CN-121989280-A - Composite action clamping jaw, clamping control system and method

CN121989280ACN 121989280 ACN121989280 ACN 121989280ACN-121989280-A

Abstract

The invention discloses a composite action clamping jaw, a clamping control system and a method. The clamping jaw comprises a shell, a clamping unit and a rubbing unit, wherein the clamping unit comprises a pneumatic component and an upper sliding block, two lower sliding blocks and a reset spring which are connected with the pneumatic component, the upper sliding block is provided with a chute and is matched with a first protrusion of the lower sliding block, the lower sliding block is provided with a second protrusion and is matched with a groove on the shell, so that when the upper sliding block moves forwards under the drive of the pneumatic component, the two lower sliding blocks are folded, when the upper sliding block moves backwards under the action of the reset spring, the two lower sliding blocks are unfolded, the rubbing unit comprises a power component and a gear connected with the power component, two racks meshed with the gear, two clamping jaws connected with the two racks respectively, and the clamping jaws connected with the two racks are arranged in through holes of the lower sliding blocks, and the power component drives the gears to rotate, so that one rack drives the clamping jaw to move forwards, and the other rack drives the clamping jaw to move backwards. The clamping jaw can complete clamping and rotation, and is small in occupied space, low in cost and high in automation degree.

Inventors

MA QINGHAI
LI DONGLIANG
XIE SHIXIANG

Assignees

SMC(中国)有限公司
SMC（北京）制造有限公司
SMC（天津）制造有限公司
SMC株式会社

Dates

Publication Date: 20260508
Application Date: 20241106

Claims (12)

