An anti-drop grabbing claw for mold clamping robot

Abstract

The present invention discloses an anti-falling grasping claw applied to a mold-closing robot, which belongs to the technical field of mold-closing robots and comprises a mounting frame, wherein a support plate is fixedly connected to the lower part of the inner cavity of the mounting frame. The grasping claw of the mold-closing robot can realize negative pressure adsorption and fixation of the mold when grasping the handle part of the upper mold, and then the electric cylinder drives the hollow lower pressure plate to move downward, and then the hollow lower pressure plate clamps and reinforces the handle part of the upper mold downward again, so that the present invention can not only firmly fix the mold to be grasped during the process of grasping the mold, but also effectively prevent the grasped upper mold from being damaged by clamping, so that when the mold-closing robot quickly transports the upper mold, the upper mold is difficult to separate from the two grasping claws of the mold-closing robot, which can not only ensure the normal progress of the mold-closing work, but also ensure the safe progress of the mold-closing work, thereby improving the safety of the use of the mold-closing robot.

Description

Technical Field

[0001] The invention relates to the technical field of mold clamping robots, in particular to an anti-dropping grabbing claw applied to the mold clamping robot. Background Art

[0002] Factory automation is something that improves the automation system in the process of factory production. It means making it possible to do work that is not done by humans. By using many industrial robots and exempting humans from the work that is usually performed, human operating errors can be reduced, work efficiency can be improved, and personal safety can be improved. Factory automation uses industrial control systems such as CNC and programmable logic controllers to control industrial robots and processes together with other information technologies (CAD, CAM, etc.), thereby reducing the need for human intervention. With the continuous development of science and technology, industrial robots have been widely used in the automotive parts manufacturing industry, mechanical processing industry, electronic and electrical industry, food industry, rubber and plastic industry, wood and furniture manufacturing industry and other fields. The use of industrial robots can reduce scrap rates and costs, and effectively reduce the risk of defective parts caused by workers' misoperation.

[0003] The mold clamping robot is a type of industrial robot. In the industrial production process, the mold clamping robot grabs the handle part of the upper mold part of the mold, and then clamps the grabbed upper mold and lower mold part, thereby replacing the manual mold clamping operation and improving the efficiency of industrial production. In the process of grabbing the handle part of the upper mold to be clamped by the grabbing claw, in order to avoid clamping damage to the grabbed mold, the mold clamping robot usually has a small clamping force on the handle part of the mold, which can easily lead to instability of the mold clamping robot when quickly transporting the upper mold mold, making it easy for the upper mold mold to detach from the grabbing claw of the mold clamping robot and fall, causing damage to the upper mold mold, affecting the normal progress of the mold clamping work, and the fallen mold can easily injure the staff, reducing the safety of the use of the mold clamping robot. For this reason, we propose an anti-falling grabbing claw for the mold clamping robot. Summary of the invention

[0004] 1. Technical problems to be solved:

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a grasping claw of the mold-closing robot that can realize negative pressure adsorption and fixation of the mold when grasping the handle part of the upper mold, and then the electric cylinder drives the hollow lower pressure plate to move downward, and then the hollow lower pressure plate clamps and reinforces the handle part of the upper mold again downward, so that the present invention can not only firmly fix the mold to be grasped in the process of grasping the mold, but also effectively prevent the grasped upper mold from being damaged, so that when the mold-closing robot quickly transports the upper mold, the upper mold is difficult to separate from the two grasping claws of the mold-closing robot, which can not only ensure the normal progress of the mold-closing work, but also ensure the safe progress of the mold-closing work, thereby improving the safety of the use of the mold-closing robot.

[0006] 2. Technical solution

[0007] To solve the above problems, the present invention adopts the following technical solutions.

