CN218052664U

CN218052664U - Manipulator clamping device

Info

Publication number: CN218052664U
Application number: CN202220919595.0U
Authority: CN
Inventors: 张义; 黄廷丰; 刘磊; 周雷
Original assignee: EELY Guangzhou Electronic Technology Co Ltd
Current assignee: EELY Guangzhou Electronic Technology Co Ltd
Priority date: 2022-04-20
Filing date: 2022-04-20
Publication date: 2022-12-16
Anticipated expiration: 2032-04-20

Abstract

The utility model discloses a mechanical arm clamping device, which comprises at least one clamping device, wherein the clamping device comprises two sucker components distributed at intervals, and the sucker components can adsorb a plate and drive the plate to move along the thickness direction; the clamping mechanism comprises a pressing assembly and a clamping assembly, the pressing assembly and the clamping assembly can clamp the plate along the thickness direction of the plate, and the clamping mechanism is located between the two sucker assemblies. This device is got to manipulator clamp can effectively avoid droing from the sucking disc subassembly at the in-process panel of transportation panel, also can effectively avoid directly getting the risk that panel destroyed the panel structure through mechanical clamping jaw clamp among the prior art, and the practicality is strong, and the reliability is high.

Description

Manipulator clamping device

Technical Field

The utility model relates to a frock clamp technical field especially relates to a device is got to manipulator clamp.

Background

At present, a capacitive touch screen with the size of 40-120 inches is called an oversized capacitive touch screen. The manufacturing process of the existing oversized capacitive touch screen comprises the following steps: the method comprises the steps of silk-screen printing or electroplating a layer of conductive metal on a Film (Film, conductive Film material), wherein the conductive metal can be silver paste, copper and the like, pattern etching is preset on the Film printed with the silver paste, and laser, printing acid-resistant ink or printing etching paste can be selected for pattern etching specifically according to actual manufacturing conditions.

The device is got to current manipulator clamp generally divide into two kinds, one kind is to adopt mechanical clamping jaw clamp to get article, another kind is to adopt the sucking disc to snatch article, wherein, the article that adopts mechanical clamping jaw clamp to get is mainly to the harder article of texture, the article that adopts the sucking disc to snatch is mainly to light-duty and smooth article, but foretell touch-sensitive screen is because its size is big, the weight is heavy and the structure is softer, there is mechanical clamping jaw to destroy the risk of touch-sensitive screen structure when adopting mechanical clamping jaw clamp to get touch-sensitive screen, there is the risk that touch-sensitive screen drops from the sucking disc when adopting the sucking disc to snatch touch-sensitive screen, the reliability is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a device is got to manipulator clamp to solve the risk that the manipulator clamp among the prior art got the structure that the device exists destruction touch-sensitive screen, or there is the risk that the touch-sensitive screen drops from the sucking disc, lead to the manipulator clamp to get the problem that the reliability of device is low.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a device is got to manipulator clamp for press from both sides and get panel, it includes that at least one clamp gets the device, it includes to get the device by clamp:

the two sucker components are distributed at intervals, can adsorb the plate and can drive the plate to move along the thickness direction of the plate;

the clamping mechanism comprises a pressing component and a clamping component, the pressing component and the clamping component can clamp the plate in the thickness direction of the plate, and the clamping mechanism is located between the two sucker components.

Preferably, the manipulator clamping device further comprises a mounting plate, the sucker assembly comprises a first driving piece fixedly connected to the mounting plate and a sucker fixedly connected to the output end of the first driving piece, the sucker is connected with a vacuumizing device through a pipeline, the first driving piece can drive the sucker to move along the thickness direction of the plate, and the vacuumizing device can extract air between the sucker and the plate.

Preferably, the pressing assembly comprises an elastic part, a pressing plate and an inflating assembly, two ends of the elastic part are fixedly connected with the mounting plate and the pressing plate respectively, the inflating assembly is arranged between the mounting plate and the pressing plate and can drive the pressing plate to be close to the plate along the thickness direction of the plate, and the elastic restoring force of the elastic part can drive the pressing plate to be far away from the plate along the thickness direction of the plate.

