CN217437048U - Clamping mechanism and manipulator - Google Patents

Abstract

The utility model provides a clamping mechanism, including first holder, second holder, drive assembly and determine module. The first clamping piece comprises a first electric conductor, the second clamping piece comprises a second electric conductor, the second electric conductor is arranged opposite to the first electric conductor and used for abutting against a workpiece, the driving assembly is connected with the first clamping piece and the second clamping piece and used for driving the first clamping piece and the second clamping piece to take and place the workpiece, and the detection assembly is coupled with the first electric conductor and the second electric conductor respectively and used for forming a closed loop with the first electric conductor, the second electric conductor and the workpiece so as to detect whether the workpiece is conductive or not. So, above-mentioned fixture accessible direct detection work piece is whether electrically conductive when the centre gripping work piece to loosen or shift according to the testing result, realize the accurate unloading of going up of work piece, need not additionally to dispose other detection work stations, improved the operating efficiency of work piece. The utility model also provides a manipulator including above-mentioned fixture.

Description

Clamping mechanism and manipulator

Technical Field

The utility model relates to a fixing device technical field, concretely relates to fixture and manipulator.

Background

When conducting a conduction test on a workpiece (e.g., a product after an anode), a transfer mechanism is generally used to pick and place the workpiece to a detection station to determine whether the workpiece is conductive. However, in the above-mentioned operation method, the inspection station and the loading/unloading station operate separately, which results in complicated operation and low operation efficiency.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a clamping mechanism and a robot to solve the technical problem of how to improve the work efficiency of the workpiece.

An embodiment of the utility model provides a fixture, include:

a first clamping member comprising a first electrical conductor;

the second clamping piece comprises a second conductor, and the second conductor is arranged opposite to the first conductor and is used for abutting against a workpiece;

the driving assembly is connected with the first clamping piece and the second clamping piece and used for driving the first clamping piece and the second clamping piece to take and place the workpiece;

and the detection assembly is coupled with the first conductor and the second conductor respectively and is used for forming a closed loop with the first conductor, the second conductor and the workpiece so as to detect whether the workpiece is conductive or not.

In some embodiments, the first clamping member further includes a first clamping jaw, one end of the first clamping jaw is connected to the driving assembly, the other end of the first clamping jaw is detachably connected to the first conductive body, the second clamping member further includes a second clamping jaw, one end of the second clamping jaw is connected to the driving assembly, and the other end of the second clamping jaw is detachably connected to the second conductive line body.

In some embodiments, the drive assembly comprises:

the first connecting block is connected with the first clamping jaw;

the second connecting block is connected with the second clamping jaw and is arranged opposite to the first connecting block;

and the driving piece is respectively connected with the first connecting block and the second connecting block and used for driving the first connecting block and the second connecting block to be close to or away from each other so as to drive the first clamping piece and the second clamping piece to take and place the workpiece.

In some embodiments, the detection component comprises:

a first electrically conductive line having one end coupled to the first electrical conductor;

and one end of the second conductive wire is coupled with the second conductor, and the other end of the first conductive wire and the other end of the second conductive wire are respectively used for being coupled with a detection piece, so that the detection piece, the first conductive wire, the workpiece and the second conductive wire form a closed loop to detect whether the workpiece is conductive or not.

In some embodiments, the detection component comprises:

a detection member;

a first conductive line having one end coupled to the first conductor and the other end coupled to the sensing element;

and the second conductive wire is coupled with the second conductor at one end, and is coupled with the detection piece at the other end, and the detection piece, the first conductive wire, the workpiece and the second conductive wire form a closed loop so as to detect whether the workpiece is conductive or not.

In some embodiments, the detection element comprises at least one of a buzzer and a tri-color light.

In some embodiments, the detection assembly further comprises:

a sensing member coupled to the driving member for sensing whether the workpiece is present between the first jaw and the second jaw.

In some embodiments, the first and second electrical conductors are each provided with a profile feature of the workpiece for preventing the workpiece from falling off when clamped.

In some embodiments, the clamping mechanism further comprises:

and the controller is coupled to the driving piece and the induction piece and used for controlling the driving piece to drive the first clamping jaw and the second clamping jaw to be far away from each other so as not to grab the workpiece when the workpiece is conductive.