1. The composite action clamping jaw is characterized by comprising a shell, a clamping unit and a rubbing unit, wherein the clamping unit and the rubbing unit are positioned in the shell; the clamping unit comprises a pneumatic component, an upper sliding block, two lower sliding blocks and a reset spring, wherein the upper sliding block is connected with the pneumatic component, the reset spring is arranged between the upper sliding block and the shell, the upper sliding block is provided with a chute and is matched with a first bulge of the lower sliding block, the lower sliding block is provided with a second bulge and is matched with a groove on the shell, so that when the upper sliding block moves forwards under the drive of the pneumatic component, the two lower sliding blocks are folded towards the middle, and when the upper sliding block moves backwards under the action of the reset spring, the two lower sliding blocks are opened towards two sides; The rubbing unit comprises a power assembly, a gear connected with the power assembly, two racks meshed with the gear, two sliding bars connected with the two racks respectively, and two clamping jaws connected with the two sliding bars respectively, wherein the two sliding bars are respectively arranged in through holes of the two lower sliding blocks, the power assembly is used for driving the gear to rotate, so that one rack drives one sliding bar and one clamping jaw to move forwards, and the other rack drives the other sliding bar and the other clamping jaw to move backwards.
2. The composite action jaw of claim 1 wherein said housing comprises a base, a middle cover and an upper cover; the base is provided with at least one groove, the corresponding lower sliding block is provided with at least one second bulge, and each second bulge is matched with one groove; The power assembly is arranged on the middle cover, and the rack is arranged on the base; The pneumatic assembly is mounted on the middle cover.
3. The composite action clamping jaw according to claim 2, wherein the pneumatic assembly comprises an air passage joint, an air passage and an air cylinder which are sequentially connected, wherein the air cylinder is connected with the upper sliding block; The upper sliding block is provided with a spring groove for accommodating the reset spring, one end of the reset spring is abutted against the inner end of the spring groove, the other end of the reset spring is abutted against the front side wall of the upper cover, and after the connector is disconnected from the air source, the reset spring pushes the upper sliding block to move backwards.
4. The composite action clamping jaw according to claim 2, wherein the chute on the upper sliding block is a V-shaped chute, two chutes in the V-shaped chute are respectively matched with first bulges on the two lower sliding blocks, and the first bulges form an included angle smaller than 90 degrees with the central axis of the through hole of the lower sliding block, wherein the through hole is provided with the sliding rod; The second bulge is perpendicular to the central axis of the through hole of the installation sliding rod.
5. The composite action jaw of claim 1 wherein said power assembly comprises a motor mounted to a middle cover, said gear mounted to a shaft of said motor, said rack engaged with said gear; The side wall or the bottom plate of the base is provided with a rack mounting groove, and the rack moves along the rack mounting groove when the gear rotates.
6. The composite action jaw of claim 1 wherein the pick up unit further comprises a stop bar disposed between two racks, the stop bar being mounted on the base, the racks moving back and forth under the stop of the stop bar and the base side walls.
7. The compound action jaw of any one of claims 1-6, further comprising an in-place confirmation rod; the in-place confirmation rod is fixedly arranged on the middle cover and used for detecting whether the clamping jaw moves to a specified position or not.
8. A gripping control system comprising a vision control unit and a compound action jaw as claimed in any one of claims 1 to 7; The visual control unit is used for acquiring the image of the target object clamped by the composite action clamping jaw and the upper edge of the composite action clamping jaw, determining angle data of the target object according to the image, determining the angle and the direction of the target object to be adjusted according to the angle data of the target object, and sending an adjustment instruction to the composite action clamping jaw; the composite action clamping jaw is used for controlling the power assembly to drive the gear to rotate according to the adjustment instruction, so that the two clamping jaws are enabled to contact with the target object, and the target object is adjusted by a corresponding angle along the determined adjustment direction.
9. The system of claim 8, wherein the vision control unit is further configured to: Moving the composite action clamping jaw to a clamping position, and controlling a clamping unit of the composite action clamping jaw to act so as to clamp a target object; Moving the composite motion jaw to a photographing position for photographing an image of the composite motion jaw and the gripped target object, and According to the adjustment instruction, controlling the motion of the driving unit of the composite motion clamping jaw, driving the target object by the two clamping jaws, and adjusting the target object to a corresponding angle according to the determined adjustment direction; and moving the composite action clamping jaw to a placement position, controlling the clamping unit of the composite action clamping jaw to act, and placing the target object to a designated position.
10. A gripping control method, characterized in that it is implemented using a compound-action jaw as claimed in any one of claims 1-7, the method comprising: Moving the composite action clamping jaw to a clamping position, and controlling a clamping unit of the composite action clamping jaw to act so as to clamp a target object; The method comprises the steps of moving a composite action clamping jaw to a shooting position, shooting images of the composite action clamping jaw and a clamped target object through a visual control unit, determining angle data of the target object according to the images, determining an angle and a direction of the target object to be adjusted according to the angle data of the target object, and sending an adjustment instruction to the composite action clamping jaw; According to the adjustment instruction, controlling the motion of the driving unit of the composite motion clamping jaw, driving the target object by the two clamping jaws, and adjusting the target object to a corresponding angle according to the determined adjustment direction; and moving the composite action clamping jaw to a placement position, controlling the clamping unit of the composite action clamping jaw to act, and placing the target object to a designated position.
11. The method of claim 10, wherein determining the angle data of the target object from the image, determining the angle and direction the target object needs to adjust from the angle data of the target object, and sending an adjustment instruction to the compound action jaw, comprises: Determining current angle data of a target object on the composite action clamping jaw according to the image, determining angle deviation of the current angle data of the target object and the expected angle data according to the current angle data of the target object and the expected angle data, determining an angle and a direction of the target object to be adjusted according to the angle deviation, and generating an adjustment instruction according to the angle and the direction to be adjusted and sending the adjustment instruction to the composite action clamping jaw.
12. A method according to claim 10 or 11, characterized in that the control of the rubbing unit of the composite-action jaw according to the adjustment command, the target object being rubbed by the two jaw contacts, the target object being adjusted by a corresponding angle in the determined adjustment direction, comprises: If the adjustment instruction is to adjust the first angle clockwise, controlling a power component in the contact rolling unit of the compound action clamping jaw to rotate clockwise, so that the two clamping jaws contact the target object clockwise and rotate clockwise by the first angle; If the adjustment instruction is to adjust the second angle anticlockwise, controlling a power component in the contact rolling unit of the compound action clamping jaw to rotate anticlockwise, so that the two clamping jaws are driven to reversely contact the target object anticlockwise, and enabling the target object to rotate anticlockwise by the second angle; If the adjustment instruction is to stop adjustment, controlling a power component in the rubbing unit of the composite action clamping jaw to stop rotating so as to stop the two clamping jaws from rubbing the target object.

