CN220145962U - Combined clamp and clamping robot - Google Patents
Combined clamp and clamping robot Download PDFInfo
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- CN220145962U CN220145962U CN202321048576.6U CN202321048576U CN220145962U CN 220145962 U CN220145962 U CN 220145962U CN 202321048576 U CN202321048576 U CN 202321048576U CN 220145962 U CN220145962 U CN 220145962U
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- 238000005192 partition Methods 0.000 description 15
- 230000007306 turnover Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 239000006260 foam Substances 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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Abstract
The utility model provides a combined clamp and a clamping robot, wherein a combined result comprises a first clamp assembly and a second clamp assembly, and the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw; when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw; when the second clamping jaw is parallel to the connecting surface, the height of the second clamping jaw is smaller than that of the first clamping jaw. According to the utility model, the first clamp assembly and the second clamp assembly are integrated in the same plane, and the first clamping jaw and the second clamping jaw can be selected by utilizing the overturning of the second clamping jaw and the height difference between the first clamping jaw and the second clamping jaw, so that the switching efficiency and the clamping efficiency of the combined clamp are effectively improved.
Description
Technical Field
The utility model relates to the field of clamps, in particular to a combined clamp and a clamping robot.
Background
In the prior art, two different clamps are required to be designed to finish the compressor on-line process, wherein one clamp is used for clamping and carrying the compressor to a designated position; because the compressor material feeding mode is multi-layer stacking, after each layer of compressor clamping and carrying is finished, the clamping and carrying of the compressor is continuously carried out by switching to the other clamp to clamp the foam partition plates between the adjacent layers and carry out the feeding station, and then switching to the clamp for carrying the compressor.
In the prior art, if two clamps are arranged on different mechanical arms, the occupied area of a feeding station is large, and a long time is required for switching between the two mechanical arms, so that the on-line efficiency of a compressor is low; if the two clamps are arranged on different connecting surfaces of the same mechanical arm, the connecting surfaces of the mechanical arm are frequently rotated and switched, the requirement on the connecting structure of the tail end of the mechanical arm is high, and the design difficulty of the mechanical arm is increased.
Disclosure of Invention
In order to overcome the problems in the related art, one of the purposes of the present utility model is to provide a combined clamp, wherein a first clamp assembly and a second clamp assembly are integrated in the same plane, and the overturning of a second clamping jaw and the height difference between the first clamping jaw and the second clamping jaw are used to realize the selection of the first clamping jaw and the second clamping jaw, so that the switching efficiency and the clamping efficiency of the combined clamp are effectively improved.
The utility model provides a combined clamp which comprises a first clamp assembly and a second clamp assembly and is characterized in that the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw; when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw; when the second clamping jaw is parallel to the connecting surface, the height of the second clamping jaw is smaller than that of the first clamping jaw.
According to the utility model, the overturning of the second clamping jaw and the height difference between the first clamping jaw and the second clamping jaw are utilized to realize the selection of one of the first clamping jaw and the second clamping jaw, so that the switching efficiency and the clamping efficiency of the combined clamp are effectively improved, the combined clamp can be suitable for feeding of an air conditioner compressor, the clamping and carrying of the compressor and the clamping and carrying of a partition plate between adjacent layers are realized, and the feeding efficiency of the air conditioner compressor can be improved.
In a preferred technical scheme of the utility model, the second clamp further comprises a second driving piece and a sliding rail, the sliding rail is arranged in the connecting surface, the second clamping jaw is arranged in the sliding rail, and the output end of the second driving piece is connected with the second clamping jaw.
In a preferred technical scheme of the utility model, the second clamping jaw comprises a second horizontal clamping jaw and a second vertical clamping jaw, the tail ends of the second horizontal clamping jaw and the second vertical clamping jaw are hinged through a hinge assembly, and the second horizontal clamping jaw is in sliding connection with the connecting surface.
According to the utility model, the second vertical clamping jaw can be turned over relative to the second horizontal clamping jaw by means of the hinge assembly, the second horizontal clamping jaw is always positioned in the sliding rail of the connecting surface, the second vertical clamping jaw cannot be turned over, and the second vertical clamping jaw can be turned over relative to the first horizontal clamping jaw and the connecting surface.
