moving gripper mechanism 21. The driving mechanism 20 is used for driving the movable clamping mechanism 21 to do reciprocating linear motion.

Referring to fig. 1, the support member 1 is a platform for supporting at least one movable clamp assembly 2, and therefore, the support member 1 is required to have certain strength and rigidity to meet the requirement of supporting at least one movable clamp assembly 2. The specific material of the supporting member 1 is not limited, and for example, the supporting member may be a metal supporting member or a non-metal supporting member having certain strength and rigidity.

The form of the above-mentioned supporting member 1 is various in structural terms, and is not particularly limited herein.

As an example, referring to fig. 1, the support 1 may be a support plate having opposite first and second ends. The drive mechanism 20 included in the moving clamp assembly 2 may be fixed to the support plate and the moving clamp mechanism 21 may be disposed in the region of the support plate between the first and second ends. The movable clamping mechanism 21 can move from the first end to the second end or from the second end to the first end with a straight line as a motion track under the driving of the driving mechanism 20. In order to reduce the weight of the whole clamp, a plurality of lightening holes can be formed through the supporting plate. The opening positions and the number of the lightening holes and the size of each lightening hole are not particularly limited under the condition of ensuring that the support plate has enough support force for the movable clamp assembly 2. It should be understood that the shape of the support plate is various, for example, the support plate may be a square support plate, a triangular support plate, a trapezoidal support plate, or a shaped support plate. The irregular support plate refers to the irregular support plate which has an irregular outer contour, or the irregular support plate can comprise a curved surface section and/or a plane section, and the like, and the curved surface section and/or the plane section form the irregular outer contour.

As another example, referring to fig. 1, the supporting member 1 may be a supporting frame, and the supporting frame may be an annular supporting frame formed by surrounding a plurality of supporting rods. It should be understood that the annular support frame is an annular support frame in a broad sense, and may specifically be a square support frame, a triangular support frame, a trapezoidal support frame, or a special-shaped support frame (the special-shaped support frame refers to a support frame with an irregular outer contour). The arrangement of the movable clamp assembly 2 on the support frame may refer to the arrangement of the movable clamp assembly 2 on the support plate, which is not described herein again.

In practical application, referring to fig. 1, the supporting member 1 carrying the movable clamp assembly 2 can be detachably or firmly connected to a robot arm, and the whole clamp is driven by the robot arm to move. For example, the clamp can move in the directions of an X axis, a Y axis or a Z axis under the driving of the manipulator. In the case that the manipulator drives the whole clamp to move, the driving mechanism 20 included in the movable clamp assembly 2 can also drive the movable clamping mechanism 21 to make a reciprocating linear motion. That is, the clamp can be moved to a predetermined area (the predetermined area may be above an area where the workpiece is to be clamped, or above an area where the workpiece is to be mounted, etc.) by the manipulator. After the clamp reaches the preset area, the driving mechanism 20 can be used to drive the movable clamping mechanism 21 to make a reciprocating linear motion, so that the movable clamping mechanism 21 can accurately move to a preset position (the preset position can be directly above the workpiece to be clamped, or directly above the workpiece mounting position). At this moment, the manipulator can be continuously controlled to drive the clamp to integrally move downwards so as to realize accurate grabbing or accurate releasing of the workpiece.

The following takes the assembly of the lamp strip of the lcd tv as an example to illustrate the application process of the clamp, and it should be understood that the following examples are only for explanation and not for limitation.

Referring to fig. 1, a light bar assembly line of a liquid crystal television generally includes at least the above-mentioned clamp, a light bar, a support bracket for placing the light bar before the light bar is assembled, a back plate for mounting the light bar, a transmission line for conveying the back plate, and the like. Before the lamp strip is assembled, generally place in groups on supporting the support, a set of lamp strip can include many lamp strips, has the interval between the many lamp strips. When a set of lamp strip includes the lamp strip of many interval placements, can set up the removal anchor clamps subassembly 2 that equals with lamp strip quantity on the anchor clamps. The gripper can be moved and temporarily stopped above the tray, for example by a robot. At this time, the driving mechanism 20 drives the plurality of movable clamping mechanisms 21 to move, so that one movable clamping mechanism 21 corresponds to a position right above each light bar. Under the drive of manipulator, anchor clamps move to the direction that is close to the lamp strip until each removes fixture 21 and all corresponds a lamp strip of centre gripping. So far, the clamp finishes the clamping operation of the lamp strip.