Preferably, at least the part of the pressing plate, which is in contact with the plate, is provided with a first elastic cushion layer, and the first elastic cushion layer is provided with first anti-skid grains.

Preferably, the inflation assembly comprises an air bag and an air source communicated with the air bag through a pipeline, and the air source can inflate the air bag to enable the pressing plate to be close to the plate along the thickness direction of the plate.

Preferably, the pressing assembly further comprises a first limiting member fixedly connected to the mounting plate, the first limiting member is provided with a groove, an opening of the groove faces the pressing plate, the groove is used for accommodating the airbag, and the pressing plate can abut against the first limiting member along the thickness direction of the plate;

the pressing assembly further comprises a second limiting part which is connected with the mounting plate in a sliding mode, the second limiting part is further fixedly connected with the pressing plate, and the second limiting part can abut against the mounting plate along the sliding direction of the second limiting part.

Preferably, the centre gripping subassembly includes second driving piece and clamping jaw, the output of second driving piece with the clamping jaw rotates to be connected, just the second driving piece still rotate connect in the mounting panel, the clamping jaw still rotate connect in the mounting panel, the second driving piece can drive the clamping jaw rotates.

Preferably, the clamping jaw is provided with a guide edge.

Preferably, at least the part of the clamping jaw, which is in contact with the plate, is provided with a second elastic cushion layer, and the second elastic cushion layer is provided with second anti-skid grains.

Preferably, the first driving member is a cylinder; the second driving piece is an air cylinder.

The utility model has the advantages that:

the utility model aims to provide a mechanical arm clamping device, which comprises at least one clamping device, wherein the clamping device comprises two sucker components which are distributed at intervals, and the sucker components can adsorb a plate and drive the plate to move along the thickness direction; fixture compresses tightly subassembly and centre gripping subassembly including compressing tightly, compresses tightly subassembly and centre gripping subassembly and can follow the thickness direction centre gripping panel of panel, and fixture is located between two sucking disc subassemblies. The mechanical arm clamping device comprises two sucker assemblies, a clamping assembly and a pressing assembly, wherein the two sucker assemblies are used for sucking a plate and driving the plate to move in the thickness direction; secondly, because the plate structure is softer and easily buckles, be located between two sucking disc subassemblies through setting up fixture to guarantee that the effective centre gripping panel of thickness direction that centre gripping subassembly and compress tightly the subassembly can follow panel.

Drawings

Fig. 1 is a schematic structural diagram of a gripping device according to an embodiment of the present invention;

fig. 2 is a schematic view of a part of a gripping device according to an embodiment of the present invention;

fig. 3 is a schematic view of a part of the clamping device according to the embodiment of the present invention;

fig. 4 is a schematic structural view of a clamping jaw of the clamping device according to an embodiment of the present invention.

In the figure:

1. a suction cup assembly; 11. a first driving member; 12. a suction cup; 13. a connecting plate;

2. a compression assembly; 21. an elastic member; 22. pressing a plate; 23. an air bag; 24. a first limit piece; 25. a second limiting member;

3. a clamping assembly; 31. a second driving member; 32. a clamping jaw; 321. a guide edge; 33. a first support base; 34. a second support seat; 35. a connecting shaft;

4. and (7) mounting the plate.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts all belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood as a specific case 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. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

The utility model provides a manipulator clamping device, as shown in figure 1, the manipulator clamping device comprises at least one clamping device, the clamping device comprises two sucker components 1 distributed at intervals, the sucker components 1 can adsorb a plate material and can drive the plate material to move along the thickness direction; fixture compresses tightly subassembly 2 and centre gripping subassembly 3 including compressing tightly, compresses tightly subassembly 2 and centre gripping subassembly 3 and can follow the thickness direction centre gripping panel of panel, and fixture is located between two sucking disc subassemblies 1. The mechanical arm clamping device comprises two sucker assemblies 1, wherein the two sucker assemblies 1 are used for adsorbing a plate and driving the plate to move in the thickness direction, and when the sucker assemblies 1 drive the plate to leave a platform for placing the plate, the plate is clamped in the thickness direction of the plate through clamping assemblies 3 and pressing assemblies 2; secondly, because the plate structure is softer and easily buckles, be located between two sucking disc subassemblies 1 through setting up fixture to guarantee that centre gripping subassembly 3 and compress tightly subassembly 2 can follow the effective centre gripping panel of thickness direction of panel.

