Clamping robot for building material home decoration sorting

Abstract

The invention discloses a clamping robot for home decoration sorting of building materials, and relates to the technical field of home decoration plate sorting, and the clamping robot comprises a mechanical arm mounted at the tail end of an assembly line; the clamping mechanism is installed on the mechanical arm and used for sorting building materials and sub-packaging building material home decoration plates of different specifications to different packaging areas, and the clamping mechanism comprises a frame body installed on the mechanical arm; and the multiple fixing clamps are distributed and fixed to the frame body and used for clamping and fixing the plates. By adopting a double protection structure of pneumatic clamping and mechanical locking, after clamping is completed, the rolling wheels are clamped into the clamping grooves to form mechanical locking, even if a pneumatic pipeline is loosened, leaks air or is impacted by air pressure, plates can be prevented from loosening and falling off, the damage rate of the plates in the sorting process is greatly reduced, due to the flexible contact design of a rubber pad, the clamping friction force is increased, and the working efficiency is improved. And pressure can be buffered, and the surface of the plate is prevented from being scratched and damaged.

Description

Technical Field

[0001] This invention relates to the field of home decoration board sorting technology, and in particular to a gripping robot for sorting building materials and home decoration. Background Technology

[0002] The sorting process for building materials and home decoration boards largely relies on manual labor or ordinary clamping equipment.

[0003] However, in practical applications, some problems remain unresolved. The following are some common issues with gripping robots used for sorting building materials and home decoration: First, poor gripping stability and insufficient reliability of pneumatic pipelines. Gripping robots require high-frequency reciprocating motion to complete sorting. Pneumatic pipelines are subjected to long-term pulling, twisting, and air pressure impacts, easily leading to loose joints, pipeline wear and breakage, and air pressure leakage. Unstable air pressure causes fluctuations in gripping force, making it impossible to continuously and stably clamp the boards, especially in heavy-load or high-speed transport scenarios, where boards easily slip from the gripping gap. Second, independent operation of air circuit switching and locking results in poor linkage. Air circuit switching (gripping / unlocking) and mechanical locking (anti-loosening) lack linkage design, requiring separate operation of two processes, such as starting the pneumatic gripping first and then opening the locking mechanism. Redundant operation steps easily lead to operational omissions (such as forgetting to lock) or timing errors (such as driving the gripping mechanism before unlocking), affecting sorting continuity and making operation and maintenance cumbersome. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing gripping robots for sorting building materials and home decoration, the present invention is proposed.

[0006] Therefore, the problem to be solved by this invention is how to solve the problems of easy loosening and air leakage of pneumatic pipelines, lack of reliable locking after clamping, easy loosening and falling of plates, independent operation of air circuit switching and locking, and poor linkage.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a gripping robot for sorting building materials and home decoration products, comprising: a robotic arm installed at the end of an assembly line; a gripping mechanism installed on the robotic arm for sorting building materials and home decoration panels of different specifications into different packaging areas; the gripping mechanism comprising: a frame installed on the robotic arm; several fixed clamps distributed and fixed on the frame for gripping and fixing the panels; several movable clamps distributed on one side of the fixed clamps, the movable clamps cooperating with the fixed clamps for gripping and fixing the panels; and several rubber pads fixed to the fixed clamps and movable clamps respectively. The mechanism comprises: an upper part for enhancing the clamping and securing effect on the sheet metal; a drive component mounted on the frame and cooperating with the movable clamp; a pneumatic component mounted on the frame and drive component and cooperating with the drive component to move the movable clamp, thereby clamping and unlocking the sheet metal with the cooperation of the fixed clamp; a locking mechanism mounted on the clamping mechanism for locking the sheet metal when it is clamped, comprising: a locking element fixed on the frame and cooperating with the drive component, which locks the sheet metal after it is clamped by the movable and fixed clamps; a transmission component mounted on the pneumatic component and cooperating with the pneumatic component; and a switching component mounted on the pneumatic component and transmission component, cooperating with the transmission component and the locking element.

[0008] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, the frame includes plate one, plate two and plate three, wherein: plate one is fixed on the rotating end of the robot arm; plate two is fixed on one side of plate one; and there are two plates three, which are symmetrically fixed at both ends of plate one and plate two respectively.

[0009] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, the driving component includes two square rods that slide symmetrically on two plates three. A square plate is fixed to one end of the two square rods opposite each other. Multiple guide holes are provided on the square plate. A guide post is fixed to one end of the movable clamp and slides in the guide hole. Multiple guide rods are fixed to the surface of the plate two and the movable clamp is slidably sleeved on the surface of the guide rods. A spring two is sleeved on the surface of one of the square rods and the two ends of the spring two are respectively fixed to the surface of the square plate and the surface of the plate three. A slot is provided on the surface of the square plate and the slot cooperates with the locking component.

[0010] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, the pneumatic component includes a cylinder fixed on one of the plates, and the output end of the cylinder is fixed on the surface of the square plate. Two air pipes are symmetrically connected to the cylinder, and a transmission component is installed on the air pipes and the cylinder. A connecting pipe is provided on one side of the transmission component.

[0011] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, the locking component includes a fixed plate fixed on a plate, a movable plate sliding on the fixed plate, a roller rotating at one end of the movable plate and cooperating with a slot, a permanent magnet fixed at the other end of the movable plate, an electromagnet fixed on the plate and cooperating with the permanent magnet, and a spring three sleeved on the surface of the movable plate, with the two ends of the spring three respectively fixed to the inner wall of the fixed plate and the surface of the permanent magnet.