Referring to fig. 1, after the clamp finishes clamping the light bar, and when the transmission line has a back plate (generally, the mounting position of the light bar is marked on the back plate), the clamp is driven by the manipulator to move to the upper side of the back plate. At this time, the driving mechanism 20 drives the plurality of movable clamping mechanisms 21 to move, so that one movable clamping mechanism 21 corresponds to a position right above the installation position of each light bar on the back plate (the light bar is clamped on the movable clamping mechanism 21). Under the drive of the manipulator, the clamp moves towards the direction close to the mounting positions of the light bars until each mounting position correspondingly places one light bar. So far, the accurate location and the installation to the lamp strip are accomplished to anchor clamps.

Referring to fig. 1, it can be seen from the above application process that the movable clamping mechanism 21 can precisely reach the preset position under the driving of the driving mechanism 20, so as to improve the positioning accuracy of the movable clamping mechanism 21, and based on this, the positioning and installation accuracy of the light bar can be improved.

In a possible implementation, referring to fig. 1, the at least one moving gripper assembly 2 comprises a plurality of moving gripper assemblies 2, the moving gripper mechanisms 21 comprised by the plurality of moving gripper assemblies 2 being arranged parallel to each other on the support 1. When the jig comprises a plurality of moving jig assemblies 2, each moving jig assembly 2 comprises one moving clamping mechanism 21, and each moving clamping mechanism 21 can clamp at least one workpiece. Based on this, one gripper can grip at least as many workpieces as the number of the movable gripping mechanisms 21 at a time. Therefore, the clamping and mounting efficiency of the workpiece can be improved. The plurality of movable clamping mechanisms 21 are arranged on the support 1 in parallel, and the risk of collision of the movable clamping mechanisms 21 during reciprocating linear motion along the support 1 can be reduced to the maximum extent under the driving of the driving mechanism 20. At this moment, can reduce the anchor clamps and get the work piece and place the risk of work piece damage when the work piece to improve the protection to the work piece. The plurality of movable clamping mechanisms 21 are arranged on the support member 1 in parallel with each other, and when the clamp clamps the workpiece or places the workpiece, the workpiece and the workpiece are also in a parallel positional relationship with each other, and at this time, the normativity of clamping the workpiece and placing the workpiece by the clamp can be improved. Furthermore, each movable clamp assembly 2 includes a driving mechanism 20 and a movable clamping mechanism 21 in power connection with the driving mechanism 20. That is, each movable clamp assembly 2 can move independently, and when the driving mechanism 20 or the movable clamping mechanism 21 included in one movable clamp assembly 2 fails, the other movable clamp assemblies 2 are not affected to continue to work, and at this time, the working efficiency can be improved.

In a possible implementation, referring to fig. 1, the clamp further comprises a fixed clamping mechanism 30, and the fixed clamping mechanism 30 is arranged in parallel on one side of the movable clamping mechanism 21.

As an example, referring to fig. 1, when the support 1 is a support plate or a support frame having first and second opposite ends, a fixed clamping mechanism 30 may be provided at an end of the support 1 opposite to the driving mechanism 20. At this time, the moving gripper 21 may be disposed in a region of the support 1 between the fixed gripper 30 and the driving mechanism 20.

As another example, referring to fig. 1, when the support member 1 is a support plate or a support frame having first and second opposite ends, a fixed clamping mechanism 30 may be provided at the same end of the support member 1 as the driving mechanism 20, and at this time, a moving clamping mechanism 21 may be provided at a region of the support member 1 at the fixed clamping mechanism 30 and the end opposite to the driving mechanism 20.

As a third example, referring to fig. 1, when the support member 1 is a support plate or a support frame having first and second opposite ends, a fixed clamping mechanism 30 may be provided in a region of the support member 1 between the first and second ends, and a movable clamping mechanism 21 may be provided on either or both sides of the fixed clamping mechanism 30.