[0008] An anti-drop grabbing claw used in a mold clamping robot comprises a mounting frame, a straight guide groove is horizontally penetrated through the bottom of the mounting frame, a bidirectional lead screw is rotatably connected to the inner cavity of the mounting frame, two lead screw nuts cooperating therewith are arranged on the peripheral movable sleeve of the bidirectional lead screw, a guide slider matching therewith is connected to the bottom of the lead screw nut at a position corresponding to the position of the straight guide groove, and the bottom end of the guide slider passes through the straight guide groove, and a grabbing claw is arranged on the bottom end of the guide slider;

[0009] A vertical plate is fixedly connected to the rear side of the bottom wall of the inner cavity of the mounting frame, and a vacuum generator and an electric air pump are respectively connected to the side walls of the vertical plate. A connecting pipe is connected between the input end of the vacuum generator and the output end of the electric air pump, and a solenoid valve is provided on the connecting pipe. A connecting pipe is connected to the output end of the vacuum generator, and a horizontal and vertical long hose is connected to the end of the connecting pipe away from the vacuum generator;

[0010] A first servo reduction motor is fixedly connected to the side wall of the mounting frame.

[0011] Based on the above technical solution, the present invention can also be improved as follows.

[0012] Furthermore, the two screw nuts are symmetrically arranged on the bidirectional screw, and both ends of the horizontal and vertical long hoses are sealed.

[0013] Furthermore, the output shaft of the first servo reduction motor passes through the mounting frame and is connected to the end of the bidirectional lead screw.

[0014] Furthermore, a claw steering mechanism is also provided on the top of the mounting frame, and the claw steering mechanism includes a cross arm, a second servo reduction motor is connected to the top surface of the cross arm, and a driving synchronous pulley and a follower synchronous pulley are respectively provided below the cross arm, and the top surfaces of the driving synchronous pulley and the follower synchronous pulley are parallel to the bottom surface of the cross arm, and there is a gap between the bottom surface of the cross arm and the top surfaces of the driving synchronous pulley and the follower synchronous pulley;

[0015] A first rotating shaft is inserted and fixed in the inner cavity of the active synchronous pulley, a first bearing seat is sleeved and fixed on the outer periphery of the top end of the first rotating shaft, a second rotating shaft is inserted and fixed in the inner cavity of the driven synchronous pulley, a second bearing seat is sleeved and fixed on the outer periphery of the top end of the second rotating shaft, and a synchronous belt that cooperates with the active synchronous pulley and the driven synchronous pulley is sleeved on their outer peripheries.

[0016] Furthermore, the first rotating shaft is rotatably connected to the bottom surface of the cross arm through a first bearing seat, and the second rotating shaft is rotatably connected to the bottom surface of the cross arm through a second bearing seat.

[0017] Furthermore, the output shaft of the second servo reduction motor passes through the cross arm and is connected to the top end of the first rotating shaft.

[0018] Furthermore, the lower end of the second rotating shaft is fixedly connected to the top surface of the mounting frame.

[0019] Further, the grabbing claw comprises a claw body, the claw body is fixedly connected to the bottom end of the corresponding guide slider, an upper base is connected to the top of the side wall of the claw body, an electric cylinder is connected to the bottom surface of the upper base, a pressure sensor is fixedly connected to the end of the electric cylinder away from the upper base, a U-shaped frame is connected to the end of the pressure sensor away from the electric cylinder, and the U-shaped frame is movably sleeved on the outer periphery of the claw body, a hollow lower pressure plate is commonly connected to the two ends of the U-shaped frame, and the hollow lower pressure plate is movably arranged in the inner cavity of the claw body, a suction cup assembly is provided on the bottom surface of the hollow lower pressure plate, and a long air guide hose is connected to the top surface of the hollow lower pressure plate;

[0020] The suction cup assembly includes an upper tube body, which is connected to the bottom surface of the hollow lower pressure plate. Two contraction joints are provided below the upper tube body. The two contraction joints are arranged up and down and are connected to each other. The bottom end of the contraction joint at the bottom is connected to a vacuum suction cup. An annular air bag is commonly sleeved and fixed on the outer periphery of the connection point of the two contraction joints. An annular metal reset net is fixedly connected to the side wall of the inner cavity of the annular air bag, and the annular metal reset net is made of memory alloy. The side wall of the annular air bag is connected to an airflow soft conduit, and the side wall of the airflow soft conduit is connected to a pressure relief pipe, and a gas valve is provided on the pressure relief pipe.

