CN219748025U

CN219748025U - Material snatchs anchor clamps and grabbing device

Info

Publication number: CN219748025U
Application number: CN202321159233.7U
Authority: CN
Inventors: 申淑丽; 叶敏; 高喜涛
Original assignee: Sinomach Intelligence Technology Co ltd; Guangzhou Mechanical Engineering Research Institute Co Ltd
Current assignee: Sinomach Intelligence Technology Co ltd; Guangzhou Mechanical Engineering Research Institute Co Ltd
Priority date: 2023-05-12
Filing date: 2023-05-12
Publication date: 2023-09-26
Anticipated expiration: 2033-05-12

Abstract

The utility model belongs to the technical field of material grabbing equipment, and provides a material grabbing clamp and a grabbing device, wherein the material grabbing clamp mainly comprises a first mounting plate, a clamping assembly and an air injection device; the clamping assembly is arranged on the first mounting plate and comprises a first clamping arm, a second clamping arm and a driving device, and the driving device is in transmission connection with the first clamping arm and/or the second clamping arm; the air injection device comprises at least one air injection pipe, the air injection pipe is arranged on the first mounting plate, and an air injection port of the air injection pipe, the first clamping arm and the second clamping arm are arranged on the same side of the first mounting plate. This scheme can snatch the material before the surface to the material at anchor clamps and jet to get rid of impurity such as sand and dust on material surface, avoid in the follow-up bag unloading operation that breaks, remain the impurity on material bag surface and can mix in the material of release and influence product quality.

Description

Material snatchs anchor clamps and grabbing device

Technical Field

The utility model belongs to the technical field of material grabbing equipment, and particularly relates to a material grabbing clamp and a grabbing device.

Background

Traditional frock clamp is usually applied to snatch and the transport of material, and under some relative special operating modes, for example, when snatching the material, the material need carry out the broken bag operation to the inside thing that holds of material bag can release. When the existing tool clamp is adopted for corresponding operation, the clamp cannot carry out surface treatment on materials to be clamped, if surface impurities are released along with the materials, the quality of products is affected, at the moment, manual intervention is usually needed, or other equipment is purchased for pretreatment, so that the cost is easy to become high.

Disclosure of Invention

In order to overcome the above-mentioned drawbacks in the prior art, an object of the present utility model is to provide a material gripping fixture and a gripping device.

The utility model adopts the technical means for solving the technical problems that:

the utility model provides a material grabbing clamp, which comprises:

a first mounting plate;

the clamping assembly is arranged on the first mounting plate and comprises a first clamping arm, a second clamping arm and a driving device, and the driving device is in transmission connection with the first clamping arm and/or the second clamping arm;

the air injection device comprises at least one air injection pipe, the air injection pipe is arranged on the first mounting plate, and an air injection port of the air injection pipe, the first clamping arm and the second clamping arm are arranged on the same side of the first mounting plate.

In the above-mentioned realization process, the setting jet equipment can snatch the material before the anchor clamps to the surface of material jet-propelled to get rid of impurity such as sand dust on material surface, avoid in the unloading operation of follow-up broken bag, remain the impurity on material bag surface and can mix in the material of release and influence product quality.

Preferably, the first clamping arm and the second clamping arm comprise driving rods and a plurality of limiting rods arranged on the driving rods;

the driving rod is in transmission connection with the driving device, and one end, far away from the driving rod, of the limiting rod is in conical arrangement.

In the above-mentioned realization process, will the tip of gag lever post is the toper setting, makes first centre gripping arm, second centre gripping arm when carrying out the centre gripping to the material, can adopt the form that gag lever post part inserted in the material bag the inside, when the material bag breaks the bag in the bottom, can make things convenient for the release of material in the bag more.

Preferably, the driving device comprises a first driving device and a second driving device, wherein the first driving device is in transmission connection with the first clamping arm, and the second driving device is in transmission connection with the second clamping arm.

In the implementation process, the first driving device is arranged on the first clamping arm, and the second driving device is arranged on the second clamping arm, so that the operation of the first clamping arm and the operation of the second clamping arm can be independent relatively.

Preferably, at least one of the limit rods is internally provided with an air supply channel, and the output end of the air supply channel is arranged on the peripheral surface of the limit rod.

Preferably, the limit rods provided with the air supply channels are arranged in a matrix.

In the implementation process, the air supply channel is arranged, so that when the limiting rod is inserted into the material bag, air blowing operation can be performed in the material bag in the tail sound stage of material release, and the material can be released more thoroughly.