In a preferred technical scheme of the utility model, the hinge assembly comprises a connecting roller arranged at the tail end of the second horizontal clamping jaw, and the connecting roller is rotationally connected with the second horizontal clamping jaw; the second vertical clamping jaw is fixedly connected with the connecting roller.
In a preferred technical scheme of the utility model, the hinge assembly further comprises a third driving piece, and the output end of the third driving piece is connected with the connecting roller.
In the utility model, the third driving piece is fixed in the connecting surface, and can drive the connecting roller and the second vertical clamping jaw to rotate to a position vertical to the first horizontal clamping jaw when the third driving piece operates, and can drive the connecting roller and the second vertical clamping jaw to rotate to a position parallel to the first horizontal clamping jaw when the third driving piece resets.
In a preferred embodiment of the utility model, the hinge assembly comprises a fourth drive element which is fastened in the connection surface, the output end of the fourth drive element being connected to the second vertical clamping jaw.
According to the utility model, the fourth driving parts are fixed in the connecting surface, the number of the fourth driving parts is two, the output ends of the fourth driving parts are respectively connected with two second vertical clamping jaws, the second horizontal clamping jaws are rotationally connected with the second vertical clamping jaws, the fourth driving parts are air cylinders, when the fourth driving parts extend out, the second vertical clamping jaws are turned to the position vertical to the second horizontal clamping jaws, and when the fourth driving parts retract, the second vertical clamping jaws are turned to the position parallel to the second horizontal clamping jaws.
In a preferred embodiment of the present utility model, the hinge assembly is located at an end of the second horizontal jaw remote from the first jaw assembly.
According to the utility model, the second clamping jaw can slide to the farthest distance away from the center of the second clamp assembly along the sliding rail, and then overturn to the position parallel to the connecting surface, so that the second clamping jaw after overturn is ensured not to interfere with the first clamp assembly positioned between the two second clamp assemblies.
In a preferred technical scheme of the utility model, the connecting surface is provided with a 3D vision camera.
The 3D vision camera is used for positioning the first workpiece and the second workpiece, and further controlling the connecting surface to move to the position above the first workpiece or the second workpiece, so that the first workpiece or the second workpiece is clamped and carried.
In the preferred technical scheme of the utility model, the first clamp assembly further comprises a first driving piece, the output end of the first driving piece is connected with the first clamping jaw, and a plurality of first clamping jaws are distributed in a ring shape.
Another object of the present utility model is to provide a clamping robot, comprising a combined clamp as described above, wherein the combined clamp is fixed at the arm end of the robot.
According to the clamping robot, the first clamp assembly and the second clamp assembly are integrated in the same plane, and clamping of different workpieces can be achieved only by adjusting the overturning position of the second vertical clamping jaw, so that the switching efficiency between different clamps is reduced, and the clamping efficiency of the workpieces with different sizes is improved.
The beneficial effects of the utility model are as follows:
the utility model provides a combined clamp which comprises a first clamp assembly and a second clamp assembly, wherein the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw; when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw; when the second clamping jaw is parallel to the connecting surface, the height of the second clamping jaw is smaller than that of the first clamping jaw; the height here refers to the height relative to the connection surface, that is to say when the second clamping jaw is parallel to the connection surface, i.e. the second clamping jaw is retracted into the connection surface, the first clamping jaw now performing a clamping operation; when the second clamping jaw is perpendicular to the connecting surface, namely the second clamping jaw stretches, the second clamping jaw is firstly abutted with the workpiece to be clamped, and the second clamping jaw performs clamping work; according to the utility model, the turnover of the second clamping jaw and the height difference between the first clamping jaw and the second clamping jaw are utilized to realize the selection of one of the first clamping jaw and the second clamping jaw, so that the switching efficiency and the clamping efficiency of the combined clamp are effectively improved, the combined clamp can be suitable for feeding an air conditioner compressor, the clamping and carrying of the compressor and the clamping and carrying of a partition plate between adjacent layers are realized, and the feeding efficiency of the air conditioner compressor can be improved.