[0021] A plurality of rubber anti-skid pads are evenly connected to the bottom wall of the inner cavity of the claw body;

[0022] A vertical rod body arranged vertically is connected to the bottom surface of the upper base, a plurality of limiting tooth grooves are evenly provided on the side wall of the vertical rod body in the vertical direction, a bottom connecting annular seat is sleeved on the outer circumference of the vertical rod body, and the bottom connecting annular seat is fixedly connected to the bottom surface of the U-shaped frame, a movable groove is provided on the side wall of the inner cavity of the bottom connecting annular seat, a piston groove is provided on the side wall of the movable groove, a rack that cooperates with the limiting tooth groove is movably provided in the movable groove, a columnar plug seat is movably provided in the piston groove, a sealing ring is sleeved and fixed on the outer circumference of the columnar plug seat, and the sealing ring is tightly fitted with the side wall of the piston groove, a coupling block is connected between the columnar plug seat and the rack, a telescopic mother rod is connected to the side of the columnar plug seat away from the rack, a telescopic sub-rod is movably inserted in the inner cavity of the telescopic mother rod, a tension spring is jointly sleeved on the outer circumference of the telescopic mother rod and the telescopic sub-rod, and the bottom end of the vertical rod body is fixedly connected to the lower base, and the lower base is connected to the side wall of the claw body;

[0023] A reserved hole is also provided on the side wall of the bottom-connected annular seat, and the reserved hole is communicated with the piston groove.

[0024] Furthermore, one end of the telescopic sub-rod away from the telescopic mother rod is fixedly connected to the inner wall of the piston groove;

[0025] One end of the tension spring is fixedly connected to the side of the columnar plug seat away from the rack, and the other end of the tension spring is connected to the inner wall of the piston groove;

[0026] One end of the airflow soft conduit away from the annular airbag is fixedly connected to the reserved hole.

[0027] Furthermore, one end of the long air-conducting hose away from the hollow lower pressure plate is connected to the side wall of the horizontal long hose.

[0028] 3. Beneficial effects

[0029] Compared with the prior art, the advantages of the present invention are:

[0030] (1) The gripping claws of the mold-clamping robot can realize negative pressure adsorption and fixation of the mold when gripping the handle of the upper mold, and then the electric cylinder drives the hollow lower pressure plate to move downward, and then the hollow lower pressure plate clamps and reinforces the handle of the upper mold again downward, so that the present invention can not only firmly fix the mold to be grasped during the grasping process, but also effectively prevent the grasped upper mold from being damaged, so that when the mold-clamping robot quickly transports the upper mold, the upper mold is difficult to separate from the two gripping claws of the mold-clamping robot, which can not only ensure the normal progress of the mold-clamping work, but also ensure the safe progress of the mold-clamping work, thereby improving the safety of the use of the mold-clamping robot;

[0031] (2) After the vacuum suction cup is adsorbed on the upper surface of the mold, the electric cylinder drives the hollow lower pressing plate to move downward and clamp the mold. The downward clamping force of the hollow lower pressing plate can be monitored by the pressure sensor, so that the staff can control the downward clamping force of the mold conveniently;

[0032] In addition, the elastic rubber anti-skid pad connected to the bottom wall of the inner cavity of the claw body can not only increase the friction between the claw body and the bottom surface of the mold, but also provide buffer protection for the bottom surface of the mold.