When the workpiece is electrically conducted, the workpiece is unqualified, the driving assembly drives the first clamping piece and the second clamping piece to be away from each other so that the first electric conductor and the second electric conductor can loosen the workpiece, and the workpiece is qualified if the workpiece is not electrically conducted, and is moved manually or by a manipulator to drive the clamping mechanism to move and carry the workpiece, so that the loading and unloading of the workpiece are completed. So, above-mentioned fixture accessible direct detection work piece is electrically conductive when the centre gripping work piece to whether electrically conductive according to the work piece unclamps or shifts, realizes the unloading of work piece, and the operation is simple, has improved the efficiency of unloading on the work piece.

The embodiment of the utility model provides a still provide a manipulator, including any one of the above-mentioned embodiment fixture.

Whether the fixture accessible direct detection work piece is electrically conductive when the centre gripping work piece in the above-mentioned manipulator to whether electrically conductive according to the work piece is unclamped or is shifted, realize the accurate unloading of going up of work piece, also carried out the electrically conductive detection of work piece promptly when the centre gripping work piece, need not additionally to arrange other detection work stations, improved the operating efficiency.

Drawings

Fig. 1 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention.

Fig. 2 is an exploded view of a clamping mechanism according to an embodiment of the present invention.

Fig. 3 is a schematic view of a state of a clamping mechanism clamping a workpiece according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a second clamping mechanism according to an embodiment of the present invention.

Description of the main elements

Clamping device 10, 20

First clamping member 11

First conductor 111

First conductive block 1111

First locking screw 1112

First conductive sheet 1113

First clamping jaw 112

Second clamping member 12

Second conductor 121

Second conductive block 1211

Second locking screw 1212

Second conductive sheet 1213

Second clamping jaw 122

Drive assembly 13

First connection block 131

Second connecting block 132

Driving member 133

Detection assembly 14

First conductive line 141

Second conductive line 142

Detecting member 143

Sensing member 144

Connecting plate 1441

Infrared sensor 1442

Workpiece 100

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" 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, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

An embodiment of the utility model provides a fixture, including first holder, second holder, drive assembly and determine module. The first clamping piece comprises a first electric conductor, the second clamping piece comprises a second electric conductor, the second electric conductor is arranged opposite to the first electric conductor and used for abutting against a workpiece, the driving assembly is connected with the first clamping piece and the second clamping piece and used for driving the first clamping piece and the second clamping piece to take and place the workpiece, and the detection assembly is coupled with the first electric conductor and the second electric conductor respectively and used for forming a closed loop with the first electric conductor, the second electric conductor and the workpiece so as to detect whether the workpiece is conductive or not.

During operation, the driving assembly drives the first clamping piece and the second clamping piece to approach each other so that the first conductor and the second conductor are respectively abutted against a workpiece, at the moment, the detection assembly is sequentially connected with the first conductor, the workpiece and the second conductor to form a closed loop, whether the workpiece is conductive or not is judged according to the state of the detection assembly, the workpiece is formed by products after the anode as an example, if the workpiece is conductive, the workpiece is unqualified, the driving assembly drives the first clamping piece and the second clamping piece to be away from each other so that the first conductor and the second conductor can loosen the workpiece, if the workpiece is non-conductive, the workpiece is qualified, and the clamping mechanism is manually or driven by a manipulator to move the workpiece, so that loading and unloading of the workpiece are completed. So, above-mentioned fixture accessible direct detection work piece is electrically conductive when the centre gripping work piece to whether electrically conductive according to the work piece unclamps or shifts the work piece, realizes the unloading of work piece, and the operation is simple, has improved the efficiency of unloading on the work piece.