According to the clamping robot, the first clamp assembly and the second clamp assembly are integrated in the same connecting surface of the same robot, the robot and the connecting surface are not required to be switched, the first clamping jaw and the second clamping jaw can be selected only by means of overturning the second clamping jaw, and the clamping efficiency of the clamping robot on different workpieces is effectively improved.
Drawings
FIG. 1 is a schematic view of a combined clamp in a second jaw operating state according to the present utility model;
FIG. 2 is a schematic side view of the sectional fixture of the present utility model in a second jaw operating condition;
FIG. 3 is a schematic view of the combined clamp in the first clamping jaw working state;
FIG. 4 is a schematic side view of the sectional fixture of the present utility model in a first jaw operating condition;
reference numerals:
11. a first jaw; 21. a second horizontal jaw; 22. a second vertical jaw; 23. a second driving member; 24. a slide rail; 25. a connecting roller; 26. a third driving member; 31. a connecting frame; 32; a connecting plate; 33. a 3D vision camera.
Detailed Description
Preferred embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present utility model are shown in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the utility model. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Example 1
1-4, the combined clamp provided by the utility model comprises a first clamp assembly and a second clamp assembly, wherein the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw 11; when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw 11; the height of the second jaw is smaller than the height of the first jaw 11 when the second jaw is parallel to the connection surface.
The height in the present utility model refers to the height relative to the connection surface, i.e. the distance of the end of the second jaw remote from the connection surface, where the connection surface refers to the plane for fixing the first clamp assembly and the second clamp assembly.
According to the utility model, the second clamping jaw can be turned over, so that the states of the second clamping jaw can be divided into two types, and when the second clamping jaw is parallel to the connecting surface, the second clamping jaw is in a contracted state; when the second clamping jaw is perpendicular to the connecting surface, the second clamping jaw is in an extending state. The second clamping jaw is different in state, and the clamp assembly for clamping and carrying is different.
When the second clamping jaw is parallel to the connecting surface, namely the second clamping jaw is retracted into the connecting surface, the first clamping jaw 11 is firstly abutted against a workpiece to be clamped, namely the first clamping jaw 11 performs clamping work; when the second clamping jaw is perpendicular to the connecting surface, namely the second clamping jaw stretches, the second clamping jaw is firstly abutted with the workpiece to be clamped, and the second clamping jaw performs clamping work.
According to the utility model, the turnover of the second clamping jaw and the height difference between the first clamping jaw 11 and the second clamping jaw are utilized to realize the selection of one of the first clamping jaw 11 and the second clamping jaw, so that the switching efficiency and the clamping efficiency of the combined clamp are effectively improved, the combined clamp can be suitable for feeding an air conditioner compressor, the clamping and carrying of the compressor and the clamping and carrying of a partition plate between adjacent layers are realized, and the feeding efficiency of the air conditioner compressor can be improved.
The combined clamp disclosed by the utility model can be suitable for occasions needing to clamp and carry workpieces with different sizes, such as an air conditioner compressor feeding process, compressors are stacked and placed, a partition plate is arranged between adjacent stacked layers, the compressor at the lowest end is placed on a foam backing plate, after the compressors at each layer are carried, the other clamp is required to be switched to realize clamping and carrying of the partition plate or the foam backing plate, the combined clamp is adopted to carry out compressor feeding, the carrying robot is not required to be switched, the end connecting surface of the robot is not required to be switched, only the overturning of a second clamping jaw is required to be controlled, the selective operation of a first clamp assembly and a second clamp assembly can be realized, and the first clamp assembly and the second clamp assembly are respectively used for clamping and carrying the compressor and the partition plate.
Example 2
1-4, the combined clamp provided by the utility model comprises a first clamp assembly and a second clamp assembly, wherein the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw 11; when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw 11; the height of the second jaw is smaller than the height of the first jaw 11 when the second jaw is parallel to the connection surface.
The height in the present utility model refers to the height relative to the connection surface, i.e. the distance of the end of the second jaw remote from the connection surface, where the connection surface refers to the plane for fixing the first clamp assembly and the second clamp assembly.
The connecting surface in the utility model can be one of the surfaces of the connecting frame 31, or can be the connecting plate 32 in the connecting frame 31, and the surface of the connecting plate 32 far away from the connecting frame 31 is the connecting surface.
