CN217513891U

CN217513891U - Lamination clamping jaw and mechanical arm

Info

Publication number: CN217513891U
Application number: CN202221038057.7U
Authority: CN
Inventors: 蒋孔林; 黄宇; 王立宣
Original assignee: Chongqing Zhuolai Technology Co ltd
Current assignee: Chongqing Zhuolai Technology Co ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2022-09-30
Anticipated expiration: 2032-04-29

Abstract

The utility model belongs to the technical field of execution terminals, and provides a laminated clamping jaw and a mechanical arm for solving the technical problem of immediately taking out a partition plate after grabbing and carrying a workpiece, which comprises a clamping jaw driving device and a clamping jaw pair formed by two oppositely arranged clamping jaw main bodies; the clamping jaw driving device outputs opening and closing movement to the clamping jaw pair by driving the pair of telescopic mechanisms to do opposite or back-to-back linear movement; each clamping jaw body comprises a mounting plate used for connecting a corresponding telescopic mechanism, and the mounting plate is connected with a supporting plate through a connecting plate; the mounting plate is provided with a telescopic pressing plate mechanism relative to the supporting plate, so that the lamination can be clamped between the telescopic pressing plate mechanism and the supporting plate; the supporting plate is provided with a pneumatic sucker relative to the telescopic pressing plate mechanism. The end flange of the mechanical arm is connected with the lamination clamping jaw through the clamping jaw mounting conversion piece. The utility model discloses compact structure, it is simple reliable, be applicable to the serialization operation.

Description

Lamination clamping jaw and mechanical arm

Technical Field

The utility model belongs to the technical field of carry out the end, concretely relates to lamination clamping jaw.

Background

By lamination is meant sheets that are stacked together. When the bottom of the lamination is provided with the partition plate, the side surface and the suction top surface of the lamination cannot be grabbed due to the property of the lamination or the limitation of grabbing conditions during carrying and grabbing, otherwise the lamination can be scattered; requiring that the gripping point must be located on the floor partition. Since the partitions are also moved with the stack into the post-handling position after the moving object has been grasped, the partitions need to be removed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve the difficult problem that exists among the above-mentioned prior art, provide a lamination clamping jaw, can snatch the transport work piece, can take out the baffle immediately after the transport again, realize the serialization operation.

The utility model discloses a realize through following technical scheme: a lamination jaw comprises a jaw drive and a jaw pair formed by two oppositely arranged jaw bodies; the clamping jaw driving device outputs opening and closing movement to the clamping jaw pair by driving the pair of telescopic mechanisms to do opposite or back-to-back linear movement;

each clamping jaw body comprises a mounting plate used for connecting a corresponding telescopic mechanism, and the mounting plate is connected with the supporting plate through a connecting plate; the mounting plate is provided with a telescopic pressing plate mechanism relative to the supporting plate, so that the lamination can be clamped between the telescopic pressing plate mechanism and the supporting plate; and the supporting plate is provided with a pneumatic sucking disc relative to the telescopic pressing plate mechanism.

Furthermore, the telescopic pressing plate mechanism comprises a telescopic cylinder, and the output end of the telescopic cylinder is connected with the pressing plate.

Further, the supporting plate is parallel to the pressing plate; the connecting plate is perpendicular to the mounting plate, and the supporting plate is perpendicular to the connecting plate.

Furthermore, the clamping jaw driving device outputs opening and closing movement to the clamping jaw pair by driving the pair of sliding blocks to do opposite or opposite linear movement.

Furthermore, a pneumatic sucker is arranged on the pressure plate relative to the supporting plate.

The utility model also provides a mechanical arm, the terminal flange of mechanical arm passes through clamping jaw installation adaptor to be connected if the utility model provides a lamination clamping jaw.

Compared with the prior art, the utility model discloses a following beneficial effect:

1. the clamping jaw pair moves in an opening and closing mode to clamp two sides of the lamination, and the telescopic pressing plate mechanism and the supporting plate are matched to clamp the top surface and the bottom surface of the lamination, so that the lamination is stable and reliable, and the lamination is not easy to loosen after clamping. The mechanism has compact structure, is simple and reliable, is convenient for production, and is very suitable for automation and robots.

2. The pneumatic sucker on the supporting plate adsorbs the partition plate on the clamping jaw in a vacuum adsorption mode, and the partition plate is taken out along with the separation of the clamping jaw, so that the partition plate can be sucked immediately after a workpiece is grabbed by hands without other mechanisms and actions. Therefore, the working efficiency is high, the whole mechanism has few parts, the structure is simple and reliable, and the occupied space is small.

3. The pressing plate is parallel to the supporting plate and better fits the top and the bottom of the lamination; the connecting plate is perpendicular to the mounting plate, and the supporting plate is perpendicular to the connecting plate, so that two sides of the lamination can be better attached.

4. When the workpiece is pressed, the base plate bears the force for pressing the workpiece, and the sucker is made of flexible materials and can be basically retracted into the through hole, so that the force for pressing the workpiece is not required to be borne, and the damage of the sucker is avoided.

5. The sucking disc is higher than the base plate by 0.5-1mm, so that the partition plate can be sucked conveniently.

6. The sucking discs on the pressing plate are matched with the sucking discs on the supporting plate, so that the laminating machine is suitable for the condition that the two sides of the lamination are provided with the partition plates.