[0012] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, the transmission component includes two housings connected to one end of two air pipes, and rotating rods are respectively mounted on the two housings. An impeller is fixed at one end of the rotating rod located inside the housing, and a bevel gear is fixed at the other end of the rotating rod located outside the housing. A round rod is fixed to the surface of the cylinder, and a bevel gear ring is rotatably mounted at one end of the round rod. The bevel gear meshes with the bevel gear ring. A circular frame is fixed to the surface of the housing, and the circular frame is fitted onto the surface of the rotating rod. A torsion spring is fitted onto the surface of the rotating rod, and the two ends of the torsion spring are respectively fixed to the inner wall of the circular frame and the surface of the rotating rod.

[0013] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, the switching component includes a conductive ring fixed in a circumferential array on the surface of a bevel gear ring via a support column; a U-shaped plate is fixed on the surface of the cylinder, and a slide rod slides on the U-shaped plate; a conductive block is fixed at one end of the slide rod, and the conductive block cooperates with the conductive ring; the conductive block is electrically connected to an electromagnet via a wire; a square is fixed at the other end of the slide rod, and a spring is fixed between the surface of the square and the inner wall of the U-shaped plate.

[0014] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, it further includes a docking mechanism disposed between the housing and the connecting pipe. The docking mechanism includes a connector one connected to the housing and a connector two connected to one end of the connecting pipe, and the connector one and the connector two cooperate. The surface of the connector two is slidably fitted with a limiting sleeve, and the surface of the connector two is fitted with a spring one, and the two ends of the spring one are respectively fixed to the inner surface of the limiting sleeve and the outer surface of the connector two. Both the connector one and the connector two are equipped with opening and closing components, and the two opening and closing components cooperate with each other.

[0015] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, wherein: a connecting rod is fixed on the opening and closing component inside the first joint, a ring plate is sleeved on one end of the rotating rod located in the inner cavity of the housing, and the ring plate is fixed to the end of the connecting rod away from the opening and closing component, and an anti-slip pad is fixed on the inner wall of the ring plate, and the anti-slip pad cooperates with the tooth pattern.

[0016] As a preferred embodiment of the gripping robot for sorting building materials and home decoration according to the present invention, wherein: a ring groove is provided on the surface of the first connector, and grooves distributed in a circular array are provided on the second connector, and steel balls slide in the grooves, and the steel balls cooperate with the ring grooves and the limiting sleeve respectively.

[0017] The beneficial effects of this invention are as follows: 1. By adopting a dual protection structure of pneumatic clamping + mechanical locking, after clamping, the roller is inserted into the slot to form a mechanical lock. Even if the pneumatic pipeline is loose, leaks, or experiences air pressure impact, the board can be prevented from falling off, which greatly reduces the board damage rate during the sorting process. The flexible contact design of the rubber pad increases the clamping friction and buffers the pressure to prevent scratching or damaging the board surface.

[0018] 2. Multiple fixed and movable clamps are arranged in an array, allowing for the selection of all or part of the clamps to grip the board according to its size. It is compatible with different materials such as ceramic tiles, slabs, and wood panels, as well as building materials and home decoration boards of different lengths and widths. There is no need to change to a special clamping structure, making it highly adaptable and versatile, meeting diverse sorting needs. The air path switching and locking mechanism work in conjunction, with air flow automatically triggering the locking / unlocking action, eliminating the need for manual operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a scene illustration of a gripping robot used for sorting building materials and home decoration products.

[0021] Figure 2 This is a partial sectional, three-dimensional view of a gripping robot used for sorting building materials and home decoration products.

[0022] Figure 3 For use as a gripping robot in sorting building materials and home decoration Figure 2 Enlarged view of region A in the middle.

[0023] Figure 4 This is a partial sectional perspective view of a gripping robot used for sorting building materials and home decoration products.

[0024] Figure 5 For use as a gripping robot in sorting building materials and home decoration Figure 4 Enlarged view of region B in the middle.

[0025] Figure 6 This is a three-dimensional view showing the separation of the U-shaped plate and sliding bar of a gripping robot used for sorting building materials and home decoration products.

[0026] Figure 7 This is a partial sectional perspective view of the housing, joint one, and joint two of a gripping robot used for sorting building materials and home decoration products.

[0027] Figure 8 For use as a gripping robot in sorting building materials and home decoration Figure 7 Enlarged view of region C.

[0028] Figure 9 This is another scene illustration of a gripping robot used for sorting building materials and home decoration products.

[0029] In the diagram: 1. Robotic arm; 2. Gripping mechanism; 21. Fixed clamp; 22. Movable clamp; 23. Rubber pad; 24. Drive component; 25. Pneumatic component; 26. Frame; 27. Industrial camera; 28. Distance sensor; 29. ​​Baffle; 3. Locking mechanism; 31. Locking component; 32. Transmission component; 33. Switching component; 4. Docking mechanism; 41. Connector 1; 42. Connector 2; 43. Limit sleeve; 44. Spring 1; 45. Opening and closing component; 46. Connecting rod; 47. Ring plate; 48. Anti-slip pad; 261. Plate 1; 262. Plate 2; 263. Plate 3; 241. Square rod; 242. Square plate; 243. Guide hole; 244. Guide post; 245. Guide rod; 246. Spring 2; 247. Slot; 251. Pneumatic... 252. Cylinder; 253. Air pipe; 254. Connecting pipe; 255. Cover; 311. Fixed plate; 312. Movable plate; 313. Roller; 314. Permanent magnet; 315. Electromagnet; 316. Spring three; 317. Limiting block; 321. Housing; 322. Rotating rod; 323. Impeller; 324. Bevel gear; 325. Round rod; 326. Bevel gear ring; 327. Round frame; 328. Torsion spring; 329. Tooth pattern; 331. Conductive ring; 332. U-shaped plate; 333. Slide rod; 334. Conductive block; 335. Square block; 336. Spring piece; 411. Ring groove; 421. Groove; 422. Steel ball; 451. Through plate; 452. Valve stem; 453. Valve block; 454. Spring four; 455. Stop block. Detailed Implementation