[0033] (3) When the two grasping claws in the mold clamping robot grasp the upper mold, the deflection direction of the two grasping claws can be adjusted by the claw steering mechanism, so that the mold clamping robot can flexibly adjust the deflection direction of the two grasping claws according to the deflection direction of the mold to be grasped when grasping the mold, thereby grasping molds with different deflection directions;

[0034] (4) The bidirectional lead screw is driven by the first servo reduction motor to rotate forward and reverse, and then the bidirectional lead screw drives the two lead screw nuts to move toward or away from each other, so that the distance between the two grasping claws in the mold clamping robot can be adjusted according to the size of the mold to be grasped, which is convenient for grasping upper molds of different sizes, thereby expanding the application scope of mold grasping work;

[0035] (5) After the grabbing claw grabs the handle of the upper mold, the electric cylinder drives the U-shaped frame to move downward, and then the U-shaped frame drives the vacuum suction cup to move downward and fit on the upper surface of the upper mold. Subsequently, the electric air pump delivers air to the vacuum generator, and then the vacuum generator extracts the air inside the vacuum suction cup and the contraction joint to form a negative pressure. The contraction joint and the vacuum suction cup are gradually squeezed and contracted by the external atmospheric pressure. In the process of gradually forming a negative pressure state inside the vacuum suction cup and the contraction joint, the hollow lower pressure plate is continuously pushed downward, and the hollow lower pressure plate continues to press the vacuum suction cup downward in the process of the vacuum suction cup and the contraction joint continuously reducing and contracting in volume, so that the vacuum suction cup can be firmly adsorbed and fixed on the upper surface of the mold, thereby achieving preliminary fixation of the mold.

[0036] In the process of gradually extracting the air inside the contraction joint and forming a negative pressure, the two contraction joints are in a compressed state. When the two contraction joints are gradually compressed, the annular airbag between the two contraction joints is squeezed by the two contraction joints, so that the annular airbag discharges the gas in its inner cavity into the piston cavity through the airflow soft conduit. The gas discharged into the piston cavity pushes the columnar plug seat to move, and the columnar plug seat pushes the rack to move, so that the rack is buckled between the limiting tooth grooves on the side wall of the vertical rod body and meshes with the limiting tooth grooves. The limiting function realizes further limiting and locking processing of the hollow lower pressure plate, so that the hollow lower pressure plate always maintains the downward pressure on the suction cup assembly, so that the vacuum suction cup can always be firmly adsorbed and fixed on the upper surface of the mold handle, further ensuring the clamping and fixing effect of the grabbing claws, so that when the mold-closing robot quickly transports the upper mold, the upper mold is difficult to separate from the two grabbing claws of the mold-closing robot, which can not only ensure the normal progress of the mold-closing work, but also ensure the safe progress of the mold-closing work, thereby improving the safety of the use of the mold-closing robot.

[0037] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 A schematic structural diagram of an anti-drop grabbing claw applied to a mold clamping robot provided by one embodiment of the present invention;

[0040] Figure 2 for Figure 1 A side view of a support plate in an anti-drop grabbing claw for a mold clamping robot is provided;

[0041] Figure 3 for Figure 1 A side view of a cross arm in an anti-drop grabbing claw for a mold clamping robot is provided;

[0042] Figure 4 for Figure 1 A side view of a neutral plate of an anti-drop grabbing claw for a mold clamping robot is provided;

[0043] Figure 5 for Figure 4 A partial enlarged view of A in an anti-drop grabbing claw used in a mold clamping robot;

[0044] Figure 6 for Figure 1 A side view of a grabbing claw in an anti-drop grabbing claw used in a mold clamping robot is provided;

[0045] Figure 7 for Figure 1 A cross-sectional view of a suction cup assembly in an anti-drop grabbing claw for a mold clamping robot is provided;

[0046] Figure 8 for Figure 1 A three-dimensional cross-sectional view of a ring-shaped metal reset net in an anti-drop grabbing claw used in a mold clamping robot is provided;

[0047] Fig. 9 for Figure 1 A cross-sectional view of a bottom connection annular seat of an anti-drop grabbing claw used in a mold clamping robot is provided;

[0048] Fig.10 for Fig. 9 A partial enlarged view of C in an anti-drop grabbing claw used in a mold clamping robot is provided.