According to the utility model, the second clamping jaw can be turned over, so that the states of the second clamping jaw can be divided into two types, and when the second clamping jaw is parallel to the connecting surface, the second clamping jaw is in a contracted state; when the second clamping jaw is perpendicular to the connecting surface, the second clamping jaw is in an extending state. The second clamping jaw is different in state, and the clamp assembly for clamping and carrying is different.
The first clamp assembly comprises a first driving piece and a plurality of first clamping jaws 11, wherein the plurality of first clamping jaws 11 are distributed in an annular shape, the first clamping jaws 11 are connected with the first driving piece, and the first driving piece can be a driving piece such as an air cylinder. When the first drive member is operated, the first jaw 11 is moved in a direction approaching the centre of the ring; when the first driving piece resets, the first clamping jaw 11 resets, and in the utility model, the first driving piece is used for driving the first clamping jaw 11 to shrink and clamp the first workpiece and is also used for driving the first clamping jaw 11 to reset and loosen the first workpiece.
The second clamp assembly comprises a second driving piece 23, a second clamping jaw and a sliding rail 24, wherein the sliding rail 24 is arranged in the connecting surface, and the second clamping jaw is arranged in the sliding rail 24 and can move along the sliding rail 24. The output end of the second driving member 23 is connected to the second clamping jaw.
In order to better realize the clamping of the second clamping jaw to the second workpiece, the utility model is provided with two second clamping jaws which are oppositely arranged. The two second clamping jaws can clamp the second workpiece when the second driving piece 23 drives the second clamping jaw to slide towards the center of the connecting surface, and can release the second workpiece when the second driving piece 23 drives the second clamping jaw to slide towards the edge of the connecting surface.
In the utility model, two second clamping jaws are correspondingly arranged, the sliding rail 24 and the second driving piece 23 are respectively in one-to-one correspondence with the two second clamping jaws, and the two second driving pieces 23 need to run synchronously, so that the two opposite second clamping jaws can be ensured to shrink or stretch simultaneously, and the clamping and loosening of the second workpiece can be realized synchronously.
It should be noted that, in the present utility model, the first clamp assembly is located between two opposite second clamping jaws, the first clamp assembly is used for clamping a first workpiece, the second clamp assembly is used for clamping a second workpiece, and the size of the first workpiece needs to be smaller than that of the second workpiece.
Further, in order to ensure that the second clamping jaw can be overturned, the utility model provides that the second clamping jaw comprises a second horizontal clamping jaw 21 and a second vertical clamping jaw 22, the tail ends of the second horizontal clamping jaw 21 and the second vertical clamping jaw 22 are hinged through a hinge assembly, and the second horizontal clamping jaw 21 is in sliding connection with the connecting surface.
In particular, the hinge assembly is located at the end of said second horizontal jaw 21 remote from the first jaw 11 assembly. That is, when the second clamping jaw is retracted to the connecting surface, the second clamping jaw is turned towards a position close to the center of the second clamp assembly, and when the second clamping jaw is turned to be parallel to the connecting surface, the second clamping jaw does not influence the normal operation of the first clamping jaw 11. In actual operation, the second clamping jaw can slide along the sliding rail 24 to the farthest distance away from the center of the second clamp assembly, and then turn over to a position parallel to the connecting surface, so as to ensure that the second clamping jaw after turning over does not interfere with the first clamp assembly located between the two second clamp assemblies.
Further, the hinge assembly of the present utility model comprises a connecting roller 25 disposed at the end of the second horizontal clamping jaw 21, wherein the connecting roller 25 is rotatably connected with the second horizontal clamping jaw 21; the second vertical clamping jaw 22 is fixedly connected with the connecting roller 25. The connecting roller 25 is located at the end of the second horizontal jaw 21 remote from the second clamp assembly, and the connecting roller 25 is perpendicular to the centre line of the two second jaws. The connecting roller 25 can rotate relative to the second horizontal clamping jaw 21, and the connecting roller 25 is fixedly connected with the second vertical clamping jaw 22, and when the connecting roller 25 rotates relative to the second horizontal clamping jaw 21, the second vertical clamping jaw 22 is driven to synchronously rotate.