As shown in fig. 1 and 2, the manipulator clamping device further includes a mounting plate 4, the suction cup assembly 1 includes a first driving member 11 fixedly connected to the mounting plate 4, and a suction cup 12 fixedly connected to an output end of the first driving member 11, the suction cup 12 is connected to a vacuum pumping device through a pipeline, the first driving member 11 can drive the suction cup 12 to move along a thickness direction of the plate, and the vacuum pumping device can pump air between the suction cup 12 and the plate. Specifically, when needs pass through sucking disc subassembly 1 and absorb panel, first driving piece 11 drives fixed connection and is close to panel along the thickness direction of panel in the sucking disc 12 of its output, after sucking disc 12 and panel laminating, remaining air between evacuating device extraction sucking disc 12 and the panel, and supplementary sucking disc 12 of keeping holds panel, rethread first driving piece 11 drives fixed connection and follows the thickness direction motion of panel in its output sucking disc 12, leave the platform of placing panel in order to drive panel, rethread centre gripping subassembly 3 and the thickness direction centre gripping panel that compresses tightly subassembly 2 along panel. The specific structure of the vacuum pumping device belongs to the prior art, and is not described herein again.

As shown in fig. 1, the ab direction is the thickness direction of the plate.

Specifically, in the present embodiment, the first driving member 11 is a cylinder.

Specifically, in this embodiment, the suction cup assembly 1 further includes two connection plates 13, the two connection plates 13 and the two first driving members 11 are disposed in a one-to-one correspondence, the connection plates 13 are fixedly connected to the output ends of the first driving members 11, and the suction cups 12 are fixedly connected to the connection plates 13. In the present embodiment, for example, one suction cup 12 is disposed on the connecting plate 13, and it can be understood that a plurality of suction cups 12 may also be disposed on the connecting plate 13, so as to enhance the reliability of the suction cup assembly 1 for sucking the sheet material.

Specifically, as shown in fig. 1 to 3, the pressing assembly 2 includes an elastic member 21, a pressing plate 22 and an inflating assembly, two ends of the elastic member 21 are respectively fixedly connected to the mounting plate 4 and the pressing plate 22, the inflating assembly is disposed between the mounting plate 4 and the pressing plate 22, the inflating assembly can drive the pressing plate 22 to be close to the plate along the thickness direction of the plate, and the elastic restoring force of the elastic member 21 can drive the pressing plate 22 to be far away from the plate along the thickness direction of the plate. With the arrangement, the pressing plate 22 can be driven to apply pressure along the thickness direction of the plate through the inflating assembly, so that the plate is clamped through the pressing plate 22 and the clamping assembly 3; by providing the elastic member 21, the elastic member 21 can drive the press plate 22 away from the plate in the thickness direction of the plate, thereby facilitating the unloading of the plate from the robot gripper.

More specifically, as shown in fig. 2, the inflation assembly includes an air bag 23, and an air source communicating with the air bag 23 through a pipe, the air source being capable of inflating the air bag 23 to bring the pressing plate 22 close to the sheet material in the thickness direction thereof. It can be understood that the distance between the pressing plate 22 and the plate material is controlled by adjusting the amount of inflation into the air bag 23, and specifically, the more the amount of inflation into the air bag 23 is, the closer the pressing plate 22 is to the plate material in the thickness direction of the plate material, and the less the amount of inflation into the air bag 23 is, the farther the pressing plate 22 is from the plate material in the thickness direction of the plate material. The specific structure of the gas source belongs to the prior art, and is not described herein again.