[0049] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0050] 1. Mounting frame; 2. Support plate; 3. Bidirectional lead screw; 4. Lead screw nut; 5. Guide slide block; 6. Claw body; 7. Hollow lower pressure plate; 8. Vacuum suction cup; 9. Rubber anti-skid pad; 10. First servo reduction motor; 11. Cross arm; 12. Second servo reduction motor; 13. Active synchronous pulley; 14. Follower synchronous pulley; 15. Synchronous belt; 16. U-shaped frame; 17. Lower base; 18. Electric air pump; 19. Vacuum generator; 20. Solenoid valve; 21. Vertical rod; 2 2. Upper base; 23. Electric cylinder; 24. Pressure sensor; 25. Long horizontal and vertical hoses; 26. Long air-conducting hose; 27. Connecting pipe; 28. Connecting pipeline; 29. ​​Vertical plate; 30. Second bearing seat; 31. Contraction joint; 32. Annular airbag; 33. Airflow soft conduit; 34. Annular metal reset net; 35. Bottom annular seat; 36. Rack; 37. Columnar plug seat; 38. Sealing ring; 39. Telescopic mother rod; 40. Telescopic sub-rod; 41. Tension spring; 42. Gas valve. DETAILED DESCRIPTION

[0051] The following is combined with Figure 1-10 The principles and features of the present invention are described, and the examples are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention is described in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0052] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0054] Embodiment 1:

[0055] like Figure 1-4As shown, the present invention provides an anti-dropping grabbing claw applied to a mold clamping robot, comprising a mounting frame 1, a straight guide groove is horizontally penetrated through the bottom of the mounting frame 1, a bidirectional lead screw 3 is rotatably connected to the inner cavity of the mounting frame 1, two lead screw nuts 4 cooperating therewith are provided on the peripheral movable sleeve of the bidirectional lead screw 3, a guide slider 5 adapted thereto is connected to the bottom of the lead screw nut 4 at a position corresponding to the position of the straight guide groove, and the bottom end of the guide slider 5 passes through the straight guide groove, and a grabbing claw is provided on the bottom end of the guide slider 5;

[0056] A vertical plate 29 is fixedly connected to the rear side of the bottom wall of the inner cavity of the mounting frame 1, and the side walls of the vertical plate 29 are respectively connected to the vacuum generator 19 and the electric air pump 18. A connecting pipe 28 is connected between the input end of the vacuum generator 19 and the output end of the electric air pump 18, and a solenoid valve 20 is provided on the connecting pipe 28. A connecting pipe 27 is connected to the output end of the vacuum generator 19, and a horizontal and vertical long hose 25 is connected to the end of the connecting pipe 27 away from the vacuum generator 19;

[0057] A first servo reduction motor 10 is fixedly connected to the side wall of the mounting frame 1 .

[0058] Two lead screw nuts 4 are symmetrically arranged on the bidirectional lead screw 3, and both ends of the horizontal and vertical long hose 25 are sealed.

[0059] The output shaft of the first servo reduction motor 10 passes through the mounting frame 1 and is connected to the end of the bidirectional lead screw 3. Through the forward and reverse rotation of the first servo reduction motor 10, the bidirectional lead screw 3 can drive the two lead screw nuts 4 to move toward or away from each other. Subsequently, the two lead screw nuts 4 respectively drive the guide sliders 5 connected to them to move, so that the distance between the two claw bodies 6 can be adjusted according to the size of the mold to be grasped.

[0060] Please refer to 1-6. The grabbing claw includes a claw body 6. The claw body 6 is made of aluminum alloy, which is light in weight, high in strength and rigidity. The claw body 6 is fixedly connected to the bottom end of the corresponding guide slider 5. An upper base 22 is connected to the upper side wall of the claw body 6. An electric cylinder 23 is connected to the bottom surface of the upper base 22. A pressure sensor 24 is fixedly connected to the end of the electric cylinder 23 away from the upper base 22. A U-shaped frame 16 is connected to the end of the pressure sensor 24 away from the electric cylinder 23. The U-shaped frame 16 is movably sleeved on the outer periphery of the claw body 6. A hollow lower pressure plate 7 is commonly connected to both ends of the U-shaped frame 16. The hollow lower pressure plate 7 is movably arranged in the inner cavity of the claw body 6. A suction cup assembly is provided on the bottom surface of the hollow lower pressure plate 7. The top surface of the hollow lower pressure plate 7 is connected to a long air guide hose 26.