The second vertical clamping jaw 22 can be turned over relative to the second horizontal clamping jaw 21 through the hinge assembly, the second horizontal clamping jaw 21 is always positioned in the sliding rail 24 of the connecting surface, no turning over occurs, and the second vertical clamping jaw 22 can be turned over relative to the first horizontal clamping jaw and the connecting surface.
Further, the hinge assembly of the present utility model further comprises a third driving member 26, and an output end of the third driving member 26 is connected to the connection roller 25. The third driving piece 26 is fixed in the connection surface, and when the third driving piece 26 operates, the connecting roller 25 and the second vertical clamping jaw 22 can be driven to rotate to a position vertical to the first horizontal clamping jaw, and when the third driving piece 26 resets, the connecting roller 25 and the second vertical clamping jaw 22 can be driven to rotate to a position parallel to the first horizontal clamping jaw.
Furthermore, a 3D vision camera 33 is arranged in the connecting surface, and the 3D vision camera 33 is used for positioning the first workpiece and the second workpiece, so that the connecting surface is controlled to move to the upper part of the first workpiece or the second workpiece, and clamping and carrying of the first workpiece or the second workpiece are realized.
Example 3
1-4, the combined clamp provided by the utility model comprises a first clamp assembly and a second clamp assembly, wherein the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw 11; when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw 11; the height of the second jaw is smaller than the height of the first jaw 11 when the second jaw is parallel to the connection surface.
The height in the present utility model refers to the height relative to the connection surface, i.e. the distance of the end of the second jaw remote from the connection surface, where the connection surface refers to the plane for fixing the first clamp assembly and the second clamp assembly.
The first clamp assembly comprises a first driving piece and a plurality of first clamping jaws 11, wherein the plurality of first clamping jaws 11 are distributed in an annular shape, the first clamping jaws 11 are connected with the first driving piece, and the first driving piece can be a driving piece such as an air cylinder. When the first drive member is operated, the first jaw 11 is moved in a direction approaching the centre of the ring; when the first driving piece resets, the first clamping jaw 11 resets, and in the utility model, the first driving piece is used for driving the first clamping jaw 11 to shrink and clamp the compressor, and simultaneously is used for driving the first clamping jaw 11 to reset and loosen the compressor.
In this embodiment, the compressors are stacked, and a partition plate is arranged between the compressors of the adjacent layers, and the first clamping jaw 11 is used for clamping the compressors, and the second clamping jaw is used for clamping the partition plate. The compressor has a cylindrical structure, so that the first clamping jaws 11 enclose a circular structure. The baffle is the cuboid, and two second clamping jaws of opposite in the second anchor clamps subassembly are arranged in the opposite two sides of centre gripping baffle.
The second clamp assembly comprises a second driving piece 23, a second clamping jaw and a sliding rail 24, wherein the sliding rail 24 is arranged in the connecting surface, and the second clamping jaw is arranged in the sliding rail 24 and can move along the sliding rail 24. The output end of the second driving member 23 is connected to the second clamping jaw.
In the utility model, two second clamping jaws are arranged, one sliding rail 24 and one second driving piece 23 are arranged, the two second clamping jaws are respectively positioned at two ends of the sliding rail 24, and the second driving piece 23 is simultaneously connected with the two second clamping jaws and is used for synchronously driving the two second clamping jaws to slide in the sliding rail 24. The same second driving piece 23 drives the two second clamping jaws to move, so that the two second clamping jaws can be synchronously contracted and loosened.
Further, in order to ensure that the second clamping jaw can be overturned, the utility model provides that the second clamping jaw comprises a second horizontal clamping jaw 21 and a second vertical clamping jaw 22, the tail ends of the second horizontal clamping jaw 21 and the second vertical clamping jaw 22 are hinged through a hinge assembly, and the second horizontal clamping jaw 21 is in sliding connection with the connecting surface.