Preferably, the bag removing device is arranged on the first mounting plate;

the bag removing device comprises a main board, scrapers and a first telescopic device, wherein the scrapers are arranged on two sides of the main board, the first clamping arms and the second clamping arms are respectively arranged on two sides of the main board, the scrapers extend into the space between the limiting rods, and the main board is arranged at the movable end of the first telescopic device.

In the implementation process, the bag removing device can push the material bag after the material is released, so that the relative separation between the material bag and the limiting rod is ensured.

Preferably, the device further comprises a dithering device, wherein the dithering device comprises a second mounting plate and a second telescopic device;

the first mounting plate is hinged with the second mounting plate, one end of the second telescopic device is hinged with the first mounting plate, and the other end of the second telescopic device is hinged with the second mounting plate.

In the implementation process, the shaking device can facilitate the release of materials and improve the operation efficiency.

Preferably, the device further comprises a buffer mechanism, wherein the buffer mechanism comprises a third mounting plate and a plurality of elastic pieces;

the elastic piece is arranged between the first mounting plate and the third mounting plate, and enables the relative position distance between the first mounting plate and the third mounting plate to be variable.

In the implementation process, the buffer mechanism can avoid the adverse effect of the contact acting force on the clamp or on the material when the clamp is directly in rigid contact with the material.

Preferably, the device further comprises a mounting frame, the mounting frame is arranged on the third mounting plate, a visual identification device is arranged on the mounting frame, and the visual identification device is electrically connected with a control system of the material grabbing clamp.

In the implementation process, the visual recognition device can be convenient for assisting the clamp to realize intelligent grabbing operation on materials, and the automation performance of the clamp is improved.

The utility model also provides a grabbing device, which is provided with the material grabbing clamp.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments of the present utility model will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present utility model and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a material grabbing clamp according to the present utility model.

Fig. 2 is a schematic front view of the material grabbing clamp of the present utility model.

Fig. 3 is a schematic side view of the material grabbing clamp of the present utility model.

Fig. 4 is a schematic top view of the material grabbing clamp of the present utility model.

Fig. 5 is a schematic structural view of the clamping assembly of the present utility model.

Marking:

the device comprises a 1-clamping assembly, a 11-first mounting plate, a 111-mounting block, a 112-connecting block, a 12-first clamping arm, a 121-driving rod, a 122-limiting rod, a 13-second clamping arm, a 141-first driving device, a 142-second driving device and a 15-air supply channel;

2-jet device, 21-jet tube;

3-bag removing device, 31-main board, 32-scraping plate, 33-first telescopic device;

4-dithering means, 41-second mounting plate, 42-second telescoping means;

5-buffer mechanism, 51-third mounting plate, 52-elastic piece, 53-mounting frame;

6-visual recognition means.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. The embodiments of the present utility model and the features in the embodiments may be combined with each other without collision. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, and the described embodiments are merely some, rather than all, embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.

It should be noted that: unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. Like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present utility model, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

As shown in fig. 1-5, the embodiment provides a material grabbing clamp, which may include a plurality of mounting plates, a clamping assembly 1, an air injection device 2, a bag removing device 3, a shaking device 4, a buffer mechanism 5 and a visual recognition device 6. The plurality of mounting plates comprise a first mounting plate 11, a second mounting plate 41 and a third mounting plate 51, and the basic framework of the material grabbing clamp is formed after the mounting plates are assembled.

As a preferred solution, the clamping assembly 1 is arranged on the first mounting plate 11, as shown in fig. 1; in this embodiment, the clamping assembly 1 includes a first clamping arm 12, a second clamping arm 13, and a driving device, where the first clamping arm 12 and the second clamping arm 13 are swingably disposed on the first mounting plate 11, and the driving device is used to control the swing motion of the first clamping arm 12 and the second clamping arm 13.

As an application example, the driving device may be provided with only one and is in transmission connection with the first clamping arm 12 and the second clamping arm 13 at the same time, and at this time, the first clamping arm 12 and the second clamping arm 13 are driven by the driving device to synchronously move, such as swing in opposite directions or swing in opposite directions between the first clamping arm 12 and the second clamping arm 13 at the same time.

