CN221364837U - Floating clamping structure for flexible material taking - Google Patents
Floating clamping structure for flexible material taking Download PDFInfo
- Publication number
- CN221364837U CN221364837U CN202323069930.6U CN202323069930U CN221364837U CN 221364837 U CN221364837 U CN 221364837U CN 202323069930 U CN202323069930 U CN 202323069930U CN 221364837 U CN221364837 U CN 221364837U
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- material taking
- fingers
- shaping
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000463 material Substances 0.000 title claims abstract description 79
- 238000007493 shaping process Methods 0.000 claims abstract description 63
- 239000000758 substrate Substances 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000001467 acupuncture Methods 0.000 abstract description 14
- 230000001788 irregular Effects 0.000 description 11
- 230000006872 improvement Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a floating clamping structure for flexible material taking, which relates to the technical field of automatic equipment and comprises the following components: the device comprises a mounting substrate, wherein a shaping clamping jaw and a linear guide rail are arranged on the side surface of the mounting substrate in parallel up and down, two L-shaped shaping fingers are arranged on the side surface of the shaping clamping jaw, and the tail ends of the shaping fingers exceed the shaping clamping jaw; the U-shaped sliding blocks are arranged on the side surfaces of the linear guide rails, the side surfaces of the sliding blocks are connected with the upper end of a clamping jaw base, the tail ends of two L-shaped shaping fingers are positioned on two sides of the upper end of the clamping jaw base, and the clamping jaw base is clamped or opened; a material taking clamping jaw is arranged on the side face of the clamping jaw base, and two material taking fingers with opposite lower ends are arranged at the lower end of the material taking clamping jaw; two L-shaped shaping fingers are opened, two material taking fingers are opened and positioned on two sides of a workpiece, then the workpiece is closed, in the process, the sliding block adaptively moves along the linear guide rail, and the two material taking fingers finish flexible clamping of the workpiece. The utility model realizes the clamping of workpieces or materials in the acupuncture points deviated from the axle center of the floating clamping jaw, and has simple structure and low cost.
Description
Technical Field
The utility model relates to the technical field of automatic equipment, in particular to a floating clamping structure for flexible material taking.
Background
In various types of automated equipment, it is often necessary to grasp a workpiece from a relatively irregular acupoint and place it at a relatively regular station. Because the precision of the acupuncture points is not guaranteed, when the clamping jaw moves to a preset position, the axis of the acupuncture points and the axis of the clamping jaw often have a certain offset, if the clamping jaw is used for clamping directly, after the clamping jaw is closed, a workpiece is driven to move towards the axis of the clamping jaw, so that the workpiece and the side wall of the acupuncture points are scratched, and the workpiece is damaged; if a vision system or other high-precision sensor is used in conjunction with a servo-driven robot to achieve this function, the cost is relatively high.
Therefore, how to provide a floating manipulator capable of flexibly taking materials, so as to realize flexible workpiece clamping from relatively irregular acupoints with lower cost, is a problem to be solved.
Disclosure of utility model
In view of the technical problems in the background art, the utility model provides a floating clamping structure for flexible material taking, which realizes flexible clamping of workpieces in irregular acupuncture points through two stages of clamping jaws.
In order to achieve the above object, the present utility model provides a floating clamping structure for flexible material taking, comprising: the device comprises a mounting substrate, wherein a shaping clamping jaw and a linear guide rail are arranged on the side surface of the mounting substrate in parallel up and down, two L-shaped shaping fingers are arranged on the side surface of the shaping clamping jaw, and the tail ends of the shaping fingers exceed the shaping clamping jaw;
The U-shaped sliding block is arranged on the side face of the linear guide rail, the side face of the sliding block is connected with the upper end of a clamping jaw base, the tail ends of two L-shaped shaping fingers are positioned on two sides of the upper end of the clamping jaw base, and the clamping jaw base is clamped or opened;
a material taking clamping jaw is arranged on the side face of the clamping jaw base, and two material taking fingers with opposite lower ends are arranged at the lower end of the material taking clamping jaw;
The two L-shaped shaping fingers are opened, the two material taking fingers are opened and positioned on two sides of the workpiece and then are closed, in the process, the sliding block adaptively moves along the linear guide rail, and the two material taking fingers finish flexible clamping of the workpiece.