In particular, the hinge assembly is located at the end of said second horizontal jaw 21 close to the assembly of the first jaw 11. That is, when the second clamping jaw is retracted to the connecting surface, the second clamping jaw is turned towards a position far away from the center of the second clamp assembly, and when the second clamping jaw is turned to be parallel to the connecting surface, the second clamping jaw does not influence the normal operation of the first clamping jaw 11. In actual operation, the second clamping jaw can slide along the sliding rail 24 to a position close to the center of the second clamp assembly, and then overturn to a position parallel to the connecting surface, so that the occupied area of the second clamping jaw after overturning is ensured to be smaller, and the occupied area of the connecting surface is reduced.
Further, the hinge assembly of the present utility model comprises a connecting roller 25 disposed at the end of the second horizontal clamping jaw 21, wherein the connecting roller 25 is rotatably connected with the second horizontal clamping jaw 21; the second vertical clamping jaw 22 is fixedly connected with the connecting roller 25. The connecting roller 25 is located at the end of the second horizontal jaw 21 remote from the second clamp assembly, and the connecting roller 25 is perpendicular to the centre line of the two second jaws. The connecting roller 25 can rotate relative to the second horizontal clamping jaw 21, and the connecting roller 25 is fixedly connected with the second vertical clamping jaw 22, and when the connecting roller 25 rotates relative to the second horizontal clamping jaw 21, the second vertical clamping jaw 22 is driven to synchronously rotate.
The second vertical clamping jaw 22 can be turned over relative to the second horizontal clamping jaw 21 through the hinge assembly, the second horizontal clamping jaw 21 is always positioned in the sliding rail 24 of the connecting surface, no turning over occurs, and the second vertical clamping jaw 22 can be turned over relative to the first horizontal clamping jaw and the connecting surface.
Further, the hinge assembly of the present utility model further comprises a third driving member 26, and an output end of the third driving member 26 is connected to the connection roller 25. The third driving piece 26 is fixed in the connection surface, and when the third driving piece 26 operates, the connecting roller 25 and the second vertical clamping jaw 22 can be driven to rotate to a position vertical to the first horizontal clamping jaw, and when the third driving piece 26 resets, the connecting roller 25 and the second vertical clamping jaw 22 can be driven to rotate to a position parallel to the first horizontal clamping jaw.
Furthermore, a 3D vision camera 33 is arranged in the connecting surface, and the 3D vision camera 33 is used for positioning the first workpiece and the second workpiece, so that the connecting surface is controlled to move to the upper part of the first workpiece or the second workpiece, and clamping and carrying of the first workpiece or the second workpiece are realized.
When the combined clamp is used for realizing compressor feeding, the working principle is as follows:
the combined clamp moves to the position above the stacking compressors, the third driving piece 26 drives the connecting roller 25 and the second vertical clamping jaw 22 to turn over to the position vertical to the first horizontal clamping jaw, the second driving piece 23 drives the second vertical clamping jaw 22 to move towards the center of the second clamp assembly, the uppermost partition plate of the compressors is clamped, and the partition plate is conveyed to the designated position.
The third driving piece 26 drives the connecting roller 25 and the second vertical clamping jaw 22 to turn over to a position parallel to the first horizontal clamping jaw, the combined clamp moves to the upper part of the stacking compressor, and the first driving piece drives the first clamping jaw 11 to shrink, so that clamping and carrying of the compressor are realized.
After the first-layer compressor is carried, the combined clamp moves to the position above the stacking compressors, the third driving piece 26 drives the connecting roller 25 and the second vertical clamping jaw 22 to turn over to the position vertical to the first horizontal clamping jaw, the second driving piece 23 drives the second vertical clamping jaw 22 to move towards the center of the second clamp assembly, the uppermost partition plate of the compressors is clamped, and the partition plate is carried to the designated position.
And repeating the compressor conveying process until the compressor and the partition plate are conveyed.
Example 4
1-4, the combined clamp provided by the utility model comprises a first clamp assembly and a second clamp assembly, wherein the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw 11; when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw 11; the height of the second jaw is smaller than the height of the first jaw 11 when the second jaw is parallel to the connection surface.