Referring to fig. 1, when the fixture provided by this implementation is used for assembling a light bar of a liquid crystal television, under the driving of a manipulator, a fixed clamping mechanism 30 included in the fixture corresponds to the light bar located on a tray, or the fixed clamping mechanism 30 clamped with the light bar corresponds to one of the mounting positions on a back panel. Based on this, the fixed clamping mechanism 30 is used as a calibration position, and the control driving mechanism 20 drives the movable clamping mechanism 21 to move to a position corresponding to another light bar or a position corresponding to another mounting position. Known from above application, including fixed fixture 30 under the circumstances, fixed fixture 30 not only can realize pressing from both sides and getting and place the lamp strip, but also has the effect to the mark, removes fixture 21 and uses fixed fixture 30 to be under the circumstances of mark position, can improve the accurate location of removing fixture 21. Based on this, can improve the location and the installation accuracy of lamp strip.

In one possible implementation, referring to fig. 1, the moving gripper mechanism 21 and the fixed gripper mechanism 30 each comprise a connecting plate a, a carrier plate b and a gripper portion c. The connecting plate a included in the movable clamp mechanism 21 is driven by the drive mechanism 20 to perform reciprocating linear motion. The fixed clamp mechanism 30 includes a connecting plate a fixed to the support 1. The bearing plate b is arranged on one surface of the connecting plate a far away from the support 1. The clamping part c is arranged on one surface of the bearing plate b far away from the connecting plate a.

Referring to fig. 1, the connection plate a is used to provide a uniform supporting force for the carrier plate b. The specific structure of the connecting plate a is various and is not limited to this, for example, the connecting plate a may be a flat plate-like structure, a grid-like structure, a mesh-like structure, or the like. The outer edge profile of the connecting plate a can be identical to the outer edge profile of the carrier plate b, and the orthographic projection of the connecting plate a on the carrier plate b can just cover the carrier plate b, or be smaller than the carrier plate b, or be larger than the carrier plate b. The material of the connecting plate a is not particularly limited, and may be, for example, metal or nonmetal having certain strength or rigidity. The connection manner of the connection plate a and the driving mechanism 20 and the bearing plate b is various, for example, the connection plate a can be clamped, adhered, welded, riveted or screwed with the driving mechanism 20 and the bearing plate b.

Referring to fig. 1, the carrier plate b is used to provide support for the clamping portion c. The structure, outer edge profile, material and connection method of the carrier plate b and the clamping portion c can be referred to the connection plate a, which is not described herein.

Referring to fig. 1, the clamping portion c is used for clamping a workpiece, and the clamping portion c may be selected according to a type of the workpiece to be clamped, and is not particularly limited herein. For example, the clamping portion c may be a mechanical jaw, a magnetic attraction type clamping portion, a vacuum attraction type clamping portion, or the like.

In one possible implementation, referring to fig. 1, the clamping portion c is an adsorption type clamping portion, the adsorption type clamping portion includes a plurality of adsorption type clamping portions, and the plurality of adsorption type clamping portions are arranged on the bearing plate b at intervals. Each of the suction type clamping portions comprises a supporting column c1 and a suction cup c2 disposed at one end of the supporting column c1 away from the bearing plate b.

Referring to fig. 1, when the clamping portion c is an adsorption type clamping portion, the workpiece is fixed by an adsorption force of the adsorption type clamping portion during clamping and transferring the workpiece. After the adsorption type clamping part is aligned with the workpiece, the adsorption type clamping part can realize the fixed clamping of the workpiece without additional actions (such as clamping). When the workpiece needs to be placed at the preset position, no additional action (such as opening) is needed, and the workpiece can be released only by releasing the adsorption force of the adsorption type clamping part.

Referring to fig. 1, the embodiment of the present invention provides an anchor clamps include a plurality of absorption formula clamping parts, and a plurality of absorption formula clamping part intervals set up under the condition of loading board b, when an absorption formula clamping part can correspond and adsorb a work piece, once can accomplish the clamp of a plurality of work pieces and get, transport and place to improve the work efficiency of anchor clamps. When a plurality of absorption formula clamping parts adsorb a work piece simultaneously, can provide balanced adsorption affinity for the work piece to improve the stability of anchor clamps centre gripping work piece.