Further specifically, as shown in fig. 1 to 3, the pressing assembly 2 further includes a first limiting member 24 fixedly connected to the mounting plate 4, the first limiting member 24 is provided with a groove having an opening facing the pressing plate 22, the groove is used for accommodating the air bag 23, and the pressing plate 22 can abut against the first limiting member 24 along the thickness direction of the plate; the pressing assembly 2 further includes a second limiting member 25 slidably connected to the mounting plate 4, the second limiting member 25 is further fixedly connected to the pressing plate 22, and the second limiting member 25 can abut against the mounting plate 4 along the sliding direction thereof. Specifically, when the air bag 23 is not inflated, the air bag 23 is completely accommodated in the groove, and when the air bag 23 is inflated, the part of the air bag 23 expanded out of the groove drives the platen 22 to be close to the plate material; by arranging the first limiting part 24 and the second limiting part 25, when the air bag 23 drives the pressing plate 22 to be close to the plate, the second limiting part 25 is synchronously driven to slide relative to the mounting plate 4, so that the second limiting part 25 can be abutted against the mounting plate 4, and after the air bag 23 is deflated, the elastic restoring force of the elastic part 21 drives the pressing plate 22 to be close to the first limiting part 24, so that the pressing plate 22 can be abutted against the first limiting part 24, and the moving range of the pressing plate 22 is limited by the first limiting part 24 and the second limiting part 25; secondly, by providing the second limiting member 25, the second limiting member 25 can also guide the pressing plate 22, and a moving path of the pressing plate 22 close to the plate material is defined. The sliding direction of the second limiting member 25 is parallel to the thickness direction of the plate.

Specifically, in the present embodiment, the shape of the recess and the air bag 23 are each waist-shaped. This is so arranged that the pressure applied to the platen 22 by the air cells 23 is uniform. In other embodiments, the shape of the recess and bladder 23 may be adapted to other shapes.

More specifically, at least the portion of the pressing plate 22 contacting the plate is provided with a first elastic cushion layer, and the first elastic cushion layer is provided with first anti-slip lines. So set up, fish tail panel or crushing panel can be avoided to first elastic cushion, and the first anti-skidding line on the first elastic cushion can strengthen the frictional force between clamp plate 22 and the panel. Preferably, the first elastic cushion layer is a rubber cushion layer.

As shown in fig. 1 to 4, the clamping assembly 3 includes a second driving member 31 and a clamping jaw 32, an output end of the second driving member 31 is rotatably connected to the clamping jaw 32, the second driving member 31 is further rotatably connected to the mounting plate 4, the clamping jaw 32 is further rotatably connected to the mounting plate 4, and the second driving member 31 can drive the clamping jaw 32 to rotate. Specifically, be equipped with first supporting seat 33 and second supporting seat 34 on the mounting panel 4, keep away from one side rotation of output on the second driving piece 31 and connect in first supporting seat 33, the one end of clamping jaw 32 is rotated and is connected in second supporting seat 34, centre gripping subassembly 3 still includes connecting axle 35, connecting axle 35 rotates and connects in clamping jaw 32, and connecting axle 35 with the output fixed connection of second driving piece 31, in order to realize driving clamping jaw 32 through second driving piece 31 and rotate, specifically, after driving panel and leaving the platform of placing panel through first driving piece 11, second driving piece 31 drives clamping jaw 32 and rotates to the bottom of panel, the air supply is aerifyd to gasbag 23 and is made clamp plate 22 be close to panel and cooperate the centre gripping panel with clamping jaw 32, thereby can avoid the in-process panel of in the transportation to drop, therefore, the clothes hanger is strong in practicability, the reliability is high.

Specifically, in the present embodiment, the second driver 31 is a cylinder.

Specifically, as shown in fig. 3 and 4, the holding jaw 32 is provided with a guide edge 321. By providing the guiding edge 321 on the clamping jaw 32, the guiding edge 321 is used for guiding the clamping jaw 32 to rotate to the bottom of the plate material, and the clamping jaw 32 can be prevented from scratching the plate material.