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0033] Example 1, referring to Figures 1-4 This is the first embodiment of the present invention. This embodiment provides a gripping robot for sorting building materials and home decoration. The gripping robot for sorting building materials and home decoration includes a robotic arm 1, a gripping mechanism 2 and a locking mechanism 3.

[0034] Specifically, robotic arm 1 is installed at the end of the assembly line. Robotic arm 1 is an industrial robotic arm and has a base. It can control the operation of gripping mechanism 2. The pneumatics used by gripping mechanism 2 are provided and controlled by the existing air circuit on robotic arm 1. This is existing technology. The working principle of this part is also existing technology, which can be clearly understood by those skilled in the art, and will not be described in detail here.

[0035] Specifically, the gripping mechanism 2, installed on the robotic arm 1, is used for sorting building materials and packing building materials and home decoration boards of different specifications into different packaging areas. The different specifications of building materials and home decoration boards include ceramic tiles, rock slabs and wood boards. The assembly line uses roller conveyors to transport the boards. The gripping mechanism 2 can smoothly grip the conveyed boards from the assembly line and then place them on the corresponding shelves with the help of the robotic arm 1, making it convenient for operators to repackage them.

[0036] Specifically, the gripping mechanism 2 includes a frame 26, which is mounted on the robotic arm 1. The frame 26 is fixed to one end of the robotic arm 1 and can rotate under the drive of the motor on the robotic arm 1, so that the gripped board can change from a horizontal state to a vertical state, making it convenient to be packaged onto the shelf in the packaging area.

[0037] Specifically, there are several fixed clamps 21, which are distributed and fixed on the frame 26 for clamping and fixing the board. There are several movable clamps 22, which are distributed on one side of the fixed clamps 21 and cooperate with the fixed clamps 21 for clamping and fixing the board.

[0038] With multiple fixed clamps 21 and movable clamps 22, it is possible to clamp boards of different specifications. When clamping longer boards, all fixed clamps 21 and movable clamps 22 can be used, while when clamping shorter boards, some fixed clamps 21 and movable clamps 22 can be used, thereby enabling the clamping and packaging of building materials and home decoration boards of different specifications into different packaging areas.

[0039] Specifically, there are several rubber pads 23, which are fixed to the fixed clamp 21 and the movable clamp 22 respectively. They are used to increase the fixing effect of the clamping of the board. The rubber pads 23 can increase the friction between the fixed clamp 21 and the movable clamp 22 and the board, thereby improving the stability of the clamping. At the same time, they have the function of deformation protection, avoiding damage to the board when the fixed clamp 21 and the movable clamp 22 are clamped.

[0040] Specifically, the drive unit 24 is installed on the frame 26 and cooperates with the movable clamp 22. With the drive unit 24, under the action of the pneumatic component 25, multiple movable clamps 22 can move closer to or away from the corresponding fixed clamps 21, thereby realizing the clamping and unlocking of the plate.

[0041] Specifically, the pneumatic component 25 is mounted on the frame 26 and the drive component 24, and cooperates with the drive component 24 to move the movable clamp 22. With the cooperation of the fixed clamp 21, it realizes the clamping and unlocking of the plate. The pneumatic component 25 is connected to the control air circuit on the robotic arm 1 and controlled by a solenoid valve. This is existing technology. The working principle of this part is also existing technology, which can be clearly understood by those skilled in the art, and will not be described in detail here. Under the control of the controller equipped on the equipment, the input and output of the air circuit of the pneumatic component 25 can be realized. This is existing technology, which can be clearly understood by those skilled in the art, and will not be described in detail here.

[0042] Specifically, the locking mechanism 3 is installed on the clamping mechanism 2 and is used to lock the plate when the clamping mechanism 2 clamps it. The locking mechanism 3 includes a locking member 31, which is fixed on the frame 26 and cooperates with the driving member 24 to lock the plate after the movable clamp 22 and the fixed clamp 21 clamp it.

[0043] By setting the locking component 31, after the fixed clamp 21 and movable clamp 22 on the clamping mechanism 2 clamp the board, the driving component 24 can be locked, thereby locking the fixed clamp 21 and movable clamp 22. This prevents the connecting pipe 253 of the air circuit on the pneumatic component 25 from being loosened, falling off, or leaking due to high-frequency reciprocating motion, pulling, twisting, or air pressure impact during long-term sorting operations, which could lead to the loosening of the clamp and the falling and damage of the board.

[0044] Specifically, the transmission component 32 is mounted on the pneumatic component 25 and cooperates with it; the switching component 33 is mounted on the pneumatic component 25 and the transmission component 32, and cooperates with the transmission component 32 and the locking component 31. Through the setting of the transmission component 32, it can act on the pneumatic component 25 when it changes the direction of the air path, thereby causing the switching component 33 to switch the access circuit of the locking component 31, changing the positive and negative poles of the electromagnet 315 circuit on the locking component 31. When the plate clamping is completed and the placement and unlocking operation is performed, the locking component 31 can be released from the lock on the driving component 24. Under the operation of the pneumatic component 25 and with the cooperation of the driving component 24, the movable clamp 22 moves away from the fixed clamp 21, and the clamped plate is unlocked and placed in the packaging area.