Referring to fig. 1, the suction type clamping portion includes a supporting column c1 for providing a supporting force to the suction cup c 2. The structure of the supporting column c1 is various and is not limited herein. For example, the support column c1 may be a cylindrical support column c1, a square cylindrical support column c1, or a profiled column support column c 1. The material of the supporting pillar c1 is not particularly limited, and may be a metal or a nonmetal having certain strength and rigidity. The connection mode of the supporting column c1 and the connecting plate a is not particularly limited, and may be clamping, welding, riveting or screwing.

Referring to fig. 1, the suction cup c2 included in the suction type clamping portion is used for sucking a workpiece, and may be a vacuum cup. The connection manner of the suction cup c2 and the supporting column c1 is various and is not limited in detail. For example, the suction cup c2 may have a non-suction end (the end opposite to the suction end) that can be snapped onto and sleeved onto the support post c 1.

As a possible implementation manner, referring to fig. 1, a plurality of suction type clamping portions are arranged on the bearing plate b at equal intervals, and intersection points of central axes of the supporting columns c1 included in the plurality of suction type clamping portions and the bearing plate b are located on the same straight line.

Referring to fig. 1, in the case that the plurality of adsorption type clamping portions are arranged on the bearing plate b at equal intervals, when the plurality of adsorption type clamping portions adsorb a workpiece together, the adsorption type clamping portions arranged at equal intervals can provide a balanced adsorption force for the workpiece, so as to improve the stability of the fixture for adsorbing the workpiece.

Referring to fig. 1, in a case where the intersection points of the central axes of the support columns c1 included in the plurality of suction type clamping portions and the carrier plate b are located on the same straight line, the plurality of suction type clamping portions are located in the same row. When a plurality of absorption formula clamping parts adsorb a work piece jointly, be located a plurality of absorption formula clamping parts of same line can further provide balanced adsorption affinity for the work piece to further improvement anchor clamps are to the stability of work piece absorption.

In a possible implementation, see fig. 1, the clamp further comprises at least one guide rail 4. The movable clamping mechanism 21 is slidably arranged on at least one guide rail 4.

As an example, referring to fig. 1, the clamping apparatus comprises a movable clamping mechanism 21 and a guide rail 4, wherein the movable clamping mechanism 21 is slidably arranged on the guide rail 4.

As a second example, with reference to fig. 1, the gripper comprises a mobile gripping mechanism 21 and a plurality of rails 4, said mobile gripping mechanism 21 being slidingly arranged on said plurality of rails 4.

As a third example, referring to fig. 1, the jig includes a plurality of moving clamping mechanisms 21 and one guide rail 4, and the plurality of moving clamping mechanisms 21 share the one guide rail 4.

As a fourth example, referring to fig. 1, the jig includes a plurality of moving clamping mechanisms 21 and a plurality of guide rails 4, and the plurality of moving clamping mechanisms 21 share the plurality of guide rails 4.

Referring to fig. 1, in the case that the jig further includes the guide rail 4 and the movable clamping mechanism 21 is slidably disposed on the guide rail 4, when the driving mechanism 20 drives the movable clamping mechanism 21 to slide along the guide rail 4, the movable clamping mechanism 21 is guided and supported by the guide rail 4, and has an effect of moving more stably.

In one possible implementation, referring to fig. 1, each drive mechanism 20 includes a power source 200, and a linear actuator 201 in power communication with the power source 200. The movable clamping mechanism 21 is arranged on the linear actuator 201.

As an example, referring to fig. 1, when the support 1 is a support plate or a support frame having first and second opposite ends, the power source 200 may be fixedly or detachably mounted to the first end of the support 1. The linear actuator 201 may extend from a first end of the support member 1 to a second end of the support member 1 after being in power connection with the power source 200. The movable clamping mechanism 21 is arranged on the linear transmission device 201 and is driven by the linear transmission device 201 to do reciprocating linear motion.