As a further development of the utility model, the maximum distance between the two shaping fingers is greater than the width of the upper end of the jaw base and less than the length of the linear guide.
As a further improvement of the utility model, a sensor mounting seat is arranged at the center position of the bottom of the material taking clamping jaw, and a photoelectric sensor is arranged at the center position of the lower side of the sensor mounting seat.
As a further improvement of the utility model, the material taking fingers are L-shaped, and the opposite inner ends of the two material taking fingers are adapted to the shape of the workpiece.
As a further improvement of the utility model, the mounting substrate is positioned in the vertical direction, the outer side of the mounting substrate is provided with the shaping clamping jaw, the outer side of the shaping clamping jaw is provided with shaping fingers, the lower ends of the two shaping fingers are respectively positioned at two sides of the upper end of the clamping jaw base, and the inner side of the lower end of the clamping jaw base is provided with the material taking clamping jaw.
As a further improvement of the utility model, grooves are arranged on the upper side surface and the lower side surface of the linear guide rail, convex strips are arranged at positions of the sliding blocks corresponding to the grooves, and the sliding blocks are arranged on the linear guide rail in a sliding manner through the matching of the convex strips and the grooves.
As a further development of the utility model, the two shaping fingers clamp in a translatory manner and open in a translatory manner in opposite directions along the sides of the shaping jaw.
As a further improvement of the utility model, the upper ends of the two material taking fingers are respectively rotatably arranged at the two ends of the lower side of the material taking clamping jaw, and the two material taking fingers are rotatably clamped inwards around the upper ends and are rotatably loosened outwards.
Compared with the prior art, the utility model has the beneficial effects that:
Compared with the two-stage clamping jaw adopting the shaping clamping jaw and the material taking clamping jaw and matched with the linear guide rail, the utility model ensures that the material taking clamping jaw adapts to the irregular acupuncture points, the clamping of workpieces or materials in irregular acupuncture points (acupuncture points deviating from the axis of the floating clamping jaw) is realized; the floating clamping structure is simple, low in cost, flexible in action, convenient to replace, and simple to assemble and debug, and all parts such as the linear guide rail, the shaping clamping jaw and the material taking clamping jaw are arranged.
The utility model judges whether the workpiece is successfully clamped or not by arranging the photoelectric sensor, and the floating clamping structure has higher reliability for clamping the workpiece.
The utility model has exquisite structural design, regular occupied space of the whole structure, and can better avoid collision with other external structures in the operation process, and the workpiece clamping process has small vibration and low noise.
Drawings
FIG. 1 is a schematic illustration of a floating clamp structure for flexible take-off in accordance with one embodiment of the present utility model;
Fig. 2 is a side view of a floating gripping structure for flexible take-off in accordance with one embodiment of the present utility model.
Reference numerals illustrate:
1. A mounting substrate; 2. shaping clamping jaws; 3. shaping the finger; 4. a linear guide rail; 5. a jaw base; 6. a material taking clamping jaw; 7. taking fingers; 8. a sensor mount; 9. a photoelectric sensor; 10. a workpiece.
Detailed Description
It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.
The utility model is described in further detail below with reference to the attached drawing figures:
As shown in fig. 1, the floating clamping structure for flexible material taking provided by the utility model comprises: the device comprises a mounting substrate in the vertical direction, wherein a shaping clamping jaw 2 and a linear guide rail 4 are arranged on the left side surface of the mounting substrate in an up-down parallel manner, two parallel L-shaped shaping fingers 3 which are both positioned in the vertical direction are arranged on the left side surface of the shaping clamping jaw 2, and the tail ends of the shaping fingers 3 extend beyond the lower end of the shaping clamping jaw 2;
The left side surface of the linear guide rail 4 is provided with a U-shaped sliding block, the left side surface (the back side of the U-shaped sliding block) of the sliding block is connected with the upper end of a clamping jaw base 5, as shown in figure 1, the upper end of the clamping jaw base 5 is narrower in width, the lower end of the clamping jaw base is wider in width, and the whole clamping jaw base is convex; the tail ends of the two L-shaped shaping fingers 3 are positioned at two sides of the upper end of the clamping jaw base 5, namely two sides of the narrower end, when the lower ends of the two L-shaped shaping fingers 3 are tightly attached to the clamping jaw base 5, the clamping jaw base 5 is clamped, and the clamping jaw base 5 is moved outwards to be opened so that the clamping jaw base 5 can move along the linear guide rail 4;
A material taking clamping jaw 6 is arranged on the right side surface of the clamping jaw base 5, a material taking clamping jaw 6 is arranged on the right side of a wider part of the lower part of the specific clamping jaw base 5, and two material taking fingers 7 with opposite lower ends are arranged on the lower end surface of the material taking clamping jaw 6;
Two L-shaped shaping fingers 3 are opened, two material taking fingers 7 are opened and positioned on two sides of a workpiece 10, then the two material taking fingers 7 are closed, in the closing process of the two material taking fingers 7, the sliding block adaptively moves along the linear guide rail 4, and the two material taking fingers 7 finish flexible clamping of the workpiece 10.