[0045] Example 2, refer to Figures 1 to 7 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0046] Specifically, the frame 26 includes plate 1 261, plate 262, and plate 3 263, wherein: plate 1 261 is fixed to the rotating end of the robotic arm 1; plate 262 is fixed to one side of plate 1 261; there are two plates 3 263, which are symmetrically fixed to the ends of plate 1 261 and plate 262 respectively. Plate 1 261, plate 262, and plate 3 263 are all made of metal. Plate 1 261 is detachably fixed to the robotic arm 1 by bolts, and multiple fixing clips 21 are fixed to one side of plate 2 262.

[0047] Specifically, the driving component 24 includes two square rods 241 that slide symmetrically on two plates 263. A square plate 242 is fixed to one end of the two square rods 241. The square rods 241 pass through the plates 263 and are slidably connected to them. The square plates 242 are guided and limited by the square rods 241. Multiple guide holes 243 are provided on the square plates 242. A guide post 244 is fixed to one end of the movable clamp 22, and the guide post 244 slides in the guide hole 243. The guide hole 243 is divided into three parts. The first and third parts are such that the movable clamp 22 will not move when the guide post 244 moves in it. The second part is such that the movable clamp 22 can move when the guide post 244 moves in it. This is the prior art. The working principle of this part is also the prior art. Those skilled in the art can clearly understand it and will not be described in detail here.

[0048] Multiple guide rods 245 are fixed on the surface of plate 262, and the movable clamp 22 is slidably sleeved on the surface of the guide rod 245. The cross-section of the guide rod 245 is square. This arrangement can guide and limit the movable clamp 22 so that it will not rotate when it moves on the guide rod 245. A spring 246 is sleeved on the surface of one of the square rods 241, and the two ends of the spring 246 are fixed to the surface of the square plate 242 and the surface of plate 263, respectively. A slot 247 is opened on the surface of the square plate 242, and the slot 247 cooperates with the locking member 31.

[0049] When clamping the sheet metal, the pneumatic component 25 controls the movement of the square plate 242, causing the guide post 244 to pass through the first part of the guide hole 243, then through the second part, and into the third part. This causes the movable clamp 22 to move and stop. With the cooperation of the fixed clamp 21 and the rubber pad 23, the sheet metal on the conveyor line is clamped. After clamping and sorting to different areas, the pneumatic component 25 is controlled to move the square plate 242, causing the guide post 244 to move back from the third part of the guide hole 243, through the second part, to the first part. This causes the movable clamp 22 to move back and release the fixation of the sheet metal, thus achieving placement.

[0050] The spring 246 deforms when the square plate 242 moves, providing a force for its reset and making the square plate 242 and the square rod 241 more stable during movement. The slot 247 allows the locking member 31 to lock the square plate 242 after the pneumatic component 25 drives the square plate 242 to clamp the plate with the movable clamp 22 and the fixed clamp 21. This prevents the guide post 244 from moving out of the third part of the guide hole 243 and into the second part, thus avoiding the connection pipe 253 on the pneumatic component 25 from being loosened, falling off, or leaking due to high-frequency reciprocating motion, pulling, twisting, or air pressure impact, which could cause the clamp to loosen and the plate to fall and be damaged.

[0051] Specifically, the pneumatic component 25 includes a cylinder 251 fixed on one of the plates 263, and the output end of the cylinder 251 is fixed on the surface of the square plate 242. Two air pipes 252 are symmetrically connected to the cylinder 251, and the transmission component 32 is installed on the air pipes 252 and the cylinder 251. A connecting pipe 253 is provided on one side of the transmission component 32. A cover 254 is detachably fixed on the surface of the cylinder 251. The internal structure is shielded and protected by the cover 254.

[0052] Cylinder 251 is a single-rod double-acting cylinder. It is necessary to switch the air path direction to extend and retract. It is a commonly used industrial cylinder and is existing technology. The working principle of this part is also existing technology, which can be clearly understood by those skilled in the art, and will not be described in detail here. The two air pipes 252 are the air inlet and outlet of cylinder 251. The connecting pipe 253 is a flexible hose. There are two connecting pipes 253, which can be connected to the transmission component 32 and then to the air pipes 252 on cylinder 251. When the solenoid valve switches the air path direction, the shaft on cylinder 251 can move back and forth, thereby realizing the reciprocating movement of square plate 242.

[0053] Specifically, the locking component 31 includes a fixed plate 311 fixed to the plate 261, a movable plate 312 sliding on the fixed plate 311, the movable plate 312 passing through the fixed plate 311 and slidably connected to it, a roller 313 rotating at one end of the movable plate 312 and cooperating with the slot 247, a permanent magnet 314 fixed at the other end of the movable plate 312, an electromagnet 315 fixed on the plate 261 and cooperating with the permanent magnet 314, a spring 316 sleeved on the surface of the movable plate 312, and the two ends of the spring 316 fixed to the inner wall of the fixed plate 311 and the surface of the permanent magnet 314 respectively, and a limit block 317 fixed on the surface of the movable plate 312 and cooperating with the fixed plate 311.