The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Example one

Referring to fig. 1, in the present embodiment, the clamping mechanism 10 includes a first clamping member 11, a second clamping member 12, a driving assembly 13, and a detecting assembly 14. The first clamping member 11 includes a first conductive body 111, the second clamping member 12 includes a second conductive body 121, the second conductive body 121 is disposed opposite to the first conductive body 111 and is used for supporting the workpiece 100 (see fig. 3), the driving assembly 13 is connected to the first clamping member 11 and the second clamping member 12 and is used for driving the first clamping member 11 and the second clamping member 12 to pick and place the workpiece 100, and the detecting assembly 14 is coupled to the first conductive body 111 and the second conductive body 121 respectively and is used for forming a closed loop with the first conductive body 111, the second conductive body 121 and the workpiece 100 to detect whether the workpiece 100 is conductive or not. In this embodiment, the workpiece 100 is an anodized product, i.e., a non-defective workpiece portion has conductivity.

During operation, the driving component 13 drives the first clamping component 11 and the second clamping component 12 to approach each other, so that the first conductor 111 and the second conductor 121 respectively abut against two ends of the workpiece 100, at this time, the detection component 14 is sequentially connected with the first conductor 111, the workpiece 100 and the second conductor 121 to form a closed loop, whether the workpiece 100 is conductive is judged according to the state of the detection component 14, if the workpiece 100 is conductive, the workpiece 100 is an unqualified product, the driving component 13 drives the first clamping component 11 and the second clamping component 12 to move away from each other, so that the first conductor 111 and the second conductor 121 loosen the workpiece 100, if the workpiece 100 is non-conductive, the workpiece 100 is a qualified product, and the clamping mechanism 10 is manually or through a manipulator to drive the workpiece 100 to transfer, so as to complete loading and unloading of the workpiece 100. Therefore, the clamping mechanism 10 can directly detect whether the workpiece is conductive or not when clamping the workpiece, and loosen or transfer the workpiece 100 according to whether the workpiece is conductive or not, so that the workpiece 100 can be loaded and unloaded, the operation is simple, and the loading and unloading efficiency of the workpiece 100 is improved.

In some embodiments, first clamping member 11 further comprises a first clamping jaw 112, one end of first clamping jaw 112 is connected to driving assembly 13, and the other end of first clamping jaw 112 is detachably connected to first conductive body 111, and second clamping member 12 further comprises a second clamping jaw 122, one end of second clamping jaw 122 is connected to driving assembly 13, and the other end of second clamping jaw 122 is detachably connected to second conductive body 121.

Thus, the first conductor 111 and the first clamping jaw 112 are detachably connected, and the second conductor 121 and the second clamping jaw 122 are detachably connected, so that the replacement and maintenance of the first conductor 111 and the second conductor 121 are facilitated.

In some embodiments, the driving assembly 13 includes a first connecting block 131, a second connecting block 132, and a driving member 133. The first connecting block 131 is connected with the first clamping jaw 112, the second connecting block 132 is connected with the second clamping jaw 122 and is arranged relative to the first connecting block 131, and the driving member 133 is respectively connected with the first connecting block 131 and the second connecting block 132 and is used for driving the first connecting block 131 and the second connecting block 132 to be close to or away from each other so as to drive the first clamping member 11 and the second clamping member 12 to take and place the workpiece 100. In this embodiment, the driving member 133 is a cylinder.

In some embodiments, the detection component 14 includes a first conductive line 141 and a second conductive line 142. One end of the first conductive line 141 is coupled to the first conductive body 111, one end of the second conductive line 142 is coupled to the second conductive body 121, and the other end of the first conductive line 141 and the other end of the second conductive line 142 are respectively used for being coupled to a detecting element (e.g., a buzzer, a three-color lamp, etc.), so that the detecting element, the first conductive line 141, the workpiece 100, and the second conductive line 142 form a closed loop to detect whether the workpiece 100 is conductive.