[0061] The suction cup assembly includes an upper tube body, which is connected to the bottom surface of the hollow lower pressure plate 7. Two contraction joints 31 are provided at the bottom of the upper tube body. The two contraction joints 31 are arranged up and down, and the two contraction joints 31 are connected to each other. The bottom end of the contraction joint 31 at the bottom is connected to the vacuum suction cup 8. The outer periphery of the connection point of the two contraction joints 31 is commonly sleeved and fixed with an annular air bag 32. An annular metal reset net 34 is fixedly connected to the side wall of the inner cavity of the annular air bag 32, and the annular metal reset net 34 is made of memory alloy. The side wall of the annular air bag 32 is connected to an airflow soft conduit 33, and the side wall of the airflow soft conduit 33 is connected to a pressure relief pipe, and a gas valve 42 is provided on the pressure relief pipe.

[0062] A plurality of rubber anti-skid pads 9 are evenly connected to the bottom wall of the inner cavity of the claw body 6;

[0063] A vertical rod body 21 arranged vertically is connected to the bottom surface of the upper base 22, and a plurality of limit tooth grooves are evenly provided on the side wall of the vertical rod body 21 in the vertical direction. A bottom-connected annular seat 35 is sleeved on the outer periphery of the vertical rod body 21, and the bottom-connected annular seat 35 is fixedly connected to the bottom surface of the U-shaped frame 16. A movable groove is provided on the side wall of the inner cavity of the bottom-connected annular seat 35, and a piston groove is provided on the side wall of the movable groove. A rack 36 that cooperates with the limit tooth groove is movably provided in the movable groove, and a columnar plug seat 37 is movably provided in the piston groove. A sealing ring 38 is sleeved and fixed on the outer periphery of the columnar plug seat 37, and the sealing ring 38 is tightly fitted with the side wall of the piston groove. A coupling block is connected between the columnar plug seat 37 and the rack 36. A telescopic mother rod 39 is connected to the side of the columnar plug seat 37 away from the rack 36. A telescopic sub-rod 40 is movably inserted into the inner cavity of the telescopic mother rod 39. A tension spring 41 is sleeved on the outer periphery of the telescopic mother rod 39 and the telescopic sub-rod 40. The bottom end of the vertical rod body 21 is fixedly connected to the lower base 17, and the lower base 17 is connected to the side wall of the claw body 6 of the clamping claw;

[0064] A reserved hole is also provided on the side wall of the bottom annular seat 35, and the reserved hole is connected to the piston groove. The rubber anti-skid pad 9 is elastic. After the two grasping claws grasp the upper mold, the U-shaped frame 16 is driven downward by the electric cylinder 23, and then the U-shaped frame 16 drives the vacuum suction cup 8 to move downward and fit on the upper surface of the upper mold. Subsequently, the electric air pump 18 delivers air flow to the vacuum generator 19, and then the vacuum generator 19 extracts the air inside the vacuum suction cup 8 and the contraction joint 31 to form a negative pressure, and the contraction joint 31 and the vacuum suction cup 8 are gradually squeezed and contracted by the external atmospheric pressure. In the process of gradually forming a negative pressure state inside the vacuum suction cup 8 and the contraction joint 31, the electric cylinder 23 continuously pushes the hollow lower pressure plate 7 downward, and the hollow lower pressure plate 7 continues to press the vacuum suction cup 8 downward in the process of the vacuum suction cup 8 and the contraction joint 31 continuously reducing in volume and contracting, so that the vacuum suction cup 8 can be firmly adsorbed and fixed on the upper surface of the mold, thereby achieving preliminary fixation of the mold. In the process of gradually extracting the air inside the contraction joint 31 and forming a negative pressure, the two contraction joints 31 are in a compressed state. When the two contraction joints 31 are gradually compressed, the two contraction joints 31 are in a compressed state. The annular airbag 32 between the contraction joints 31 is squeezed by the two contraction joints 31, so that the annular airbag 32 discharges the gas in its inner cavity into the piston cavity through the airflow soft conduit 33, and the gas discharged into the piston cavity pushes the columnar plug seat 37 to move, and then the columnar plug seat 37 pushes the rack 36 to move, and the rack 36 is snapped into the limiting tooth groove on the side wall of the vertical rod body 21 and meshed with the limiting tooth groove. The limiting effect of the limiting tooth groove on the rack 36 is realized to further limit and lock the hollow lower pressure plate 7, so that the hollow lower pressure plate 7 always maintains the downward pressure on the suction cup assembly, so that the true The empty suction cup 8 can always be firmly adsorbed and fixed on the upper surface of the mold handle, further ensuring the clamping and fixing effect of the grabbing claws, so that when the present mold-closing robot quickly transports the upper mold, the upper mold is difficult to separate from the two grabbing claws of the present mold-closing robot, which can not only ensure the normal progress of the mold-closing work, but also ensure the safe progress of the mold-closing work, thereby improving the safety of the use of the present mold-closing robot. The elastic rubber anti-slip pad 9 connected to the bottom wall of the inner cavity of the claw body 6 can not only increase the friction between the bottom surface of the mold and the bottom surface of the mold, but also achieve buffering protection for the bottom surface of the mold.