[0054] The inner wall of the slot 247 is chamfered. With the roller 313, when the electromagnet 315 is energized, it generates a repulsive force on the permanent magnet 314. When it is not energized, the roller 313 can elastically abut against the side of the square plate 242 under the action of the spring 316. After the cylinder 251 pushes the square plate 242 to move, the movable clamp 22 clamps the plate with the cooperation of the fixed clamp 21. At this time, the slot 247 corresponds to the steel ball 422. Under the repulsive force of the electromagnet 315 on the permanent magnet 314 and the action of the spring 316, the movable plate 312 and the permanent magnet 314 move, moving the roller 313 into the slot 247 and limiting the square plate 242. Even if the connecting pipe 253 of the air circuit is subjected to high-frequency reciprocating motion, pulling, twisting or air pressure impact, it will not become loose, fall off or leak air, which will not cause the clamp to loosen and the plate to fall and be damaged.

[0055] When the electromagnet 315 is connected to the opposite circuit, it can generate an attractive force on the permanent magnet 314, which can magnetically attract the permanent magnet 314 to move in its direction, thereby moving the movable plate 312 and the roller 313. The roller 313 is gradually disengaged from the slot 247. The cylinder 251 retracts to move the square plate 242. Under the action of the chamfered surface on the slot 247, the roller 313 is smoothly disengaged from the slot 247 without affecting the return movement of the square plate 242.

[0056] By setting the limiting block 317, when the permanent magnet 314 is subjected to the repulsive force of the electromagnet 315 and the action of the spring 316 to move the movable plate 312, after the limiting block 317 contacts the fixed plate 311 and the roller 313 moves into the slot 247, the movable plate 312 and the permanent magnet 314 can no longer move, thus locking the square plate 242, thereby completing the clamping and locking of the plate by the movable clamp 22 and the fixed clamp 21.

[0057] Example 3, referring to Figures 2-8 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0058] Specifically, the transmission component 32 includes two housings 321 connected to one end of the two air pipes 252, and each housing 321 has a rotating rod 322 rotatably mounted on it. The rotating rod 322 is rotatably connected to the housing 321 via a sealed bearing. An impeller 323 is fixed to one end of the rotating rod 322 inside the housing 321, and a bevel gear 324 is fixed to the other end of the rotating rod 322 outside the housing 321. A round rod 325 is fixed to the surface of the cylinder 251, and one end of the round rod 325... A bevel gear ring 326 rotates, and the bevel gear ring 326 is rotatably connected to the round rod 325 through a bearing. The bevel gear 324 meshes with the bevel gear ring 326. A round frame 327 is fixed on the surface of the housing 321, and the round frame 327 is sleeved on the surface of the rotating rod 322. A torsion spring 328 is sleeved on the surface of the rotating rod 322, and the two ends of the torsion spring 328 are respectively fixed to the inner wall of the round frame 327 and the surface of the rotating rod 322. The surface of the rotating rod 322 near the impeller 323 has teeth 329.

[0059] When the cylinder 251 switches the air path, the impellers 323 in the two housings 321 can rotate in different directions under the action of gas flow, which in turn causes the corresponding rotating rod 322 and bevel gear 324 to rotate, and at the same time drives the bevel gear ring 326 to rotate. When switching the air intake and exhaust paths, the rotation direction of the bevel gear ring 326 is different. Through the setting of the torsion spring 328, it deforms when the rotating rod 322 rotates, providing force for the rotation of the rotating rod 322, bevel gear 324 and impeller 323, and thus providing force for the rotation and reset of the bevel gear ring 326. After the air path is switched and the operation stops and is closed, the impeller 323, rotating rod 322, bevel gear 324 and bevel gear ring 326 can be reset.

[0060] Specifically, the switching component 33 includes a conductive ring 331 fixed in a circumferential array on the surface of the bevel gear ring 326 via a support column, a U-shaped plate 332 fixed on the surface of the cylinder 251, and a sliding rod 333 sliding on the U-shaped plate 332. A conductive block 334 is fixed at one end of the sliding rod 333, and the conductive block 334 cooperates with the conductive ring 331. The conductive block 334 is electrically connected to the electromagnet 315 through a wire. A square block 335 is fixed at the other end of the sliding rod 333, and a spring piece 336 is fixed between the surface of the square block 335 and the inner wall of the U-shaped plate 332.

[0061] The conductive ring 331 is arc-shaped, and there are two conductive rings 331. The two conductive rings 331 are connected to the positive and negative terminals of the circuit through conductive slip rings. The slide rod 333 passes through the U-shaped plate 332 and is slidably connected to it. There are two U-shaped plates 332, two slide rods 333 and two conductive blocks 334. The U-shaped plates 332 and two slide rods 333 are made of insulating material. The two conductive blocks 334 are connected to the electromagnet 315 through wires.

[0062] When the air circuit of cylinder 251 is switched to extend the shaft and move the square plate 242, the bevel gear ring 326 rotates, causing the two conductive rings 331 on it to rotate, so that the two conductive rings 331 contact the two corresponding conductive blocks 334 and are energized, so that the electromagnet 315 is energized and generates a repulsive force on the permanent magnet 314. During the process of clamping and transferring, the air circuit has been closed. Under the action of the torsion spring 328, the bevel gear ring 326 drives the two conductive rings 331 to reset and de-energize. When the air circuit of cylinder 251 is switched to retract the shaft and move the square plate 242 back, the bevel gear ring 326 rotates, causing the two conductive rings 331 on it to rotate in the opposite direction, so that the two conductive rings 331 contact the two corresponding conductive blocks 334 and are energized, so that the electromagnet 315 is energized and generates a magnetic attraction force on the permanent magnet 314.