Referring to fig. 2, in some embodiments, the first conductive body 111 includes a first conductive block 1111, a first locking screw 1112 and a first conductive sheet 1113, the first conductive block 1111 and the first conductive sheet 1113 are respectively disposed on opposite sides of the first clamping jaw 112, the first conductive block 1111 is configured to abut against the workpiece 100, the first locking screw 1112 sequentially passes through the first conductive sheet 1113 and the first clamping jaw 112 and is threadedly connected to the first conductive block 1111, the first conductive wire 141 is fixedly connected to the first conductive sheet 1113, the second conductive body 121 includes a second conductive block 1211, a second locking screw 1212 and a second conductive sheet 1213, the second conductive block 1211 and the second conductive sheet 1213 are respectively disposed on opposite sides of the second clamping jaw 122, the second conductive block 1211 is disposed opposite to the first conductive block 1111 and is configured to abut against the workpiece 100, the second locking screw 1212 sequentially passes through the second conductive sheet 1213 and the second clamping jaw 122 and is threadedly connected to the second conductive block 1211, the second conductive wire 142 is fixedly connected to the second conductive sheet 1213.

In some embodiments, the detection assembly 14 further includes a sensing member 144, the sensing member 144 being coupled to the driving member 133 for sensing whether the workpiece 100 is present between the first jaw 112 and the second jaw 122. In this embodiment, the sensing member 144 includes a connection plate 1441 and an infrared sensor 1442 connected to the connection plate 1441, and the connection plate 1441 is detachably connected to the driving member 133.

In some embodiments, the first and second electrical conductors 111, 121 each provide a contoured feature of the workpiece 100 for preventing the workpiece 100 from falling out when clamped.

The profiling structures arranged on the first conductor 111 and the second conductor 121 can be arranged according to different specific shapes of the workpiece 100, and since the first conductor 111 and the second conductor 121 are detachably connected with the first clamping jaw 112 and the second clamping jaw 122 respectively, different first conductors 111 and second conductors 121 can be replaced when different workpieces 100 are tested, so that the universality of the clamping mechanism 10 is improved.

In some embodiments, the clamping mechanism 10 further includes a controller (not shown) coupled to the driving member 133 and the sensing member 144, for controlling the driving member 133 to drive the first clamping jaw 112 and the second clamping jaw 122 away from each other so as not to grab the workpiece 100 when the workpiece 100 is electrically conductive.

In some embodiments, the workpiece is an anodized product, and if the anodization is acceptable, the surface of the product is non-conductive; and if the anodic oxidation is unqualified, the surface of the product is conductive. Through the conduction detection of the clamping mechanism 10 in the above embodiment, if conducting, the product is a rejected product. In other embodiments, the workpiece may also be a product after the metal part is coated, or the workpiece may be a nonconductor (e.g., a plastic part) or a conductor (e.g., a metal part), and the workpiece may be automatically detected to be the nonconductor or the conductor by the clamping mechanism.

In this embodiment, the controller may be a programmable microprocessor.

The operation of the clamping mechanism 10 is substantially as follows:

first, a workpiece is loaded to a set loading level, the sensing member 144 of the clamping mechanism 10 senses that there is no workpiece 100 between the first jaw 112 and the second jaw 122, and transmits a signal to the controller;

then, the controller controls the driving member 133 to drive the first clamping jaw 112 and the second clamping jaw 122 to approach each other so that the first conductor 111 and the second conductor 121 respectively abut against two ends of the workpiece 100 (see fig. 3), and at this time, the first conductive line 141, the workpiece 100, the second conductive line 142 and a detecting element form a closed loop, and if the state of the detecting element indicates that the formed closed loop is powered on, indicating that the workpiece is defective, the detecting member transmits the signal to the controller, the controller controls the driving member 133 to drive the first clamping jaw 112 and the second clamping jaw 122 to move away from each other so that the first conductor 111 and the second conductor 121 release the workpiece 100, if the state of the detecting member indicates that the formed closed loop is not electrified, the workpiece is qualified, the signal is transmitted to the controller by the detection part, and the controller controls the driving part 133 to drive the first clamping jaw 112 and the second clamping jaw 122 to keep unchanged; finally, the manipulator drives the clamping mechanism 10 to drive the workpiece 100 to be transferred from the loading position to the unloading position, so as to complete loading and unloading of a single workpiece.