As an application example, in this embodiment, the two driving devices are provided, including a first driving device 141 and a second driving device 142, where the first driving device 141 is in transmission connection with the first clamping arm 12, and the second driving device 142 is in transmission connection with the second clamping arm 13. At this time, the swing of the first clamping arm 12 may be controlled by the first driving device 141, and the swing of the second clamping arm 13 may be controlled by the second driving device 142, so that the swing motion of the first clamping arm 12 may be independent of the swing motion of the second clamping arm 13, and at this time, more clamping fit angles may be provided between the first clamping arm 12 and the second clamping arm 13.

Further, the first clamping arm 12 and the second clamping arm 13 each comprise a driving rod 121 and a plurality of limiting rods 122 arranged on the driving rod 121. In this embodiment, in order to facilitate the installation of the driving rod 121 on the first installation plate 11, installation blocks 111 are disposed at four corner ends of the first installation plate 11, and two ends of the driving rod 121 are respectively connected to the opposite installation blocks 111, as shown in fig. 1.

As a preferred solution, the first driving device 141 and the second driving device 142 may be configured as telescopic cylinders, and are in transmission connection with the corresponding driving rods 121 through a link mechanism, so as to implement motion control of the first clamping arm 12 and the second clamping arm 13. In this embodiment, the first driving device 141 and the second driving device 142 are fixedly disposed on the first mounting plate 11.

In addition, the plurality of limit rods 122 are arranged on the driving rod 121 along the length direction of the driving rod 121, and can swing synchronously with the rotation of the driving rod 121, so as to realize the clamping action.

In a preferred embodiment, one end of the limiting rod 122 is detachably connected to the corresponding driving rod 121, and the other end of the limiting rod 122 is tapered to form a tip, and typically, the tapered end of the limiting rod 122 is disposed downward. By arranging the end part of the limiting rod 122 to be conical, the first clamping arm 12 and the second clamping arm 13 can be in a form that the limiting rod 122 is partially inserted into a material bag when clamping materials; at this time, when the material bag is broken at the bottom, the bottom of the material bag is provided with a bag breaking opening, and the top of the material bag is provided with a hole formed by inserting the limit rod 122, so that the release of the material in the bag can be more convenient.

In a preferred embodiment, an air supply channel 15 is disposed in at least one of the limit rods 122, and an output end of the air supply channel 15 is disposed on a peripheral surface of the limit rod 122. For example, the limit rods 122 at the four corner end positions are each provided with the air supply passage 15, and at this time, the limit rods 122 provided with the air supply passages 15 are arranged in a matrix; and because the limit rod 122 is partially inserted into the material bag, the air blowing operation can be performed in the material bag in the tail sound stage of the material release through the air supply channel 15, so that the material release can be more thorough.

Further, the gas injection device 2 comprises at least one gas injection tube 21; in this embodiment, two air nozzles 21 are disposed at two ends of the first mounting plate 11, the top end of the air nozzle 21 is connected with an air pipe, an air nozzle is disposed at the bottom end of the air nozzle 21, and the air nozzle of the air nozzle 21, the first clamping arm 12 and the second clamping arm 13 are disposed at the same side of the first mounting plate 11 and face downward. Through setting up jet equipment 2 can snatch the material before the surface to the material at anchor clamps and jet to get rid of impurity such as sand dust on material surface, avoid in the unloading operation of follow-up broken bag, remain the impurity on material bag surface and can mix in the material of release and influence product quality.

The bag removing device 3 is also arranged on the first mounting plate 11 and mainly comprises a main plate 31, scraping plates 32 arranged on two sides of the main plate 31 and a first telescopic device 33; the first clamping arm 12 and the second clamping arm 13 are respectively arranged at two sides of the main board 31, the scraping plate 32 extends into a space between the two limiting rods 122 arranged on the first clamping arm 12 or the second clamping arm 13, and the main board 31 is connected with the movable end of the first telescopic device 33.

As a preferable solution, the first telescopic device 33 is in the form of a telescopic cylinder, when the first telescopic device 33 is in a contracted state, the scraper 32 is close to the driving rod 121, and at this time, the driving rod 121 rotates to drive the limiting rod 122 to swing, and the limiting rod 122 can be inserted into a material bag as required; after the bag is broken and the material is released, there is a case that the individual material bags cannot naturally fall off, and at this time, the first telescopic device 33 can be driven to operate and be in an extended state, so that the scraper 32 is far away from the driving rod 121, and the material bags on the limiting rod 122 are knocked down, so as to ensure the relative separation between the material bags and the limiting rod 122.

As a preferred solution, the blade 32 and the main board 31 may be configured as a single structure, and the blade 32 and the main board 31 may be configured as a relatively detachable structure, which is not limited herein.