[0063] During this process, when the cylinder 251 drives the square plate 242 to move, the roller 313 can move a certain distance in the slot 247 without affecting the movement of the square plate 242. After the magnetic attraction is generated by the power supply, the permanent magnet 314 and the movable plate 312 can be moved smoothly, and the roller 313 can be disengaged from the slot 247. At the same time, the operation of the air circuit does not stop. After the plate is unlocked and placed, the air circuit is closed during the clamping operation of the next plate. Under the action of the torsion spring 328, the conical tooth ring 326 drives the two conductive rings 331 to reset and de-energize. Both ends of the conductive rings 331 and the conductive block 334 are chamfered. When the conductive rings 331 rotate and contact the conductive block 334, the conductive block 334 can be smoothly squeezed and moved.

[0064] By setting the spring piece 336, when the conductive ring 331 squeezes the conductive block 334 to move and contact it, the slide rod 333 and the block 335 move, which in turn causes the spring piece 336 to deform. The resulting elastic force keeps the conductive block 334 in contact with the conductive ring 331 at all times and keeps it energized.

[0065] Specifically, it also includes a docking mechanism 4 disposed between the housing 321 and the connecting pipe 253. The docking mechanism 4 includes a connector 41 connected to the housing 321 and a connector 42 connected to one end of the connecting pipe 253. The connector 41 and the connector 42 cooperate with each other. The surface of the connector 42 is slidably fitted with a limiting sleeve 43. The surface of the connector 42 is fitted with a spring 44. The two ends of the spring 44 are respectively fixed to the inner surface of the limiting sleeve 43 and the outer surface of the connector 42. Both the connector 41 and the connector 42 are equipped with opening and closing parts 45, and the two opening and closing parts 45 cooperate with each other.

[0066] By setting the docking mechanism 4, the connecting pipe 253 can be quickly connected to the housing 321, and then connected to the air pipe 252 at the air inlet and outlet of the cylinder 251. The first connector 41 and the second connector 42 are sealed. By setting the opening and closing element 45, after the second connector 42 is fully inserted into the first connector 41, the opening and closing element 45 can open and close the first connector 41 and the second connector 42, keeping the first connector 41 and the second connector 42 connected, so that the connecting pipe 253 is connected to the housing 321 and the air pipe 252. After the second connector 42 is removed from the first connector 41, it can automatically close.

[0067] Example 4, refer to Figures 1-9 This is the fourth embodiment of the present invention, which is based on the first three embodiments.

[0068] Specifically, a connecting rod 46 is fixed on the opening and closing part 45 inside the connector 41. A ring plate 47 is sleeved on one end of the rotating rod 322 located in the inner cavity of the housing 321. The ring plate 47 is fixed to the end of the connecting rod 46 away from the opening and closing part 45. An anti-slip pad 48 is fixed on the inner wall of the ring plate 47, and the anti-slip pad 48 cooperates with the tooth pattern 329.

[0069] By setting the anti-slip pad 48, when the second connector 42 is not inserted into the first connector 41, the anti-slip pad 48 contacts the teeth 329 on the rotating rod 322, which serves to limit the false start. After the second connector 42 is inserted into the first connector 41, the connecting rod 46 and the ring plate 47 can be moved under the action of the opening and closing part 45 in the first connector 41, so that the anti-slip pad 48 is disengaged from the teeth 329 on the rotating rod 322, without affecting the transmission of the transmission part 32 during subsequent air circuit change operation, so that the switching part 33 switches the energization and de-energization of the electromagnet 315.

[0070] Specifically, a ring groove 411 is provided on the surface of connector 41, and a groove 421 distributed in a circular array is provided on connector 42. Steel balls 422 slide in the groove 421, and the steel balls 422 cooperate with the ring groove 411 and the limiting sleeve 43 respectively.

[0071] The inner wall of one end of the limiting sleeve 43 is chamfered. With this setting, after the limiting sleeve 43 is moved from the second connector 42, the first spring 44 is compressed, and the second connector 42 is inserted into the first connector 41. At this time, the groove 421 corresponds to the annular groove 411. Then the limiting sleeve 43 is moved back on the second connector 42, and with the spring 44 rebounding and the action of the chamfered surface, a portion of the steel ball 422 in the groove 421 can be smoothly placed in the annular groove 411. After the inner wall of the limiting sleeve 43 presses against the steel ball 422 to limit it, the connection between the first connector 41 and the second connector 42 is completed. The disassembly is the reverse. There are several grooves 421 and several steel balls 422.

[0072] Specifically, the opening and closing component 45 includes a through plate 451 fixed to the inner wall of connector 1 41 and connector 2 42, and a valve stem 452 sliding on the through plate 451. A valve block 453 is fixed to one end of the valve stem 452, and the valve blocks 453 in connector 1 41 and connector 2 42 cooperate with each other. A spring 454 is sleeved on the surface of the valve stem 452, and the two ends of the spring 454 are respectively fixed to the surface of the valve block 453 and the surface of the through plate 451. A stop block 455 is fixed on the surface of the valve stem 452, and the stop block 455 cooperates with the through plate 451. One end of the connecting rod 46 is fixed to one end of the valve stem 452 in connector 1 41.