In particular, the method comprises the steps of,
The short ends of the two L-shaped shaping fingers 3 in the horizontal direction contact and grip the jaw base 5.
The maximum distance between the two shaping fingers 3 is larger than the width of the upper end of the clamping jaw base 5, so that the clamping jaw base 5 is fixed in a normal state; the maximum distance between the two shaping fingers 3 is smaller than the length of the linear guide rail 4, so that after the two shaping fingers 3 are opened, the sliding range of the sliding block is limited, and the sliding block is prevented from sliding out of two sides of the linear guide rail 4.
A sensor mounting seat 8 is arranged at the center of the bottom of the material taking clamping jaw 6, the sensor mounting seat 8 is L-shaped, a horizontal section is positioned at the center of the bottom of the material taking clamping jaw 6, a vertical section is positioned at the outer side of the clamping jaw base 5, and a center line position is indicated; as shown in fig. 2, a photoelectric sensor 9 is installed at the center of the lower side of the sensor mounting seat 8, when the material taking clamping jaw 6 finishes the clamping operation of the workpiece 10, whether the workpiece 10 is successfully clamped or not is judged through the photoelectric sensor 9, if the photoelectric sensor 9 senses a signal, the workpiece 10 is judged to be successfully clamped, otherwise, the workpiece 10 is judged not to be successfully clamped. When the workpiece 10 is successfully clamped, firstly, a manipulator of a higher layer connected with the mounting substrate 1 drives the mounting substrate 1 to move, and the mounting substrate 1 drives the whole floating clamping structure to move, so that the workpiece 10 leaves the acupoint; after the workpiece 10 leaves the acupoint, the centers of the two shaping fingers 3 on the shaping clamping jaw 2 are controlled to reset, so that the workpiece 10 is positioned on the central line of the floating clamping structure, the position of the workpiece 10 is relatively regular at the moment, and the device can perform the next action to place the workpiece 10 on other stations.
The material taking fingers 7 are L-shaped, the inner ends of the two material taking fingers 7 are adapted to the shape of the workpiece 10, as shown in fig. 1, the inner sides of the lower ends of the material taking fingers 7 are arc-shaped and recessed inwards, so that the circular workpiece 10 can be clamped conveniently.
As shown in fig. 1, a mounting substrate 1 is located in a vertical direction, a shaping clamping jaw 2 is mounted on the outer side of the mounting substrate, shaping fingers 3 are mounted on the outer side of the shaping clamping jaw 2, lower ends of the two shaping fingers 3 are located on two sides of the upper end of a clamping jaw base 5 respectively, and a material taking clamping jaw 6 is mounted on the inner side of the lower end of the clamping jaw base 5.
Grooves are formed in the upper side surface and the lower side surface of the linear guide rail 4, convex strips are arranged at positions, corresponding to the grooves, of the sliding blocks, and the sliding blocks are slidably mounted on the linear guide rail 4 through matching of the convex strips and the grooves.
The two shaping fingers 3 relatively translate along the side surfaces of the shaping clamping jaw 2 to clamp the clamping jaw base 5, and translate reversely to open, so that the clamping jaw base 5 can move along the linear guide rail 4 along with the sliding blocks.
The upper ends of the two material taking fingers 7 are respectively rotatably arranged at two ends of the lower side of the material taking clamping jaw 6, the two material taking fingers 7 rotate inwards around the upper ends to clamp the workpiece 10, and rotate outwards to loosen the workpiece 10.