Example two

Referring to fig. 4, the clamping mechanism 20 provided in this embodiment is similar to the first embodiment, and includes a first clamping member 11, a second clamping member 12, a driving assembly 13 and a detecting assembly 14, and the differences are: in the present embodiment, the detecting element 14 includes a detecting element 143, a first conductive line 141, and a second conductive line 142. One end of the first conductive line 141 is coupled to the first conductor 111, the other end of the first conductive line 141 is coupled to the detector 143, one end of the second conductive line 142 is coupled to the second conductor 121, the other end of the second conductive line 142 is coupled to the detector, and the detector 143, the first conductive line 141, the workpiece 100, and the second conductive line 142 form a closed loop to detect whether the workpiece 100 is conductive.

In some embodiments, the detecting member 143 includes at least one of a buzzer and a tri-color lamp.

EXAMPLE III

The embodiment of the present invention further provides a manipulator (not shown), which includes any one of the clamping mechanisms 10 in the first embodiment and the second embodiment.

The clamping mechanism 10 in the manipulator can directly detect whether the workpiece 100 is conductive or not when clamping the workpiece 100, and loosen or transfer the workpiece 100 according to whether the workpiece 100 is conductive or not, so that loading and unloading of the workpiece 100 are realized, that is, the conductive detection of the workpiece 100 is performed when clamping the workpiece 100, and other detection stations do not need to be additionally arranged, so that the operation efficiency is improved.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (10)

1. A clamping mechanism, comprising:

a first clamping member comprising a first electrical conductor;

the second clamping piece comprises a second conductor, and the second conductor is arranged opposite to the first conductor and is used for abutting against a workpiece;

the driving assembly is connected with the first clamping piece and the second clamping piece and used for driving the first clamping piece and the second clamping piece to take and place the workpiece;

and the detection assembly is coupled with the first conductor and the second conductor respectively and used for forming a closed loop with the first conductor, the second conductor and the workpiece so as to detect whether the workpiece is conductive or not.

2. The clamping mechanism of claim 1,

the first clamping piece further comprises a first clamping jaw, one end of the first clamping jaw is connected to the driving assembly, and the other end of the first clamping jaw is detachably connected with the first conductor;

the second clamping piece further comprises a second clamping jaw, one end of the second clamping jaw is connected to the driving assembly, and the other end of the second clamping jaw is detachably connected with the second conductive wire body.

3. The clamping mechanism of claim 2, wherein said drive assembly comprises:

the first connecting block is connected with the first clamping jaw;

the second connecting block is connected with the second clamping jaw and is arranged opposite to the first connecting block;

and the driving piece is respectively connected with the first connecting block and the second connecting block and used for driving the first connecting block and the second connecting block to be close to or far away from each other so as to drive the first clamping piece and the second clamping piece to take and place the workpiece.

4. The clamping mechanism of claim 2, wherein said detection assembly comprises:

a first electrically conductive line having one end coupled to the first electrical conductor;

and one end of the second conductive wire is coupled with the second conductor, and the other end of the first conductive wire and the other end of the second conductive wire are respectively used for being coupled with a detection piece, so that the detection piece, the first conductive wire, the workpiece and the second conductive wire form a closed loop to detect whether the workpiece is conductive or not.

5. The clamping mechanism of claim 2, wherein said detection assembly comprises:

a detection member;

a first conductive line having one end coupled to the first conductor and the other end coupled to the sensing element;

and the second conductive wire is coupled with the second conductor at one end, and is coupled with the detection piece at the other end, and the detection piece, the first conductive wire, the workpiece and the second conductive wire form a closed loop so as to detect whether the workpiece is conductive or not.

6. The clamping mechanism of claim 5, wherein the detection element comprises at least one of a buzzer and a tri-color light.

7. The clamping mechanism of claim 3, wherein the detection assembly further comprises:

a sensing member coupled to the driving member for sensing whether the workpiece is present between the first jaw and the second jaw.

8. The clamping mechanism of claim 2,

the first electric conductor and the second electric conductor are both provided with copying structural members of the workpiece and used for preventing the workpiece from falling off when being clamped.

9. The clamping mechanism of claim 7, further comprising:

and the controller is coupled to the driving piece and the induction piece and used for controlling the driving piece to drive the first clamping jaw and the second clamping jaw to be far away from each other so as not to grab the workpiece when the workpiece is conductive.

10. A manipulator, characterized by comprising:

the clamping mechanism of any one of claims 1 to 9.

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