[0073] A through hole is provided on the through plate 451 to ensure that gas can pass smoothly after the opening and closing part 45 is opened. The valve stem 452 passes through the through plate 451 and is slidably connected to it. The valve block 453 is sealed with the first connector 41 and the second connector 42 respectively. With the setting of the fourth spring 454, when the second connector 42 is inserted into the first connector 41, the two valve blocks 453 inside it contact each other. As the two valve blocks 453 and the valve stem 452 move with the insertion, the fourth spring 454 is compressed, opening the first connector 41 and the second connector 42. After the second connector 42 and the first connector 41 are separated, the valve block 453 is reset by the rebound of the fourth spring 454, closing the first connector 41 and the second connector 42. With the setting of the stop block 455, when the first connector 41 and the second connector 42 are connected, one of the valve stems 452 and valve blocks 453 moves into place and stops moving. With the insertion, the valve stem 452 and valve blocks 453 in the other connector can move into place.

[0074] An industrial camera 27 is fixed on plate 3 263, a distance sensor 28 is fixed on one side of plate 2 262, and a baffle 29 is detachably fixed on plate 3 263. There are several industrial cameras 27, which can take pictures of the sorted boards and, together with the controller, distinguish the boards to achieve intelligent sorting and pack building materials and home decoration boards of different specifications into different packaging areas. There are several distance sensors 28, which can monitor the position distance when the boards are clamped. All of these are existing technologies. The working principle of this part is also existing technology, which can be clearly understood by those skilled in the art, and will not be described in detail here.

[0075] During use, intelligent identification and positioning are achieved: the industrial camera 27 captures images of the production line material and transmits the data to the controller, automatically distinguishing the material specifications; the distance sensor 28 monitors the position of the material, providing precise positioning signals for the robotic arm 1 and the gripping mechanism 2, and the robotic arm 1 drives the gripping mechanism 2 to move to the designated position.

[0076] Pneumatically driven clamping: The cylinder 251 of the pneumatic component 25 drives the square plate 242 to move through the air passage, which drives multiple movable clamps 22 to approach the fixed clamp 21 along the guide rod 245. Together with the rubber pad 23, it realizes flexible clamping of the plate. By selecting some clamps, it can be adapted to the clamping needs of different specifications of plates.

[0077] Mechanical locking to prevent loosening: During clamping, the airflow drives the impeller 323 and bevel gear 324 of the transmission component 32 to rotate, which in turn drives the bevel gear ring 326 to rotate, causing the conductive ring 331 of the switching component 33 to contact the conductive block 334. The electromagnet 315 is energized to generate a repulsive force, which pushes the movable plate 312 to lock the roller 313 into the slot 247 on the square plate 242, thereby achieving mechanical locking of the clamping structure and preventing loosening caused by pneumatic pipeline failure.

[0078] Unlocking and Placing: When the robotic arm 1 moves the board to the designated packaging area, the air circuit is reversed. The transmission component 32 drives the switching component 33 to change the electrode of the electromagnet 315. The electromagnet 315 generates a suction force to pull the movable plate 312, and the roller 313 disengages from the slot 247 to release the lock. The cylinder 251 drives the movable clamp 22 away from the fixed clamp 21 to complete the unlocking and placement of the board, realizing the classification and packaging of boards of different specifications.

[0079] Quick gas path connection: The connection mechanism 4 can realize quick and sealed connection between the connecting pipe 253 and the gas pipe 252. The opening and closing part 45 automatically opens the gas path when connecting and automatically closes when separating, ensuring the convenience and sealing of the gas path connection.

[0080] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A gripping robot for sorting building materials and home decoration products, characterized in that: include, Robotic arm (1) is installed at the end of the assembly line; A gripping mechanism (2), mounted on a robotic arm (1), is used for sorting building materials and packing building materials and home decoration boards of different specifications into different packaging areas. The gripping mechanism (2) includes: The frame (26) is mounted on the robotic arm (1); Fixed clamps (21) are distributed and fixed on the frame (26) for clamping and fixing the board; The movable clamp (22) is distributed on one side of the fixed clamp (21), and the movable clamp (22) cooperates with the fixed clamp (21) to clamp and fix the plate. Rubber pads (23) are fixed to the fixed clamp (21) and the movable clamp (22) respectively, to increase the fixing effect of clamping the plate; The drive unit (24) is mounted on the frame (26) and cooperates with the movable clamp (22); Pneumatic component (25) is installed on frame (26) and drive component (24) and cooperates with drive component (24) to move movable clamp (22) by actuating drive component (24), and realizes the clamping and unlocking of plate with the cooperation of fixed clamp (21); A locking mechanism (3) is installed on the clamping mechanism (2) and is used to lock the plate when the clamping mechanism (2) clamps it. The locking mechanism (3) includes: The locking component (31) is fixed on the frame (26) and cooperates with the driving component (24) to lock the plate after the movable clamp (22) and the fixed clamp (21) clamp it. The transmission component (32) is mounted on the pneumatic component (25) and cooperates with the pneumatic component (25); The switching component (33) is mounted on the pneumatic component (25) and the transmission component (32), and cooperates with the transmission component (32) and the locking component (31); When the pneumatic component (25) changes the direction of the air path, it can act on the transmission component (32), causing the switching component (33) to switch the access circuit of the locking component (31), changing the positive and negative poles of the locking component (31) circuit. When the plate clamping is completed and the placement and unlocking operation is performed, the locking component (31) can be released from the locking component (24). Under the operation of the pneumatic component (25) and with the cooperation of the driving component (24), the movable clamp (22) moves away from the fixed clamp (21), and the clamped plate is unlocked and placed in the packaging area.