In the present utility model, the shaping jaw 2, the jaw finger, the material taking jaw 6 and the material taking finger 7 are all existing jaw structures, and the detailed connection structure thereof is not described herein.
The two floating clamping structures are arranged on the same upper mechanical arm, so that the directions of the two mounting substrates are mutually perpendicular, one floating clamping structure is adopted to clamp the workpiece 10 for the irregular acupuncture points along the X direction, the other floating clamping structure is adopted to clamp the workpiece 10 for the irregular acupuncture points along the Y direction, and the workpiece 10/material clamping for the X, Y double-direction irregular acupuncture points can be realized.
Examples:
as shown in fig. 1, in the flexible material taking floating clamping structure, in the beginning, a manipulator of a higher stage places the floating clamping structure on the upper side of an irregular acupoint where a workpiece 10 is placed, so that a material taking finger 7 is opened and positioned on two sides of the workpiece 10, and the specific working process is as follows:
Step 1, controlling the shaping clamping jaw 2 to enable the shaping finger 3 to move oppositely and horizontally to the greatest extent, and loosening the middle clamping jaw base 5;
step 2, controlling a material taking clamping jaw 6 to enable two material taking fingers 7 to inwards rotate around the upper end fixing end to clamp a workpiece 10;
And 3, in the process of rotating the material taking finger 7 to clamp the workpiece 10, the sliding block adaptively drives the clamping jaw base 5 and the material taking clamping jaw 6 to integrally move leftwards or rightwards along the linear guide rail 4, so that the workpiece 10 is clamped at the right central position of the lower end of the material taking clamping jaw 6.
Step 4, sensing a signal by the photoelectric sensor 9, and judging that the workpiece 10 is successfully clamped by the material taking finger 7;
Step 5, the mechanical arm at the higher level moves the whole floating clamping structure out of the acupoint, and the shaping finger 3 is not reset in the process, so that the workpiece 10 is ensured not to collide with the side wall of the acupoint;
And 6, after the workpiece 10 moves out of the acupoint, controlling the shaping clamping jaw 2 to reset the relative movement center of the shaping finger 3, aligning the center line of the clamping jaw base 5 with the center line of the floating clamping structure, and positioning the center of the workpiece 10 on the center line at the moment to ensure that the position of the workpiece 10 is relatively regular.
And 7, the manipulator of the upper stage moves the whole floating clamping structure to a station of the next stage.
The utility model has the advantages that:
Compared with the two-stage clamping jaw adopting the shaping clamping jaw and the material taking clamping jaw and matched with the linear guide rail, the utility model ensures that the material taking clamping jaw adapts to the irregular acupuncture points, the clamping of workpieces or materials in irregular acupuncture points (acupuncture points deviating from the axis of the floating clamping jaw) is realized; the floating clamping structure is simple, low in cost, flexible in action, convenient to replace, and simple to assemble and debug, and all parts such as the linear guide rail, the shaping clamping jaw and the material taking clamping jaw are arranged.
The utility model judges whether the workpiece is successfully clamped or not by arranging the photoelectric sensor, and the floating clamping structure has higher reliability for clamping the workpiece.
The utility model has exquisite structural design, regular occupied space of the whole structure, and can better avoid collision with other external structures in the operation process, and the workpiece clamping process has small vibration and low noise.
The above is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but various modifications and variations are possible for 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 (8)
1. A floating clip structure for flexible material taking, comprising: the device comprises a mounting substrate, wherein a shaping clamping jaw and a linear guide rail are arranged on the side surface of the mounting substrate in parallel up and down, two L-shaped shaping fingers are arranged on the side surface of the shaping clamping jaw, and the tail ends of the shaping fingers exceed the shaping clamping jaw;
The U-shaped sliding block is arranged on the side face of the linear guide rail, the side face of the sliding block is connected with the upper end of a clamping jaw base, the tail ends of two L-shaped shaping fingers are positioned on two sides of the upper end of the clamping jaw base, and the clamping jaw base is clamped or opened;
a material taking clamping jaw is arranged on the side face of the clamping jaw base, and two material taking fingers with opposite lower ends are arranged at the lower end of the material taking clamping jaw;
The two L-shaped shaping fingers are opened, the two material taking fingers are opened and positioned on two sides of the workpiece and then are closed, in the process, the sliding block adaptively moves along the linear guide rail, and the two material taking fingers finish flexible clamping of the workpiece.
