CN220218549U - Clamp and clamping device - Google Patents

Abstract

A clamp and a clamp grabbing device belong to the technical field of grabbing equipment. The clamping device comprises a clamp and a manipulator for driving the clamp to move. The clamp comprises a bracket, a clamping mechanism, a moving mechanism and an anti-falling mechanism. The clamping mechanism comprises a first chuck and a second chuck which are oppositely arranged along a first direction, and the first chuck is fixedly connected with the bracket; the moving mechanism is fixed on the bracket and connected with the second chuck and used for driving the second chuck to be selectively far away from or close to the first chuck along the first direction; the anti-drop mechanism comprises a supporting piece and a turnover piece, one end of the turnover piece is rotationally connected with the bracket, and the other end of the turnover piece is connected with the supporting piece and used for driving the supporting piece to turn over so that the supporting piece is selectively positioned below between the first clamping head and the second clamping head. The anti-falling mechanism is arranged at the first chuck, so that the workpiece can be supported from the bottom of the anti-falling mechanism to prevent the workpiece from falling, the workpiece can be prevented from being deviated, and the workpiece can be accurately placed at the target position.

Description

Clamp and clamping device

Technical Field

The application relates to the technical field of grabbing equipment, in particular to a clamp and a grabbing device.

Background

At present, in a slicing workshop of a solar cell, when workpieces such as crystal bars or weight pieces are taken and placed, manual transportation is mainly relied on. However, labor costs are high, efficiency is low, and there is a certain safety risk.

In some existing automatic control mechanisms for picking and placing materials, a plurality of clamping plates capable of moving along a set direction are usually arranged in a manipulator, for example, four clamping plates capable of being movably connected are arranged. The four clamping plates move together to clamp or loosen the object. In order to avoid the object to fall, an anti-falling rotating plate is arranged below each movable clamping plate.

However, when the existing material taking and placing device is used for taking and placing the crystal bars or the weight-balancing pieces, the moving mechanism for driving the clamping plates to move may fail in the frequent working process of the material taking and placing device due to the fact that the weight of the crystal bars or the weight-balancing pieces is large, and the clamping plates cannot clamp the workpieces due to the fact that the clamping plates deviate. After the clamping plate deflects, workpieces such as a crystal bar or a counterweight piece can fall onto the anti-falling rotating plate below the clamping plate and deflect along with the deflection of the clamping plate, so that the crystal bar or the counterweight piece cannot be accurately placed at the target position. Therefore, it is desirable to provide an automated gripping apparatus that can accurately pick and place workpieces such as ingots or weights.

Disclosure of Invention

The present application aims to provide a clamp and a clamping device, which are used for partially or completely improving the problem of the picking and placing precision of workpieces such as crystal bars in the related art.

In a first aspect, embodiments of the present application provide a fixture, comprising: support, fixture, moving mechanism and anti falling mechanism. The clamping mechanism comprises a first chuck and a second chuck which are oppositely arranged along a first direction, and the first chuck is fixedly connected with the bracket; the moving mechanism is fixed on the bracket and connected with the second chuck and used for driving the second chuck to be selectively far away from or close to the first chuck along the first direction; the anti-drop mechanism comprises a supporting piece and a turnover piece, one end of the turnover piece is rotationally connected with the bracket, and the other end of the turnover piece is connected with the supporting piece and used for driving the supporting piece to turn over so that the supporting piece is selectively positioned below between the first clamping head and the second clamping head.

In the implementation process, the first chuck is fixedly connected to the support, and the support is movably connected with the second chuck through the moving mechanism, so that the moving mechanism can be utilized to drive the second chuck to move along the first direction close to the first chuck, and the workpiece is clamped between the first chuck and the second chuck. After the first chuck and the second chuck clamp the workpiece, the first chuck and the second chuck can be lifted to a certain height, and then the turnover piece connected to the first chuck is utilized to drive the support piece to turn over, so that the support piece is positioned below the gap between the first chuck and the second chuck, and the clamped workpiece is received.