Still further, the dithering apparatus 4 includes the second mounting plate 41, a second telescoping device 42; in this embodiment, the second mounting plate 41 is disposed above the first mounting plate 11 and is parallel to the first mounting plate 11. A connection block 112 is provided on the first mounting plate 11, and the second mounting plate 41 is hinged to the connection block 112, so that a relative swinging movement between the first mounting plate 11 and the second mounting plate 41 is possible.

One end of the second telescopic device 42 is hinged to the first mounting plate 11, and the other end of the second telescopic device 42 is hinged to the second mounting plate 41. In this embodiment, the second telescopic device 42 also adopts a telescopic cylinder structure, and by switching the telescopic state of the second telescopic device 42, the first mounting plate 11 and the second mounting plate 41 perform a relative swinging motion, so as to form a shaking motion, at this time, the release of materials can be further facilitated, and the working efficiency is improved.

Furthermore, the buffer mechanism 5 includes the third mounting plate 51 and a plurality of elastic members 52; the third mounting plate 51 is disposed above the second mounting plate 41 and parallel to the second mounting plate 41. The elastic members 52 are disposed between the first mounting plate 11 and the third mounting plate 51, so that the relative position distance between the first mounting plate 11 and the third mounting plate 51 is variable.

As a preferred solution, as in the present embodiment, the elastic member 52 is in a spring structure, one end of the elastic member 52 is connected to the third mounting plate 51, and the other end of the elastic member 52 is connected to the second mounting plate 41, so that the buffering action of the elastic member 52 can act on the clamping assembly 1, the bag removing device 3 and the shaking device 4 at the same time, so as to avoid the adverse effects of the contact force on the clamping device or on the material, such as abrasion of parts caused by rigid touch, and accidental crushing or scratching of the material bag, which may be caused when the clamping device is directly in rigid contact with the material.

As a preferred solution, in this embodiment, a mounting frame 53 is further disposed on the third mounting plate 51, and a visual recognition device 6 is disposed on the mounting frame 53, where the visual recognition device 6 is electrically connected to the control system of the material grabbing fixture. The visual recognition device 6 can be a camera component of a 3D visual system, and is used for positioning the grabbed materials through the application of the 3D visual system, so that the intelligent grabbing operation of the materials is facilitated to be assisted by the clamp, and the automation performance of the clamp is improved.

The specific principle of action and structural form of the 3D vision system may be referred to in the prior art, and will not be described herein. The visual recognition device 6 is arranged, so that the blowing action of the air blowing device 2 can be set through a control program, the situations of excessive manual intervention and pretreatment of materials by additionally arranging special equipment are avoided, the control of production cost is facilitated, and the production beat can be more compact.

In this embodiment, a gripping device is further provided, and a material gripping fixture as described above is connected to the gripping device.

In this embodiment, the gripping device may be in the form of an industrial robot, and the specific structural form thereof may be referred to in the prior art, which is not described herein.

The above description is only specific embodiments of the present utility model and is not intended to limit the scope of the present utility model, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model. Variations and substitutions will be readily apparent to those skilled in the art within the scope of the present disclosure, and are intended to be encompassed within the scope of the present disclosure. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A material grabbing clamp, comprising:

a first mounting plate;

2. The material grabbing clamp of claim 1, wherein the first clamping arm and the second clamping arm each comprise a driving rod and a plurality of limiting rods arranged on the driving rods;

3. The material handling clamp of claim 2, wherein the drive means comprises a first drive means in driving connection with the first gripping arm and a second drive means in driving connection with the second gripping arm.

4. The material grabbing clamp as claimed in claim 2, wherein at least one of the limit rods is provided with an air supply channel therein, and an output end of the air supply channel is disposed on a peripheral surface of the limit rod.

5. The material grasping jig according to claim 4, wherein the stopper rods provided with the air supply passages are arranged in a matrix.

6. The material handling clamp of any one of claims 2-5, further comprising a bag removal device disposed on the first mounting plate;

7. The material grasping jig according to claim 1, further comprising a shaking device including a second mounting plate, a second telescoping device;

8. The material handling clamp of claim 1 or 7, further comprising a cushioning mechanism comprising a third mounting plate and a plurality of resilient members;

9. The material grasping jig according to claim 8, further comprising a mounting bracket provided with a visual recognition device provided thereon, the visual recognition device being electrically connected with a control system of the material grasping jig.

10. A gripping device, characterized in that it is provided with a material gripping clamp according to any of the preceding claims 1-9.