Specifically, at least the portion of the clamping jaw 32 contacting the plate is provided with a second elastic cushion layer, and the second elastic cushion layer is provided with second anti-slip lines. So set up, fish tail panel or crushing panel can be avoided to the second elastic cushion layer, and the second antiskid line on the second elastic cushion layer can strengthen the frictional force between clamp plate 22 and the panel. Preferably, the second elastic cushion layer is a rubber cushion layer.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a device is got to manipulator clamp for press from both sides and get panel, its characterized in that includes that at least one clamp gets the device, it includes to get the device:

the two sucker assemblies (1) are distributed at intervals, and the sucker assemblies (1) can adsorb the plate and can drive the plate to move along the thickness direction of the plate;

the clamping mechanism comprises a pressing component (2) and a clamping component (3), the pressing component (2) and the clamping component (3) can clamp the plate in the thickness direction of the plate, and the clamping mechanism is located between the two sucker components (1).

2. The mechanical arm clamping device as claimed in claim 1, further comprising a mounting plate (4), wherein the sucker assembly (1) comprises a first driving member (11) fixedly connected to the mounting plate (4), and a sucker (12) fixedly connected to an output end of the first driving member (11), the sucker (12) is connected with a vacuum pumping device through a pipeline, the first driving member (11) can drive the sucker (12) to move along a thickness direction of the plate, and the vacuum pumping device can pump air between the sucker (12) and the plate.

3. The manipulator clamping device as claimed in claim 2, wherein the pressing assembly (2) comprises an elastic member (21), a pressing plate (22) and an inflating assembly, two ends of the elastic member (21) are respectively fixedly connected with the mounting plate (4) and the pressing plate (22), the inflating assembly is arranged between the mounting plate (4) and the pressing plate (22), the inflating assembly can drive the pressing plate (22) to approach the plate along the thickness direction of the plate, and the elastic restoring force of the elastic member (21) can drive the pressing plate (22) to move away from the plate along the thickness direction of the plate.

4. The manipulator gripping device as claimed in claim 3, wherein at least a portion of the pressing plate (22) contacting the plate is provided with a first elastic cushion layer, and the first elastic cushion layer is provided with a first anti-slip texture.

5. The manipulator gripping device according to claim 3, wherein the inflation assembly comprises an air bag (23), and an air source communicated with the air bag (23) through a pipe, and the air source can inflate the air bag (23) to enable the pressing plate (22) to approach the plate material along the thickness direction of the plate material.

6. The manipulator gripping device according to claim 5, wherein the pressing assembly (2) further comprises a first limiting member (24) fixedly connected to the mounting plate (4), the first limiting member (24) is provided with a groove opening toward the pressing plate (22), the groove is used for accommodating the air bag (23), and the pressing plate (22) can abut against the first limiting member (24) along the thickness direction of the plate;

compress tightly subassembly (2) still include sliding connection in second locating part (25) of mounting panel (4), second locating part (25) still with clamp plate (22) fixed connection, second locating part (25) can be along its slip direction butt in mounting panel (4).

7. The manipulator gripping device according to claim 2, wherein the gripping assembly (3) comprises a second driving member (31) and a clamping jaw (32), the output end of the second driving member (31) is rotatably connected to the clamping jaw (32), the second driving member (31) is further rotatably connected to the mounting plate (4), the clamping jaw (32) is further rotatably connected to the mounting plate (4), and the second driving member (31) can drive the clamping jaw (32) to rotate.

8. Manipulator gripping device according to claim 7, wherein the gripping jaw (32) is provided with a guiding edge (321).

9. The manipulator gripping device according to claim 7, wherein at least a portion of the gripper (32) contacting the plate is provided with a second elastic cushion layer, and the second elastic cushion layer is provided with a second anti-slip texture.

10. The robot gripper according to claim 7, characterized in that the first drive element (11) is a cylinder; the second driving piece (31) is a cylinder.