In the anchor clamps that this example provided, when being used for driving the moving mechanism of second chuck clamping work piece to break down, even second chuck can be because inertia along the direction motion that deviates from first chuck, lead to the work piece to press from both sides tightly, support piece in the anti falling mechanism also can bear the weight of the work piece, continues to transport the work piece, avoids the work piece to drop the damage. And the anti-drop mechanism for bearing the workpiece is arranged at the first chuck instead of the second chuck, so that the phenomenon that the second chuck drives the anti-drop mechanism and the workpiece to move, and the workpiece cannot be accurately placed at the preset position in the follow-up process can be avoided.

With reference to the first aspect, in an alternative embodiment of the present application, the turning piece includes a driving piece and a connecting arm, one end of the connecting arm is rotationally connected with the first chuck, and the other end of the connecting arm is fixedly connected with the supporting piece; the driving piece is rotationally connected with the first chuck and is used for driving the connecting arm to rotate.

In the implementation process, one end of the connecting arm is rotationally connected with the first chuck, the driving piece is rotationally connected to the first chuck, the connecting arm can be driven to rotate by the driving piece, and then the supporting piece connected to the second end of the connecting arm can be turned over, so that the supporting piece can be positioned below the first chuck and the second chuck to bear the clamped workpiece, or the supporting piece can be withdrawn from the lower part between the first chuck and the second chuck to facilitate the chuck to clamp or put down the workpiece.

In combination with the first aspect, in an alternative embodiment of the present application, the driving member is a linear driving member, one end of the linear driving member is rotationally connected with the first chuck, and the other end of the linear driving member is rotationally connected with the supporting member.

In the implementation process, one end of the linear driving piece is rotationally connected with the first chuck, and the other end of the linear driving piece is rotationally connected with the supporting piece, so that when the linear driving piece performs linear motion, the linear driving piece can rotate relative to the first chuck, and further the supporting piece is pushed or pulled to rotate relative to the first chuck.

With reference to the first aspect, in an alternative embodiment of the present application, the turning member includes two connecting arms, and the two connecting arms are respectively located at two sides of the linear driving member.

In the implementation process, the connecting arms are respectively arranged on the two sides of the linear driving piece, so that the linear driving piece can move linearly more stably.

With reference to the first aspect, in an alternative embodiment of the present application, the support member includes a support plate and a support frame, one end of the linear driving member, which is far away from the first chuck, is rotatably connected to the support plate, and one ends of the two connecting arms, which are far away from the first chuck, are fixed at two ends of the support plate; the support frame is fixed in the backup pad, and the optional below that lies in between first chuck and the second chuck of support frame.

In the above-mentioned realization process, set up the backup pad, can utilize the backup pad to realize being connected between sharp driving piece and linking arm and the support frame to support piece and upset piece's connection is more firm, so that stably bear the weight of the work piece through the support frame.

With reference to the first aspect, in an alternative embodiment of the present application, the support frame includes a plurality of L-shaped brackets, and first ends of the plurality of L-shaped brackets are fixed to the support plate at intervals; the second ends of the plurality of L-shaped brackets extend toward the second clamp when the support bracket is positioned between the first clamp and the second clamp.

In the implementation process, when the second end of the L-shaped bracket stretches into the lower part between the first chuck and the second chuck, the supporting plate connected to the first end of the L-shaped bracket, the connecting end of the linear driving piece connected to the supporting plate and the connecting end of the connecting arm are both positioned outside the first chuck and the second chuck, so that the stability of the second end of the L-shaped bracket for bearing the workpiece is improved.

In combination with the first aspect, in an alternative embodiment of the present application, the moving mechanism includes a screw rod extending along a first direction, and a fixed block in threaded connection with the screw rod, and the second chuck is fixedly connected with the fixed block, and the screw rod rotates to drive the second chuck to reciprocate along the first direction.

In the implementation process, the second chuck is fixedly connected to the fixing block, and the fixing block is in threaded connection with the screw rod, so that when the screw rod rotates, the fixing block can drive the second chuck to move along the axial direction of the screw rod, and clamping or loosening of a workpiece is realized.

In combination with the first aspect, in an alternative embodiment of the present application, the moving mechanism includes a guide rail extending along a first direction, and the fixed block is slidably connected to the guide rail.

In the implementation process, the guide rail extending along the first direction is arranged, the fixed block is also in sliding connection with the guide rail, and the moving stability of the fixed block can be improved by using the guide rail.

With reference to the first aspect, in an alternative embodiment of the present application, a plurality of first grooves are formed on one side, close to the second chuck, of the first chuck, wherein the first grooves are used for inserting a first boss of a workpiece; and/or, one side of the second chuck, which is close to the first chuck, is provided with a plurality of second grooves, and the second grooves are used for inserting the second bosses of the workpieces.

In the implementation process, grooves matched with the bosses of the workpiece are formed in the clamping sides of the first clamping head and the second clamping head, when the workpiece is clamped, the bosses of the workpiece can be inserted into the grooves, then the workpiece is clamped, and the falling rate of the workpiece can be further reduced by utilizing the matching of the bosses and the grooves.

In a second aspect, embodiments of the present application provide a clip grabbing device, including: the clamp and the manipulator provided in the first aspect; the movable end of the manipulator is connected with the bracket.

In the above implementation process, the movable end of the manipulator is connected to the support in the fixture provided in the first aspect, and after the fixture clamps the workpiece, the workpiece can be moved to the preset position. And, be provided with anti falling mechanism in the anchor clamps that the first aspect provided, even after the second chuck is lax, put falling mechanism still can bear the weight of the work piece to make the relative position between work piece and the first chuck remain unchanged, so that continue to utilize the manipulator to carry the work piece accuracy to the position of predetermineeing.

Drawings

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

FIG. 1 is a schematic view of a clip grabbing device according to an example of the present application;

FIG. 2 is a schematic structural view of a clamp provided by an example of the present application;

FIG. 3 is a schematic perspective view of a clamping mechanism provided by examples of the present application;

fig. 4 is a schematic structural view of an anti-drop mechanism provided in an example of the present application;

FIG. 5 is a schematic view of a first state of a clamp provided by examples of the present application;

fig. 6 is a schematic structural view of a second state of the clamp provided in the example of the present application.

Icon:

100-a clamping device; 1-a clamp; 10-a bracket; 11-a first connection base; 12-a second connection base; 13-a third connection base; 14-a fourth connecting seat; 20-clamping mechanism; 21-a first chuck; 211-a first groove; 212-a first cleat; 22-a second chuck; 221-a second groove; 222-a second cleat; 30-a movement mechanism; 31-screw rod; 32-fixing blocks; 33-a guide rail; 40-an anti-drop mechanism; 41-turning piece; 411 drives; 412-a connecting arm; 42-a support; 421-supporting a plate; 422-a support frame; 2-a manipulator; d1—a first direction; 200-workpiece; 210-boss _。

Detailed Description

Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.

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 application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the present application and in the description of the drawings above are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first," "second," etc. are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

At present, in a production workshop of solar cells, taking and placing of crystal bars or weight pieces between slices are mainly completed through manual transportation. The manual conveyance efficiency is low because the weight of the workpiece 200 such as the ingot or the counterweight is large. Moreover, the manual picking and placing error is large, and the deviation of the placing position of the crystal bar or the weight piece is easy to occur.

Therefore, the present application provides the clamp 1 and the clamping device 100 suitable for picking and placing the workpiece 200 such as a crystal bar or a counterweight between slices, so that the picking and placing efficiency and the accuracy of the picking and placing position of the workpiece 200 can be improved to a certain extent. In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Referring to fig. 1, a clip capturing device 100 includes a clip 1 and a manipulator 2.

Referring to fig. 2, the clamp 1 includes a bracket 10, a clamping mechanism 20, a moving mechanism 30, and an anti-drop mechanism 40.

Referring to fig. 3, the clamping mechanism 20 includes a first chuck 21 and a second chuck 22 disposed opposite to each other along a first direction D1, and the first chuck 21 is fixedly connected to the bracket 10.

The first chuck 21 and the second chuck 22 are used for clamping the workpiece 200.

With continued reference to fig. 2, the moving mechanism 30 is fixed to the bracket 10 and connected to the second chuck 22, for driving the second chuck 22 to selectively move away from or close to the first chuck 21 along the first direction D1.

The drop prevention mechanism 40 includes a support member 42 and an inversion member 41. Referring to fig. 4, one end of the turning member 41 is rotatably connected to the first chuck 21, and the other end of the turning member 41 is connected to the supporting member 42, so as to drive the supporting member 42 to turn over, so that the supporting member 42 is optionally located below between the first chuck 21 and the second chuck 22.

With continued reference to fig. 1, the movable end of the manipulator 2 is connected to the bracket 10 for driving the fixture 1 to move.

The bracket 10, the clamping mechanism 20, the moving mechanism 30, and the anti-drop mechanism 40 in the jig 1 provided in the example of the present application are described in further detail below with reference to the accompanying drawings.

The bracket 10 is used for fixing the clamping mechanism 20, the moving mechanism 30 and the anti-falling mechanism 40, and is connected with the movable end of the manipulator 2 to take and place the workpiece 200 at a preset position.

The particular arrangement of the stent 10 is not limited in this application, and the relevant person may make corresponding selections as desired.

For example, with continued reference to fig. 2, the bracket 10 may be a plate-like structure. The plate-like structure of the bracket 10 has a large number of connection points.

Further, in order to facilitate the connection between the support 10 and the manipulator 2, a flange may be disposed on a side of the support 10 away from the clamping mechanism 20, so as to detachably connect the flange of the movable end of the manipulator 2 to the support 10.

Further, to facilitate the connection of the clamping mechanism 20, corresponding connection abutments may be provided at the bracket 10.

Further, to facilitate the connection of the moving mechanism 30, a corresponding receiving cavity or connecting hole may be provided at the bracket 10.

The clamping mechanism 20 includes a first chuck 21 and a second chuck 22 disposed opposite in a first direction D1. The first chuck 21 and the second chuck 22 are moved closer to each other to clamp the workpiece 200 between the first chuck 21 and the second chuck 22, thereby achieving relative fixation between the workpiece 200 and the clamping mechanism 20. The first chuck 21 is fixedly connected to the bracket 10, and the bracket 10 can be utilized to drive the clamping mechanism 20 and the workpiece 200 to move.

The specific arrangement of the first chuck 21 and the second chuck 22 is not limited in this application, and the relevant person may make corresponding selections as needed.

In some possible embodiments, the clamping surfaces of the first chuck 21 and the second chuck 22 may be designed according to the external shape of the workpiece 200 to be clamped.

The workpiece 200 to be clamped is in a rectangular block structure, such as a crystal bar, and the clamping surfaces of the first clamping head 21 and the second clamping head 22 can be set to be planar, so that the contact area between the clamping heads and the workpiece 200 in the clamping process is increased, the clamping force is improved, and the workpiece 200 can be clamped in the clamp 1 more stably.

The workpiece 200 to be clamped is in a thin plate structure, two sides of the thin plate structure are provided with bosses 210, such as a counterweight, and clamping surfaces of the first chuck 21 and the second chuck 22 can be set to be planar.

To further reduce the likelihood of the workpiece 200, such as a boule or counterweight, falling from the fixture, in some possible embodiments, referring still to fig. 2 and 3, a first non-slip pad 212 may be disposed on the clamping surface of the first clamp head 21 adjacent to the second clamp head 22.

Further, a second anti-slip pad 222 is provided on the clamping surface of the second clamping head 22 near the first clamping head 21.

For example, first cleat 212 and second cleat 222 may be nylon pads.

The moving mechanism 30 is disposed on the bracket 10, and is used for driving the second chuck 22 to move along the first direction D1, so that the second chuck 22 approaches the first chuck 21 to clamp the workpiece 200 to the fixture 1, or the second chuck 22 is far away from the first chuck 21 to facilitate the workpiece 200 to exit from the fixture 1.

The specific arrangement of the moving mechanism 30 is not limited in this application, and the relevant person may make corresponding adjustments as needed.

In one possible embodiment, the movement mechanism 30 includes a pneumatic cylinder that expands and contracts to reciprocate the second chuck 22 in the first direction D1.

Alternatively, in another possible embodiment, referring still to fig. 3, the moving mechanism 30 includes a screw 31 extending in the first direction D1, and a fixed block 32 threadedly coupled with the screw 31. The second chuck 22 is fixedly connected with the fixed block 32, and the screw rod 31 rotates to drive the second chuck 22 to reciprocate along the first direction D1.

Illustratively, when the screw 31 rotates clockwise when the workpiece 200 is required to be clamped, the fixing block 32 drives the second chuck 22 to move along the first direction D1 near the first chuck 21, and after the workpiece 200 is clamped between the first chuck 21 and the second chuck 22, the screw 31 stops rotating.

Illustratively, when the screw 31 rotates counterclockwise when the workpiece 200 is to be lowered, the fixing block 32 drives the second chuck 22 to move a certain distance away from the first chuck 21 in the first direction D1, and the screw 31 stops rotating.

Further, one end of the screw rod 31 is rotatably connected with the bracket 10, and the other end of the screw rod 31 is in transmission connection with the second driving piece.

Illustratively, one end of the screw rod 31 is rotatably connected with the bracket 10 through a bearing, the second driving member is fixed to the bracket 10, and the other end of the screw rod 31 is in transmission connection with the second driving member.

The second driving member may be a motor, for example.

In order to prevent the fixing block 32 from rotating during the rotation of the screw rod 31, illustratively, two ends of the first chuck 21 and the second chuck 22 extend out of two ends of the bracket 10 with a plate-shaped structure, and the rotation of the fixing block 32 is limited by the abutment of the first chuck 21 and the second chuck 22 with the bracket 10.

Further, in order to improve the movement stability of the second chuck 22, in a possible embodiment, referring to fig. 2 and 3, the moving mechanism 30 includes a guide rail 33 extending along the first direction D1, and the fixing block 32 is slidably connected to the guide rail 33.

The moving mechanism 30 includes two guide rails 33, and the fixed block 32 is slidably connected to the guide rails 33 corresponding to both sides of the chuck.

Further, the present application does not limit how the fixed block 32 is slidably coupled to the guide rail 33, and in one possible embodiment, the fixed block 32 includes a threaded sleeve threadedly coupled to the lead screw 31, and a slider slidably coupled to the guide rail 33. The threaded sleeve and the slider are fixedly connected with the second chuck 22.

Further, in order to facilitate the connection of the second chuck 22 with the threaded sleeve and the slider, in a possible embodiment, please continue to refer to fig. 2, the upper end of the second chuck 22 is provided with the first connection seat 11.

Further, in order to make the first chuck 21 correspond to the second chuck 22, a first connection seat 11 may be provided at an upper end of the first chuck 21.

Workpieces such as crystal bars or weight parts usually have a large weight, and in some cases, after the moving mechanism 30 frequently drives the second chuck 22 to approach the first chuck 21 to clamp the workpiece 200, the threaded connection between the screw rod 31 and the fixed block 32 may fail, so that the second chuck 22 cannot abut against the workpiece 200 to clamp the workpiece 200, and further the workpiece 200 may fall.

In order to prevent the workpiece 200 from falling, the clamp 1 provided in the present example is provided with the anti-falling mechanism 40, and the supporting piece 42 in the anti-falling mechanism 40 can be turned over to the lower parts of the first chuck 21 and the second chuck 22 to receive the workpiece 200.

After the gripping mechanism 20 grips the workpiece 200, the support member 42 can be turned over to the lower side between the first chuck 21 and the second chuck 22 by the turning action of the turning member 41 to receive the workpiece 200. The support member 42 can be turned over, so that the interference of the anti-falling mechanism 40 to the picking and placing actions of the first chuck 21 and the second chuck 22 can be reduced.

When the moving mechanism 30 fails, since the second chuck 22 may move along the first direction, if the anti-drop mechanism 40 is disposed on the second chuck 22, the position of the workpiece 200 in the gripping device 100 may be shifted, and the workpiece 200 may not be accurately placed at the target position. Therefore, in the jig 1 provided in the example of the present application, the anti-drop mechanism 40 is connected to the first chuck 21, and the first chuck 21 is fixedly connected to the bracket 10, so that the deflection of the workpiece 200 can be prevented.

The specific arrangement of the turnover member 41 and the supporting member 42 in the anti-drop mechanism 40 is not limited in this application, and the related personnel can make corresponding adjustments as needed.

In a possible embodiment, referring to fig. 4, the turning member 41 includes a driving member 411 and a connecting arm 412, wherein one end of the connecting arm 412 is rotatably connected to the first chuck 21, and the other end is fixedly connected to the supporting member 42. The driving member 411 is rotatably connected to the first chuck 21 and is used for driving the connecting arm 412 to rotate.

The driving member 411 may rotate relative to the first chuck 21 to drive the connecting arm 412 to rotate, and may further drive the supporting member 42 to rotate, so that the supporting member 42 is located below between the first chuck 21 and the second chuck 22, or the supporting member 42 is withdrawn from below between the first chuck 21 and the second chuck 22.

For example, with continued reference to fig. 2, the connecting arm 412 is rotatably connected to the second connecting base 12 through a bearing, and the second connecting base 12 is disposed on a side of the first chuck 21 away from the second chuck 22.

The particular type of driving member 411 is not limited in this application, and in one possible embodiment, driving member 411 may be a motor that rotates to rotate connecting arm 412.

Alternatively, in another possible embodiment, referring still to fig. 4, the driving member 411 may be a linear driving member, where one end of the linear driving member is rotatably connected to the first chuck 21 and the other end is rotatably connected to the supporting member 42.

Since the support member 42 is fixedly connected to the connection arm 412, the connection arm 412 is rotatably connected to the first chuck 21, and thus the support member 42 can be pushed or pulled to turn over when the linear driving member moves linearly.

The linear drive may be a cylinder, for example.

For example, with continued reference to fig. 2, one end of the air cylinder is rotatably connected to the third connecting base 13 through a bearing, and the third connecting base 13 is connected to the side of the first chuck 21 away from the second chuck 22.

For example, with continued reference to fig. 2, the other end of the cylinder is rotatably connected to the fourth connecting seat 14 by a rotating ball, and the fourth connecting seat 14 is connected to the supporting member 42.

Further, in order to facilitate the connection between the support member 42, the linear driving member and the connection arm 412, in a possible embodiment, please continue to refer to fig. 4, the support member 42 includes a support plate 421 and a support frame 422, an end of the linear driving member away from the first chuck 21 is rotatably connected to the support plate 421, and an end of the connection arm 412 away from the first chuck 21 is fixed to the support plate 421. The support 422 is fixed to the support plate 421, and the support 422 is optionally located below between the first chuck 21 and the second chuck 22.

Further, the support frame 422 includes a plurality of L-shaped brackets, and first ends of the plurality of L-shaped brackets are fixed to the support plate 421 at intervals. The second ends of the plurality of L-shaped brackets extend toward the second clamp 22 when the support bracket 422 is positioned between the first clamp 21 and the second clamp 22.

A plurality of L-shaped brackets are provided, and when the second end of the L-shaped brackets is positioned below the first chuck 21 and the second chuck 22, the first end of the L-shaped brackets may be positioned outside the first chuck 21 as shown in fig. 5,L, thereby improving the stability of the workpiece 200 at the second end of the L-shaped brackets.

Further, in order to improve the stability of the turning member 41, in a possible embodiment, please continue to refer to fig. 4, two connecting arms 412 may be provided, and the two connecting arms 412 are located at two sides of the linear driving member.

The specific arrangement form of the manipulator 2 is not limited in the present application, and the related personnel can select the manipulator 2 of the corresponding conveying path according to the picking and placing requirements of the workpiece 200.

For example, if the workpiece 200 is taken and placed in a straight line between the destination, the robot 2 may be a linear motion mechanism.

For example, if there are a plurality of positions in the height direction and the horizontal direction between the respective destinations of the workpiece 200, the robot 2 may be provided with a corresponding lifting mechanism, rotation mechanism, or lateral movement mechanism.

The working principle of the clip grabbing device 100 provided in the embodiment of the present application is as follows:

when the workpiece 200 needs to be clamped, the manipulator 2 drives the clamp 1 to the workpiece taking place, so that the first clamping head 21 and the second clamping head 22 are positioned on two sides of the workpiece 200, and the first clamping head 21 is contacted with one side of the workpiece 200. Then, the motor in the moving mechanism 30 operates to drive the screw 31 to rotate (e.g., rotate clockwise), and the fixed block 32 drives the second chuck 22 to approach the first chuck 21. After clamping the workpiece 200, the motor stops operating.

Then, the manipulator 2 lifts the clamp 1 to a certain height, the cylinder in the anti-dropping mechanism 40 extends, and the supporting member 42 is pushed to rotate relative to the first chuck 21, so that the second end of the L-shaped bracket in the supporting member 42 is positioned below the position between the first chuck 21 and the second chuck 22, and the workpiece 200 is received. Fig. 5 shows a schematic view of the anti-drop mechanism 40 in which the L-shaped bracket is turned over under the first chuck 21 and the second chuck 22.

When the workpiece 200 needs to be placed, the robot 2 moves the jig 1 holding the workpiece 200 to above the target position. Then, the air cylinder in the anti-drop mechanism 40 is shortened, pulling the support member 42 to rotate relative to the first chuck 21, causing the second end of the L-shaped bracket in the support member 42 to exit below between the first chuck 21 and the second chuck 22. Subsequently, the robot arm 2 moves the jig 1 holding the workpiece 200 to a target position, bringing the bottom of the workpiece 200 into contact with the target position (target position such as a table). Then, the motor in the moving mechanism 30 operates to drive the screw rod 31 to rotate (e.g., counterclockwise), and the fixed block 32 drives the second chuck 22 away from the first chuck 21. After the workpiece 200 is placed at the target position, the motor stops operating. Fig. 6 is a schematic view of the L-shaped bracket of the anti-drop mechanism 40 outside the first chuck 21 and the second chuck 22.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. A clamp, comprising:

the bracket is arranged on the upper surface of the bracket,

the clamping mechanism comprises a first chuck and a second chuck which are oppositely arranged along a first direction, and the first chuck is fixedly connected with the bracket;

the moving mechanism is fixed on the bracket and connected with the second chuck and is used for driving the second chuck to be selectively far away from or close to the first chuck along the first direction;

the anti-drop mechanism comprises a supporting piece and a turnover piece, one end of the turnover piece is rotationally connected with the support, and the other end of the turnover piece is connected with the supporting piece and used for driving the supporting piece to turn over so that the supporting piece is optionally located below between the first clamping head and the second clamping head.

2. The clamp of claim 1, wherein the turnover member comprises a driving member and a connecting arm, one end of the connecting arm is rotatably connected with the first chuck, and the other end of the connecting arm is fixedly connected with the supporting member; the driving piece is rotationally connected with the first chuck and is used for driving the connecting arm to rotate.

3. The clamp of claim 2, wherein the driving member is a linear driving member, one end of the linear driving member is rotatably connected to the first chuck, and the other end is rotatably connected to the support member.

4. A clamp according to claim 3, wherein the flip member includes two of the connecting arms, the two connecting arms being located on either side of the linear drive member.

5. The clamp of claim 4, wherein the support member comprises a support plate and a support frame, one end of the linear driving member, which is far away from the first clamping head, is rotatably connected to the support plate, and one ends of the two connecting arms, which are far away from the first clamping head, are fixed to two ends of the support plate; the support frame is fixed in the backup pad, just the support frame is optional be located the first chuck with the below between the second chuck.

6. The clamp of claim 5, wherein the support bracket includes a plurality of L-shaped brackets, first ends of the plurality of L-shaped brackets being secured to the support plate at intervals; the support frame is located between the first chuck and the second chuck, and a plurality of second ends of the L-shaped brackets extend towards the second chuck.

7. The clamp of any one of claims 1-6, wherein the movement mechanism includes a screw extending in the first direction and a fixed block threadably coupled to the screw; the second chuck is fixedly connected with the fixed block, and the screw rod rotates to drive the second chuck to reciprocate along the first direction.

8. The clamp of claim 7, wherein the movement mechanism includes a rail extending in the first direction, the fixed block being slidably coupled to the rail.

9. The fixture of any one of claims 1-6, wherein a side of the first chuck adjacent to the second chuck is provided with a plurality of first grooves for insertion of a first boss of a workpiece;

and/or, one side of the second chuck, which is close to the first chuck, is provided with a plurality of second grooves, and the second grooves are used for inserting a second boss of the workpiece.

10. A pinch grip device, comprising:

the clamp of any one of claims 1-9;

and the movable end of the manipulator is connected with the bracket.