Description

Composite action clamping jaw, clamping control system and method Technical Field The invention relates to the field of medical equipment, in particular to a composite action clamping jaw, a clamping control system and a method. Background In the existing production line, the special clamping jaw mechanism is generally adopted to clamp the syringe needle to a designated position, and then the needle is driven to rotate by an external rotating mechanism, so that the adjustment of the angle of the needle is completed under the cooperation of visual detection equipment. For example, china patent with publication number CN106175797A discloses a needle point angle adjusting device for a blood taking needle, which can be used for adjusting the angle of a syringe needle after being grabbed to a specified position, the angle adjusting device is matched with a control system, a driving component of the angle adjusting device rotates by taking the axis of the blood taking needle as a rotating shaft under the action of the control system, the angle of the needle point of the blood taking needle is adjusted, and when the blood taking needle needs to be lifted, lifting control is carried out through a hand wheel. Disclosure of Invention The inventor discovers that the adjustment of the angle of the needle head in the existing production line is completed by matching the clamping device with the rotating device, so that the equipment occupies a larger installation space, and the equipment has a complex structure, high equipment cost and is inconvenient to operate and control. In addition, the existing adjusting device needs manual control, cannot realize full-course automatic control, and is low in automation degree. The present invention has been made in view of the above problems, and provides a compound action jaw, gripping control system and method that overcomes or at least partially solves the above problems. The embodiment of the invention provides a composite action clamping jaw, which comprises a shell, a clamping unit and a rubbing unit, wherein the clamping unit and the rubbing unit are positioned in the shell; the clamping unit comprises a pneumatic component, an upper sliding block, two lower sliding blocks and a reset spring, wherein the upper sliding block is connected with the pneumatic component, the reset spring is arranged between the upper sliding block and the shell, the upper sliding block is provided with a chute and is matched with a first bulge of the lower sliding block, the lower sliding block is provided with a second bulge and is matched with a groove on the shell, so that when the upper sliding block moves forwards under the drive of the pneumatic component, the two lower sliding blocks are folded towards the middle, and when the upper sliding block moves backwards under the action of the reset spring, the two lower sliding blocks are opened towards two sides; The rubbing unit comprises a power assembly, a gear connected with the power assembly, two racks meshed with the gear, two sliding bars connected with the two racks respectively, and two clamping jaws connected with the two sliding bars respectively, wherein the two sliding bars are respectively arranged in through holes of the two lower sliding blocks, the power assembly is used for driving the gear to rotate, so that one rack drives one sliding bar and one clamping jaw to move forwards, and the other rack drives the other sliding bar and the other clamping jaw to move backwards. In some alternative embodiments, the housing comprises a base, a middle cover, and an upper cover; the base is provided with at least one groove, the corresponding lower sliding block is provided with at least one second bulge, and each second bulge is matched with one groove; The power assembly is arranged on the middle cover, and the rack is arranged on the base; The pneumatic assembly is mounted on the middle cover. In some alternative embodiments, the pneumatic assembly comprises a gas path joint, a gas path and a gas cylinder which are sequentially connected, wherein the gas cylinder is connected with the upper sliding block; The upper sliding block is provided with a spring groove for accommodating the reset spring, one end of the reset spring is abutted against the inner end of the spring groove, the other end of the reset spring is abutted against the front side wall of the upper cover, and after the connector is disconnected from the air source, the reset spring pushes the upper sliding block to move backwards. In some optional embodiments, the chute on the upper slide block is a V-shaped chute, two chutes in the V-shaped chute are respectively matched with first protrusions on the two lower slide blocks, and the first protrusions form an included angle smaller than 90 degrees with the central axis of the through hole of the lower slide block, in which the slide rod is arranged; The second bulge is perpendicular to the central axis of the through hol