The difference from embodiments 2 and 3 is that the hinge assembly in this embodiment comprises a fourth drive member fixed in the connection face, the output end of which is connected to the second vertical jaw 22. Specifically, the fourth driving piece is fixed in the connection face, and the fourth driving piece is two, and two vertical clamping jaws 22 of second are connected respectively to the output, and second horizontal clamping jaw 21 and the vertical clamping jaw 22 of second rotate to be connected, and the fourth driving piece is the cylinder, and when the fourth driving piece stretches out, the vertical clamping jaw 22 of second upset to the position department that is perpendicular with second horizontal clamping jaw 21, and when the fourth driving piece retracted, the vertical clamping jaw 22 of second upset to the position department that is parallel with second horizontal clamping jaw 21.
Example 5
The utility model also provides a clamping robot which comprises the combined clamp, and the combined clamp is fixed at the tail end of an arm of the robot. The arm of the robot can move on the clamping station to drive the combined clamp to move to specific positions such as a compressor stacking position, a compressor placing position, a partition board placing position and the like.
The clamping robot integrates the first clamp assembly and the second clamp assembly in the same plane, and can clamp different workpieces only by adjusting the overturning position of the second vertical clamping jaw 22, so that the switching efficiency between different clamps is reduced, and the clamping efficiency of the workpieces with different sizes is improved.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures. In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present utility model; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present utility model.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by 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.
Claims (10)
1. A combined clamp comprising a first clamp assembly and a second clamp assembly, wherein the first clamp assembly and the second clamp assembly are fixed in the same connecting surface; the second clamp comprises second clamping jaws which are oppositely arranged and can be turned over relative to the connecting surface; the first clamp assembly is positioned between the two second clamping jaws; the first clamp comprises a first clamping jaw (11);
when the second clamping jaw is perpendicular to the connecting surface, the height of the second clamping jaw is larger than that of the first clamping jaw (11); the height of the second clamping jaw is smaller than the height of the first clamping jaw (11) when the second clamping jaw is parallel to the connecting surface.
2. -composed clamp according to claim 1, characterized in that the second clamp further comprises a second drive element (23) and a slide rail (24), the slide rail (24) being arranged in the connection plane, the second clamping jaw being arranged in the slide rail (24), the output end of the second drive element (23) being connected to the second clamping jaw.
3. -composed clamp according to claim 1, characterized in that the second clamping jaw comprises a second horizontal clamping jaw (21) and a second vertical clamping jaw (22), the ends of the second horizontal clamping jaw (21) and the second vertical clamping jaw (22) being hinged by means of a hinge assembly, the second horizontal clamping jaw (21) being slidingly connected to the connection surface.
4. -a sectional fixture according to claim 3, characterized in that the hinge assembly comprises a connecting roller (25) arranged at the end of the second horizontal jaw (21), which connecting roller (25) is in rotational connection with the second horizontal jaw (21); the second vertical clamping jaw (22) is fixedly connected with the connecting roller (25).
5. -composed clamp according to claim 4, characterised in that the articulation assembly also comprises a third driving element (26), the output end of which third driving element (26) is connected to the connection roller (25).
6. A sectional fixture according to claim 3, characterized in that the hinge assembly comprises a fourth driving member fixed in the connection face, the output end of the fourth driving member being connected to the second vertical jaw (22).
7. A sectional fixture according to claim 3, characterized in that the hinge assembly is located at the end of the second horizontal jaw (21) remote from the first jaw (11) assembly.
8. -composed clamp according to claim 1, characterized in that the connection face is provided with a 3D vision camera (33).
9. A combined clamp according to claim 1, characterized in that the first clamp assembly further comprises a first driving member, the output end of the first driving member is connected with the first clamping jaw (11), and a plurality of first clamping jaws (11) are distributed in a ring shape.
10. A clamping robot comprising a sectional fixture according to any one of claims 1-9, wherein the sectional fixture is fixed to the end of an arm of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321048576.6U CN220145962U (en) | 2023-05-05 | 2023-05-05 | Combined clamp and clamping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321048576.6U CN220145962U (en) | 2023-05-05 | 2023-05-05 | Combined clamp and clamping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220145962U true CN220145962U (en) | 2023-12-08 |
Family
ID=89012559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321048576.6U Active CN220145962U (en) | 2023-05-05 | 2023-05-05 | Combined clamp and clamping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220145962U (en) |
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2023
- 2023-05-05 CN CN202321048576.6U patent/CN220145962U/en active Active
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