Drawings

FIG. 1 is a schematic view of a lamination jaw configuration;

FIG. 2 is a view of the lamination clamp gripping a workpiece;

FIG. 3 is a view showing a state in which the lamination chuck jaws adsorb the separators;

FIG. 4 is a state diagram of the robot arm ready to grasp a workpiece;

FIG. 5 is a state diagram of the robot arm lowered to the work position;

FIG. 6 is a state view of the lamination jaws closed;

FIG. 7 is a view of the lamination clamp pressing against a workpiece;

FIG. 8 is a view of the lamination jaws grasping a workpiece;

FIG. 9 is a state view of the lamination jaws ready to place a gripped workpiece into the tool;

FIG. 10 is a view of the lamination clamp jaws after placing a workpiece into the tool and releasing the workpiece;

figure 11 is a view of the lamination jaws with the separator removed.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings:

as shown in fig. 1, a lamination jaw comprises a jaw drive and a jaw pair formed by two oppositely arranged jaw bodies; the clamping jaw driving device outputs opening and closing movement to the clamping jaw pair by driving the pair of telescopic mechanisms to do opposite or back-to-back linear movement;

each clamping jaw body comprises a mounting plate 3 used for connecting a corresponding telescopic mechanism, and the mounting plate 3 is connected with a supporting plate through a connecting plate; the mounting plate 3 is provided with a telescopic pressing plate mechanism relative to the supporting plate 5, so that the lamination can be clamped between the telescopic pressing plate mechanism and the supporting plate 5; and the supporting plate 5 is provided with a pneumatic sucking disc relative to the telescopic pressing plate mechanism. And for the condition that the two sides of the lamination are provided with the partition plates, a pneumatic sucking disc is additionally arranged on the telescopic pressing plate mechanism relative to the supporting plate 5.

In this embodiment, the telescopic pressing plate mechanism includes a telescopic cylinder 7, and an output end of the telescopic cylinder 7 is connected with a pressing plate 8.

In this embodiment, the supporting plate 5 is parallel to the pressing plate 8. The connecting plate is perpendicular to the mounting plate 3, and the supporting plate 5 is perpendicular to the connecting plate.

In this specific embodiment, the clamping jaw driving device drives the pair of sliding blocks to do opposite or opposite linear motion to output opening and closing motion to the clamping jaw pair.

In the specific embodiment, a backing plate is arranged on the supporting plate 5, the sucking disc 6 of the pneumatic sucking disc is arranged on the backing plate and penetrates through the bottom of the backing plate, and the air pipe joint of the pneumatic sucking disc 6 extends into the supporting plate 5 and is communicated with the sucking disc 6.

In this embodiment, the suction cups 6 are arranged in through holes in the backing plate, and the suction cups 6 protrude from the backing plate for contacting the working surface of the stack. The height of the sucker 6 protruding out of the working surface of the base plate is 0.5-1 mm. The suction cup 6 is made of flexible materials.

Will the utility model provides a lamination clamping jaw is used for on arm 11, forms the arm of grabbing the lamination exclusively used in: the end flange of the mechanical arm 11 is connected with the lamination clamping jaw through a clamping jaw mounting conversion piece 1. In the whole process of taking and placing actions, referring to fig. 4 to 11, fig. 4 to 8 demonstrate the process of grabbing the workpiece 9, and fig. 9 to 11 demonstrate the process of placing the workpiece on the tool and taking out the partition plate 10.

The directions or positional relationships indicated as up, down, left, right, inner, outer, etc. are the directions or positional relationships indicated on the drawings, and are only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

The above technical solution is only an implementation manner of the present invention, and for those skilled in the art, on the basis of the disclosed principle, various modifications or variations can be easily made, and the present invention is not limited to the technical solution described in the above specific embodiments of the present invention, so that the foregoing description is only preferred, and has no restrictive meaning.

Claims

1. A lamination clamping jaw, characterized by: comprises a clamping jaw driving device and a clamping jaw pair formed by two oppositely arranged clamping jaw bodies; the clamping jaw driving device outputs opening and closing movement to the clamping jaw pair by driving the pair of telescopic mechanisms to do opposite or back-to-back linear movement;

each clamping jaw body comprises a mounting plate used for connecting a corresponding telescopic mechanism, and the mounting plate is connected with a supporting plate through a connecting plate; the mounting plate is provided with a telescopic pressing plate mechanism relative to the supporting plate, so that the lamination can be clamped between the telescopic pressing plate mechanism and the supporting plate; and the supporting plate is provided with a pneumatic sucking disc relative to the telescopic pressing plate mechanism.

2. The lamination jaw of claim 1, wherein: the telescopic pressing plate mechanism comprises a telescopic cylinder, and the output end of the telescopic cylinder is connected with the pressing plate.

3. The lamination jaw of claim 2, wherein: the supporting plate is parallel to the pressing plate; the connecting plate is perpendicular to the mounting plate, and the supporting plate is perpendicular to the connecting plate.

4. The lamination jaw of claim 1, wherein: and the telescopic pressing plate mechanism is provided with a pneumatic sucking disc relative to the supporting plate.

5. The lamination jaw of claim 1, wherein: the clamping jaw driving device outputs opening and closing movement to the clamping jaw pair by driving the pair of sliding blocks to do opposite or back-to-back linear movement.

6. The lamination jaw of claim 1, wherein: the pneumatic sucker is characterized in that a base plate is arranged on the supporting plate, a sucker of the pneumatic sucker is arranged on the base plate and penetrates through the bottom of the base plate, and an air pipe connector of the pneumatic sucker extends into the supporting plate and is communicated with the sucker.

7. The lamination jaw of claim 1, wherein: the suction cups are disposed in through holes in the backing plate and project from the backing plate for contacting the working surface of the stack.

8. The lamination jaw of claim 7, wherein: the height of the sucker protruding out of the working surface of the base plate is 0.5-1 mm.

9. The lamination jaw of claim 7, wherein: the sucker is made of flexible materials.

10. A robotic arm, characterized by: an end flange of a robot arm connected to a lamination gripper according to any one of claims 1 to 9 via a gripper mounting transition.