2. The flexible take-off floating clamp structure of claim 1, wherein: the maximum distance between the two shaping fingers is larger than the width of the upper end of the clamping jaw base and smaller than the length of the linear guide rail.
3. The flexible take-off floating clamp structure of claim 1, wherein: the center of the bottom of the material taking clamping jaw is provided with a sensor mounting seat, and the center of the lower side of the sensor mounting seat is provided with a photoelectric sensor.
4. The flexible take-off floating clamp structure of claim 1, wherein: the material taking fingers are L-shaped, and the inner ends of the two material taking fingers are adapted to the shape of the workpiece.
5. The flexible take-off floating clamp structure of claim 1, wherein: the mounting substrate is located vertical direction, plastic clamping jaw is installed in the outside of mounting substrate, plastic finger is installed in the outside of plastic clamping jaw, two the lower extreme of plastic finger is located respectively the both sides of clamping jaw base upper end, the material clamping jaw is installed to clamping jaw base lower extreme inboard.
6. The flexible take-off floating clamp structure of claim 1, wherein: grooves are formed in the upper side surface and the lower side surface of the linear guide rail, convex strips are arranged at positions, corresponding to the grooves, of the sliding blocks, and the sliding blocks are slidably mounted on the linear guide rail through the cooperation of the convex strips and the grooves.
7. The flexible take-off floating clamp structure of claim 1, wherein: the two shaping fingers are clamped in a relative translational manner and opened in a reverse translational manner along the side surfaces of the shaping clamping jaws.
8. The flexible take-off floating clamp structure of claim 1, wherein: the upper ends of the two material taking fingers are respectively rotatably arranged at two ends of the lower side of the material taking clamping jaw, and the two material taking fingers rotate inwards around the upper ends to clamp and take the material, and rotate outwards to loosen the material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323069930.6U CN221364837U (en) | 2023-11-14 | 2023-11-14 | Floating clamping structure for flexible material taking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323069930.6U CN221364837U (en) | 2023-11-14 | 2023-11-14 | Floating clamping structure for flexible material taking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221364837U true CN221364837U (en) | 2024-07-19 |
Family
ID=91865713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323069930.6U Active CN221364837U (en) | 2023-11-14 | 2023-11-14 | Floating clamping structure for flexible material taking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221364837U (en) |
-
2023
- 2023-11-14 CN CN202323069930.6U patent/CN221364837U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109262345B (en) | Conversion device and overturning and installing equipment | |
| CN212221572U (en) | Overturning transfer device | |
| CN221364837U (en) | Floating clamping structure for flexible material taking | |
| CN110834014B (en) | Clamp and laser processing equipment | |
| CN118561016A (en) | Key pick-up device and production equipment | |
| CN116417392B (en) | Transfer equipment for carrying wafer material box | |
| CN217667609U (en) | Terminal box mounting system | |
| CN217675276U (en) | Circuit board turnover mechanism | |
| CN215248065U (en) | Cover plate taking and placing device | |
| CN115771157A (en) | Variable-pitch clamping jaw | |
| CN213197594U (en) | Novel floating electric permanent magnet clamp | |
| CN114453819A (en) | Positioning system and positioning method for flexible carrying gripper and line side deformation clamp | |
| CN214111200U (en) | Floating manipulator tool and pin robot automation equipment | |
| CN212493720U (en) | Inductor assembly devices | |
| CN113857829A (en) | Automatic assembling method and equipment for micro motor and industrial control equipment | |
| CN219404310U (en) | Manipulator and automation equipment | |
| CN108044628B (en) | Skylight positioning station | |
| CN107617945B (en) | Integral numerical control machining equipment | |
| CN113258119A (en) | Battery cell fixing box side plate opening mechanism and working method thereof | |
| CN217452731U (en) | Positioning system of flexible carrying gripper and line side deformation clamp | |
| CN216360242U (en) | FPC clamping device | |
| CN219971094U (en) | Clamping mechanism for automatic glue filling equipment and assembly device | |
| CN222386978U (en) | Reclaiming device | |
| CN220131259U (en) | Multi-vehicle-type shared stand with overturning function for front and rear doors of automobile parts | |
| CN219788337U (en) | Manufacturing and processing device for skin part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |