CN114104708A

CN114104708A - Clamping device and clamping system

Info

Publication number: CN114104708A
Application number: CN202111283592.9A
Authority: CN
Inventors: 夏金; 汤忠忠; 孙振雷
Original assignee: SHANGHAI MORIMATSU PHARMACEUTICAL EQUIPMENT ENGINEERING CO LTD
Current assignee: SHANGHAI MORIMATSU PHARMACEUTICAL EQUIPMENT ENGINEERING CO LTD
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2022-03-01

Abstract

The embodiment of the invention relates to the technical field of clamping devices, and discloses a clamping device and a clamping system, which comprise a rack, a sliding mechanism, a clamping jaw and a driving mechanism; the sliding mechanism comprises a plurality of groups of sliding rails, the plurality of groups of sliding rails are arranged on one side of the rack in a manner of extending from the center of the rack to the outer edge of the rack, and each group of sliding rails is provided with a sliding block in a sliding manner; the slide block is controlled by the driving mechanism; the clamping jaw comprises at least two clamping fingers, and one clamping finger is correspondingly connected to one sliding block; the sliding block slides on the sliding rail under the driving of the driving mechanism in a mode of simultaneously approaching to the center of the rack or simultaneously departing from the center of the rack so as to control the distance between the claw fingers to be reduced or increased; and a measuring mechanism is also arranged on the inner side of the claw finger. The condition that the clamping jaw needs to be replaced or adjusted manually is avoided, the safety of production work is guaranteed, and the production efficiency is improved.

Description

Clamping device and clamping system

Technical Field

The embodiment of the invention relates to the technical field of automation, in particular to a clamping device and a clamping system.

Background

In order to realize the automatic flow of article transportation, the prior art mostly adopts a clamping device to complete the work. However, the gripping device is limited by the fixed gripping range of the gripping jaws, and when the gripping device faces an article with a large specification difference, the gripping jaws with different gripping ranges still need to be replaced in time or the jaw diameters of the gripping jaws need to be adjusted, so that the carrying work can be safely and stably completed. When the carrying capacity is large and carried articles are various, if the clamping jaws are not replaced or adjusted in time, the safety of production work cannot be ensured; if the clamping jaws are replaced or adjusted, the corresponding workload is increased, and the production efficiency is seriously influenced.

Therefore, it is necessary to provide a gripping device which can be applied to articles of different specifications.

Disclosure of Invention

The invention aims to provide a clamping device and a clamping system, and aims to solve the problem that the safety and the production efficiency of production work are affected because the clamping device in the prior art cannot be suitable for articles with different specifications.

In order to solve the technical problem, an embodiment of the present invention provides a clamping device, including a frame, a sliding mechanism, a clamping jaw, and a driving mechanism; the sliding mechanism comprises a plurality of groups of sliding rails, the plurality of groups of sliding rails are arranged on one side of the rack in a manner of extending from the center of the rack to the outer edge of the rack, and each group of sliding rails is provided with a sliding block in a sliding manner; the slide block is controlled by the driving mechanism; the clamping jaw comprises at least two clamping fingers, and one clamping finger is correspondingly connected to one sliding block; the sliding block slides on the sliding rail under the driving of the driving mechanism in a mode of simultaneously approaching to the center of the rack or simultaneously departing from the center of the rack so as to control the distance between the claw fingers to be reduced or increased; and a measuring mechanism connected with the driving mechanism is further arranged on the inner side of the claw finger.

The embodiment of the invention also provides a clamping system, which comprises a robot arm and the clamping device, wherein the tail end of the robot arm is connected with the joint.

According to the clamping device and the clamping system provided by the embodiment of the invention, firstly, the sliding mechanism provides a larger grabbing range for the fingers in the clamping jaw, and the distance between the fingers is not fixed, namely the grabbing diameter is variable, so that the clamping device and the clamping system can adapt to objects to be clamped with different specifications and sizes. Secondly, under the driving action of the driving mechanism, the sliding block slides on the sliding rail in a manner of simultaneously approaching to the center of the rack or simultaneously keeping away from the center of the rack, so that the distance between the fingers is driven to be reduced or increased, namely, the clamping jaws clamp or loosen, and finally, the object to be clamped is grabbed or released. And, the measuring mechanism that the claw indicates inboard setting can be got the device and be close to when waiting to press from both sides to get the thing at this clamp and measure the size of a dimension of waiting to press from both sides the thing, and measuring mechanism specifically links to each other with the servo motor among the actuating mechanism, and the actuating mechanism of being convenient for carries out suitable adjustment to slider displacement to guarantee to press from both sides the in-process and do not have the pine to take off, reliable and stable, avoided the condition that needs artificial change clamping jaw or adjustment clamping jaw, guaranteed the security of production work and improved production efficiency.

In addition, the sliding mechanism comprises a group of sliding rails, and two ends of each sliding rail are respectively provided with one sliding block. Under general conditions, the relative two sliders that set up just can guarantee to press from both sides the user demand of getting work, and two sliders under this kind of setting circumstances can share a set of slide rail, and corresponding actuating mechanism also can simplify, has reduced to press from both sides the redundant setting of getting the device.

In addition, the driving mechanism comprises a lead screw arranged in parallel with the slide rail, and the lead screw is controlled by a servo motor; the lead screw is connected with the sliding block; the screw rod rotates under the driving of the servo motor, and then drives the sliding blocks at the two ends of the sliding rail to slide on the sliding rail in the mode of moving in opposite directions, namely, the sliding blocks move towards the center of the sliding rail simultaneously or move towards the two ends of the sliding rail simultaneously, so that the distance between the fingers is reduced or increased.

In addition, the group of slide rails comprises a first slide rail and a second slide rail which are arranged in parallel, and the slide block is arranged on the first slide rail and the second slide rail in a sliding manner; the lead screw is located between the first slide rail and the second slide rail. Compare in the condition that every group slide rail only includes a slide rail, parallel arrangement's first slide rail and second slide rail can make the slider be difficult for taking place to rotate for the slide rail, and then ensure the gliding reliable and stable nature of slider on the slide rail.

In addition, the tail end of the lead screw is connected with the servo motor through a coupler. The coupler also compensates the offset (including axial offset, radial offset, angular offset or comprehensive offset) between the screw rod and the output shaft of the motor caused by inaccurate manufacture and installation, deformation or thermal expansion in work and the like; and play and alleviate the effect of impact, inhale the shake, further guarantee to press from both sides the reliable and stable nature of getting work.

In addition, still including setting up with the rack is adjacent on one side of slide rail a plurality of proximity switch, a plurality of proximity switch uses the mid point on the rack length direction is the center, distributes symmetrically on the rack. The symmetrically arranged proximity switches can detect the in-place condition of the two sliders.

In addition, the inner contour of the clamping end of the claw finger is linear, V-shaped or arc-shaped, wherein the linear inner contour of the clamping end can be suitable for square objects to be clamped, and the V-shaped or arc-shaped inner contour of the clamping end can be suitable for objects to be clamped, the outer contour of which is arc-shaped. The claw finger clamping end with the inner contours in different shapes can adapt to the contours of objects to be clamped in different shapes, and the stability of the clamping device in the process of clamping the objects to be clamped is further ensured.

In addition, the frame is arranged in a suspension mode, and compared with a clamping device arranged in a side-grabbing mode, the damage to the object to be clamped can be reduced in the clamping and transporting process.

In addition, the rack is provided with a joint for butt joint with the tail end of a robot arm at one side opposite to the sliding rail, so that the robot is suitable for the field of robots.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

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

fig. 2 is a perspective view of a grasping apparatus according to an embodiment of the present invention;

fig. 3 is a partial structural schematic view of a gripping device for gripping an object to be gripped according to an embodiment of the present invention;

in the figure, 1-rack; 2-a clamping jaw; 3-a slide rail; 4-a slide block; 5-a servo motor; 6-a coupler; 7-a proximity switch; 8-a linker; 9-laser ranging sensor; 10-the object to be grabbed.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.

As shown in fig. 1 to 3, an embodiment of the present invention provides a gripping device, including a frame 1, a sliding mechanism, a gripping jaw 2, and a driving mechanism; the sliding mechanism comprises a plurality of groups of sliding rails 3, the plurality of groups of sliding rails 3 are arranged on one side of the rack 1 in a manner of extending from the center of the rack 1 to the outer edge of the rack 1, and each group of sliding rails 3 is provided with a sliding block 4 in a sliding manner; the slide block 4 is controlled by the driving mechanism; the clamping jaw 2 comprises at least two clamping fingers, and one clamping finger is correspondingly connected to one sliding block 4; the sliding block 4 slides on the sliding rail 3 under the driving of the driving mechanism in a manner of simultaneously approaching to the center of the rack 1 or simultaneously departing from the center of the rack 1 so as to control the distance between the fingers to be reduced or increased; and a measuring mechanism connected with the driving mechanism is further arranged on the inner side of the claw finger. Wherein the number of fingers is the same as the number of sliders 4.

According to the clamping device provided by the embodiment of the invention, firstly, the sliding mechanism provides a larger grabbing range for the fingers in the clamping jaw 2, and the distance between the fingers is not fixed, namely the grabbing diameter is variable, so that the clamping device can adapt to the objects 10 to be clamped with different specifications and sizes. Secondly, under the driving action of the driving mechanism, the sliding block 4 slides on the sliding rail 3 in a manner of simultaneously approaching to the center of the rack 1 or simultaneously departing from the center of the rack 1, so as to drive the distance between the fingers to be reduced or increased, namely the clamping jaw 2 to be clamped or loosened, and finally, the object 10 to be clamped is grabbed or released. And, the measurement mechanism that the claw finger inboard set up can be close to when waiting to press from both sides the thing 10 at this device of getting and measure and wait to press from both sides the size of getting the thing 10, and the actuating mechanism of being convenient for carries out suitable adjustment to slider 4 displacement to guarantee to press from both sides the in-process and do not have the pine to take off, reliable and stable, avoided the condition of the artificial clamping jaw 2 of changing of needs or adjustment clamping jaw 2, guaranteed production work's security and improved production efficiency.

And the measuring mechanism is a laser ranging sensor 9 arranged at the same position on the inner side of each claw finger, and the laser ranging sensor 9 is a certain distance away from the clamping end. When the clamping device is close to the object 10 to be clamped, the size of the object 10 to be clamped (specifically, the diameter of the object 10 to be clamped) is measured by the laser ranging sensor 9, the information is transmitted to the servo motor 5, and the servo motor 5 drives the screw rod to rotate correspondingly.

Preferably, in one embodiment, the sliding mechanism includes a set of sliding rails 3, which may be disposed along the length of the rack 1. The two ends of the sliding rail 3 are respectively provided with one sliding block 4. Under general conditions, two sliders 4 that set up relatively just can guarantee to press from both sides and get the atress balance of waiting to press from both sides thing 10, and then satisfy and press from both sides the user demand of getting work, and two sliders 4 under this kind of setting circumstances can share a set of slide rail 3, and corresponding actuating mechanism also can simplify, has reduced to press from both sides the redundant setting of getting the device. In other embodiments, the sliding mechanism may also include three sets of slide rails 3, four sets of slide rails 3, or even more sets of slide rails 3, and the increase of the number of sets of slide rails 3 may increase the clamping force of the clamping device, but correspondingly increase the difficulty of arranging the plurality of sets of slide rails 3 on the rack 1, and increase the number and the difficulty of arranging the driving mechanisms. When the sliding mechanism includes three sets of sliding rails 3, the three sets of sliding rails 3 have an intersection point, and extend outward with the intersection point as a center, and the lengths from the ends of the three sets of sliding rails 3 to the intersection point are the same (i.e., the lengths for the sliding blocks 4 on the sets of sliding rails 3 are the same). When the sliding mechanism comprises more sets of sliding rails 3, and so on. The tail ends of the multiple groups of slide rails 3 can be uniformly distributed on a circle which takes the junction point as the center and the length as the radius, so as to ensure the balance of the clamping force.