2. The gripping robot for sorting building materials and home decoration as described in claim 1, characterized in that: The frame (26) includes plate one (261), plate two (262) and plate three (263), wherein: plate one (261) is fixed on the rotating end of the robotic arm (1); plate two (262) is fixed on one side of plate one (261); there are two plates three (263), which are symmetrically fixed at both ends of plate one (261) and plate two (262).

3. The gripping robot for sorting building materials and home decoration as described in claim 2, characterized in that: The driving component (24) includes two square rods (241) that slide symmetrically on two plates (263). A square plate (242) is fixed at one end of the two square rods (241) facing each other. A plurality of guide holes (243) are provided on the square plate (242). A guide post (244) is fixed at one end of the movable clamp (22), and the guide post (244) slides in the guide hole (243). A plurality of guide rods (245) are fixed on the surface of the plate (262), and the movable clamp (22) slides on the surface of the guide rod (245). A spring (246) is sleeved on the surface of one of the square rods (241), and the two ends of the spring (246) are fixed to the surface of the square plate (242) and the surface of the plate (263) respectively. A slot (247) is provided on the surface of the square plate (242), and the slot (247) cooperates with the locking component (31).

4. The gripping robot for sorting building materials and home decoration as described in claim 2 or 3, characterized in that: The pneumatic component (25) includes a cylinder (251) fixed on one of the plates (263), and the output end of the cylinder (251) is fixed on the surface of the square plate (242). Two air pipes (252) are symmetrically connected on the cylinder (251), and a transmission component (32) is installed on the air pipes (252) and the cylinder (251). A connecting pipe (253) is provided on one side of the transmission component (32).

5. The gripping robot for sorting building materials and home decoration as described in claim 2 or 3, characterized in that: The locking component (31) includes a fixed plate (311) fixed on a plate (261), a movable plate (312) sliding on the fixed plate (311), a roller (313) rotating on one end of the movable plate (312), and the roller (313) cooperating with the slot (247), a permanent magnet (314) fixed on the other end of the movable plate (312), an electromagnet (315) fixed on the plate (261), and the electromagnet (315) cooperating with the permanent magnet (314), a spring (316) sleeved on the surface of the movable plate (312), and the two ends of the spring (316) fixed to the inner wall of the fixed plate (311) and the surface of the permanent magnet (314) respectively.

6. The gripping robot for sorting building materials and home decoration products as claimed in claim 4, characterized in that: The transmission component (32) includes two housings (321) connected to one end of two air pipes (252), and rotating rods (322) are respectively mounted on the two housings (321). An impeller (323) is fixed at one end of the rotating rod (322) located inside the housing (321), and a bevel gear (324) is fixed at one end of the rotating rod (322) located outside the housing (321). A round rod (325) is fixed on the surface of the cylinder (251), and a bevel gear ring (326) rotates at one end of the round rod (325). The bevel gear (324) meshes with the bevel gear ring (326). A circular frame (327) is fixed on the surface of the housing (321), and the circular frame (327) is fitted onto the surface of the rotating rod (322). A torsion spring (328) is fitted onto the surface of the rotating rod (322), and the two ends of the torsion spring (328) are fixed to the inner wall of the circular frame (327) and the surface of the rotating rod (322), respectively.

7. The gripping robot for sorting building materials and home decoration as claimed in claim 6, characterized in that: The switching component (33) includes a conductive ring (331) fixed in a circumferential array on the surface of a bevel gear ring (326) via a support column, a U-shaped plate (332) fixed on the surface of the cylinder (251), and a sliding rod (333) sliding on the U-shaped plate (332). A conductive block (334) is fixed at one end of the sliding rod (333), and the conductive block (334) cooperates with the conductive ring (331). The conductive block (334) is electrically connected to an electromagnet (315) via a wire. A square block (335) is fixed at the other end of the sliding rod (333), and a spring piece (336) is fixed between the surface of the square block (335) and the inner wall of the U-shaped plate (332).

8. The gripping robot for sorting building materials and home decoration as described in claim 6, characterized in that: It also includes a docking mechanism (4) disposed between the housing (321) and the connecting pipe (253). The docking mechanism (4) includes a connector one (41) connected to the housing (321) and a connector two (42) connected to one end of the connecting pipe (253), and the connector one (41) and the connector two (42) cooperate with each other, wherein: The surface of connector 2 (42) is fitted with a limiting sleeve (43), and the surface of connector 2 (42) is fitted with a spring 1 (44). The two ends of spring 1 (44) are respectively fixed to the inner surface of the limiting sleeve (43) and the outer surface of connector 2 (42). Both connector 1 (41) and connector 2 (42) are equipped with opening and closing parts (45), and the two opening and closing parts (45) cooperate with each other.

9. The gripping robot for sorting building materials and home decoration as claimed in claim 8, characterized in that: A connecting rod (46) is fixed on the opening and closing part (45) inside the connector (41). A ring plate (47) is sleeved on one end of the rotating rod (322) located in the inner cavity of the housing (321). The ring plate (47) is fixed to the end of the connecting rod (46) away from the opening and closing part (45). An anti-slip pad (48) is fixed on the inner wall of the ring plate (47), and the anti-slip pad (48) cooperates with the tooth pattern (329).

10. The gripping robot for sorting building materials and home decoration as claimed in claim 8 or 9, characterized in that: The surface of the first connector (41) is provided with an annular groove (411), and the second connector (42) is provided with grooves (421) arranged in a circular array. Steel balls (422) slide in the grooves (421), and the steel balls (422) cooperate with the annular groove (411) and the limiting sleeve (43) respectively.

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