As a possible implementation, referring to fig. 1, the power source 200 is a servo motor. The linear transmission device 201 is a screw nut, a screw included in the linear transmission device is in power connection with a servo motor, and the movable clamping mechanism 21 is arranged on the nut included in the linear transmission device. The servo motor and the linear actuator 201 may be connected by a belt, a chain or gears, for example.

Referring to fig. 1, in practical applications, the servo motor can precisely drive the screw to rotate, and at this time, the nut drives the movable clamping mechanism 21 to make a linear motion along the screw, so that the movable clamping mechanism 21 precisely reaches a preset position under the driving of the servo motor. Based on this, the movement accuracy of the moving gripper 21 can be improved. When the clamp provided by the implementation mode is applied to the assembly of the lamp bar of the liquid crystal television, the positioning precision of the lamp bar can be improved. In addition, since the screw nut transmission has the advantages of simple structure, high transmission efficiency, high positioning accuracy and the like, the linear transmission 201 using the screw nut as the jig can simplify the structure of the jig and improve the transmission efficiency and the positioning accuracy of the jig.

The embodiment of the utility model provides a still provide a material loading machine, above-mentioned material loading machine includes anchor clamps and controller. A controller is in communicative connection with the clamp. And under the control of the controller, the movable clamping mechanism included in the clamp moves to a preset position.

In an alternative manner, the controller may be a controller in a broad sense, and the embodiment of the present invention is not limited to this specifically. Different parameter values are preset in the controller, and the controller can receive instructions of a client and control the work of the movable clamp assembly. The preset parameter values specifically include position information of the workpiece before being clamped, mounting position information of the workpiece, and the like. The client may include one or both of a PC terminal and a mobile terminal.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A clamp, characterized in that it comprises: a support and at least one moving clamp assembly disposed on the support;

each movable clamp assembly comprises a driving mechanism and a movable clamping mechanism, and the driving mechanism is used for driving the movable clamping mechanism to do reciprocating linear motion;

the at least one movable clamp assembly comprises a plurality of movable clamp assemblies, and movable clamping mechanisms included in the plurality of movable clamp assemblies are arranged on the supporting piece in parallel.

2. The clamp of claim 1, further comprising a fixed clamping mechanism disposed in parallel on one side of the moving clamping mechanism.

3. The clamp of claim 2, wherein the moving clamping mechanism and the fixed clamping mechanism each comprise a connecting plate, a bearing plate, and a clamping portion; the connecting plate included in the movable clamping mechanism is driven by the driving mechanism to do reciprocating linear motion; the connecting plate included by the fixed clamping mechanism is fixed on the supporting piece;

the bearing plate is arranged on one surface, far away from the supporting piece, of the connecting plate; the clamping part is arranged on one surface, far away from the connecting plate, of the bearing plate.

4. The clamp of claim 3, wherein the clamping portion is a suction type clamping portion, the suction type clamping portion comprises a plurality of suction type clamping portions, and the plurality of suction type clamping portions are arranged on the support at intervals; each absorption formula clamping part all includes the support column, and sets up the support column is kept away from the sucking disc of loading board one end.

5. The clamp according to claim 4, wherein the plurality of suction-type clamping portions are disposed on the carrier plate at equal intervals, and intersection points of central axes of support pillars included in the plurality of suction-type clamping portions and the carrier plate are located on the same straight line.

6. The clamp of claim 1, further comprising at least one rail; the movable clamping mechanism is arranged on at least one guide rail in a sliding mode.

7. The clamp of claim 1, wherein each of said drive mechanisms includes a power source, and a linear actuator in powered communication with said power source; the movable clamping mechanism is arranged on the linear transmission device.

8. The clamp of claim 7, wherein the power source is a servo motor; the linear transmission device is a screw nut, a screw rod included in the linear transmission device is in power connection with the servo motor, and the movable clamping mechanism is arranged on the nut included in the linear transmission device.

9. A feeder, characterized by comprising the clamp of any one of claims 1 to 8 and a controller; the controller is in communication connection with the clamp; under the control of the controller, the movable clamping mechanism included in the clamp moves to a preset position.

Images