In the present embodiment, the driving mechanism includes a lead screw arranged in parallel with the slide rail 3, and the lead screw is controlled by a servo motor 5; the lead screw is connected with the two sliding blocks 4; the lead screw is driven to rotate by a servo motor 5. When the servo motor 5 works, the screw rod is driven to rotate, the positive and negative screw rods on the screw rod drive the sliding blocks 4 positioned at the two ends of the sliding rail 3 to slide on the sliding rail 3 in a mode of moving in opposite directions, namely, the sliding blocks 4 simultaneously move towards the center of the sliding rail 3 or simultaneously move towards the two ends of the sliding rail 3, so that the distance between the claw fingers connected to the sliding blocks 4 is reduced or increased. When the two sliding blocks 4 move to the two ends of the sliding rail 3, the distance between the claw fingers is the largest, and the clamping jaw 2 can be considered to be in a relaxed state; when the two sliders 4 move until the fingers clamp the object 10 to be gripped and the distance between the fingers becomes smaller, the clamping jaw 2 can be considered to be in a state of clamping the object 10 to be gripped. Of course, in one embodiment, the distance between the fingers may be adjusted to zero, i.e. the two fingers are touching.

In this embodiment, more preferably, the set of slide rails 3 includes a first slide rail and a second slide rail which are arranged in parallel, and the slide block 4 is slidably arranged on the first slide rail and the second slide rail; the lead screw is located between the first slide rail and the second slide rail. Compare in the condition that every group slide rail 3 only included a slide rail, parallel arrangement's first slide rail and second slide rail can make slider 4 be difficult for slide rail 3 to take place to rotate, and then ensure slider 4 gliding reliable and stable on slide rail 3.

In this embodiment, the end of the lead screw is connected to the servo motor 5 through a coupling 6. The coupler 6 also compensates the offset (including axial offset, radial offset, angular offset or comprehensive offset) between the screw rod and the output shaft of the motor caused by inaccurate manufacture and installation, deformation or thermal expansion in work and the like; and play and alleviate the effect of impact, inhale the shake, further guarantee to press from both sides the reliable and stable nature of getting work.

In this embodiment, the mobile phone further includes a plurality of proximity switches 7 disposed on one side of the rack 1 adjacent to the slide rail 3, and the proximity switches 7 are symmetrically distributed on the rack 1 with a midpoint in the length direction of the rack 1 as a center. The symmetrically arranged proximity switches 7 can detect the in-position condition of the two sliders 4. In one embodiment, the number of proximity switches 7 is an even number of four, six, etc. When the clamping is carried out on the to-be-clamped outer contour regularly, when the two sliders 4 are detected by the two proximity switches 7 located at the symmetrical positions respectively, the sliders 4 are considered to be in place; when the two sliders 4 are detected by the two proximity switches 7 in the asymmetric positions, even if only one proximity switch 7 detects one slider 4, the slider 4 is considered not in place.

In this embodiment, as shown in fig. 3, the gripping end inner contour of the finger is linear, V-shaped or arc-shaped, wherein the linear gripping end inner contour can be suitable for the square object 10 to be gripped, and the V-shaped or arc-shaped gripping end inner contour can be suitable for the object 10 to be gripped with the arc-shaped outer contour and the smooth surface. The claw finger clamping end with the inner contour in different shapes can adapt to the contour of the object 10 to be clamped in different shapes, and therefore stability of the clamping device in the process of clamping the object 10 to be clamped is guaranteed.

In the present embodiment, the frame 1 is disposed above the object 10 to be gripped in a suspended manner, and damage to the object 10 to be gripped can be reduced during gripping and transportation as compared with a clamping device arranged in a side-grip manner. Is particularly suitable for heavy loads, such as oil drums and the like. The device of getting that this embodiment provided can provide the last border of pressing from both sides tight oil drum to the realization is got the clamp of oil drum.

In this embodiment, a common robot realizes automation of the clamping work, and a joint 8 for butting with the tail end of a robot arm is further arranged on one side of the rack 1 opposite to the slide rail 3, so that the robot is suitable for the robot field.

In consideration of the possible extreme situation, for example, the situation occurs that a plurality of objects 10 to be grabbed are randomly arranged, so that the gaps between the objects are too small, and the clamping jaws 2 do not have enough space to grab. In the case where the above-mentioned clamping device is provided in a suspended manner, it is necessary to ensure an available gripping space for the object 10 to be gripped, and if there are objects 10 to be gripped of different heights at the same time, the object 10 to be gripped of the smallest height may be placed in the center of the tray, and gradually approaches the edge of the tray as the height of the object 10 to be gripped increases, so as to increase the gripping space under the same conditions. Generally, in order to ensure that the object 10 to be gripped can be gripped, the minimum space required by the gripping jaws 2 (i.e., the pitch of the objects 10 to be gripped) is 20 mm.

The clamping device provided by the embodiment of the invention is particularly suitable for solving the technical problems of grabbing and clamping of heavy objects, the clamping jaws 2 can quickly clamp objects 10 to be grabbed with different specifications, the clamping process is stable under the cooperation of the driving mechanism, and the loosening phenomenon is avoided. The lifting device is applied to the carrying and lifting work, and the production efficiency can be improved on the premise of ensuring the production safety.

The embodiment of the invention also provides a clamping system, which comprises a robot arm and the clamping device, wherein the tail end of the robot arm is connected with the joint 8. Has the corresponding technical effect with the clamping device.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

1. A clamping device is characterized by comprising a rack, a sliding mechanism, a clamping jaw and a driving mechanism;

the sliding mechanism comprises a plurality of groups of sliding rails, the plurality of groups of sliding rails are arranged on one side of the rack in a manner of extending from the center of the rack to the outer edge of the rack, and each group of sliding rails is provided with a sliding block in a sliding manner; the slide block is controlled by the driving mechanism;

the clamping jaw comprises at least two clamping fingers, and one clamping finger is correspondingly connected to one sliding block;

the sliding block slides on the sliding rail under the driving of the driving mechanism in a mode of simultaneously approaching to the center of the rack or simultaneously departing from the center of the rack so as to control the distance between the claw fingers to be reduced or increased;

and a measuring mechanism connected with the driving mechanism is further arranged on the inner side of the claw finger.

2. The grasping apparatus according to claim 1, wherein the sliding mechanism includes a set of slide rails, one of the slide blocks being provided at each end of the slide rails.

3. The gripping device according to claim 2, characterized in that said driving mechanism comprises a lead screw arranged parallel to said slide, said lead screw being controlled by a servomotor;

the lead screw is connected with the sliding block;

the screw rod is driven by the servo motor to rotate, and then the sliding blocks at the two ends of the sliding rail are driven to slide on the sliding rail in a mode of moving in opposite directions.

4. The clamping device as claimed in claim 2 or 3, wherein the set of slide rails comprises a first slide rail and a second slide rail arranged in parallel, and the sliding block is slidably arranged on the first slide rail and the second slide rail;

the lead screw is located between the first slide rail and the second slide rail.

5. The gripping device of claim 4, wherein the end of the lead screw is coupled to the servo motor via a coupling.

6. The gripping device according to claim 2 or 3, further comprising a plurality of proximity switches disposed on a side of the frame adjacent to the slide rail, the plurality of proximity switches being symmetrically distributed on the frame with a midpoint of the frame in a length direction as a center.

7. The grasping apparatus according to any one of claims 1 to 6, wherein the grasping end inner contour of the claw finger is linear, V-shaped, or circular arc-shaped.

8. The grasping apparatus according to claim 7, wherein the frame is provided in a suspended manner.

9. The gripping device of claim 8, wherein a joint is further provided on the frame on a side opposite the slide for docking with a distal end of a robotic arm.

10. A gripping system, comprising a robotic arm, and a gripping apparatus as claimed in any one of claims 1 to 9, the robotic arm having a distal end connected to the joint.