[0065] See also Figure 6 , Figure 7 , two vertical rods 21 arranged vertically are symmetrically connected to the bottom surface of the upper base 22;

[0066] The bottom ends of the two vertical rods 21 both penetrate the U-shaped frame 16 , and the bottom ends of the two vertical rods 21 are commonly connected to a lower base 17 , and the lower base 17 is connected to the lower side wall of the claw body 6 .

[0067] See also Figure 1-6One end of the long air-conducting hose 26 away from the hollow lower pressure plate 7 is connected to the side wall of the horizontal long hose 25. When the electric cylinder 23 drives the U-shaped frame 16 to move, the movement of the U-shaped frame 16 is guided by the vertical rod body 21 to avoid the misalignment of the U-shaped frame 16 during movement. The long air-conducting hose 26 and the horizontal long hose 25 are long hoses, which will not affect the movement of the hollow lower pressure plate 7 and the claw body 6. The air path of the long air-conducting hose 26 is controlled by the external solenoid valve 20.

[0068] Embodiment 2:

[0069] See also Figure 1-4 A claw steering mechanism is also provided on the top of the mounting frame 1, and the claw steering mechanism includes a cross arm 11, and a second servo reduction motor 12 is connected to the top surface of the cross arm 11, and a driving synchronous pulley 13 and a follower synchronous pulley 14 are respectively provided below the cross arm 11, and the top surfaces of the driving synchronous pulley 13 and the follower synchronous pulley 14 are parallel to the bottom surface of the cross arm 11, and there is a gap between the bottom surface of the cross arm 11 and the top surfaces of the driving synchronous pulley 13 and the follower synchronous pulley 14;

[0070] A first rotating shaft is inserted and fixed to the inner cavity of the driving synchronous pulley 13, and a first bearing seat is sleeved and fixed to the outer periphery of the top end of the first rotating shaft. A second rotating shaft is inserted and fixed to the inner cavity of the following synchronous pulley 14, and a second bearing seat 30 is sleeved and fixed to the outer periphery of the top end of the second rotating shaft. The outer peripheries of the driving synchronous pulley 13 and the following synchronous pulley 14 are jointly sleeved with a synchronous belt 15 that cooperates with the two.

[0071] The first rotating shaft is rotatably connected to the bottom surface of the cross arm 11 through the first bearing seat, and the second rotating shaft is rotatably connected to the bottom surface of the cross arm 11 through the second bearing seat 30 .

[0072] The output shaft of the second servo reduction motor 12 passes through the cross arm 11 and is connected to the top end of the first rotating shaft.

[0073] The lower end of the second rotating shaft is fixedly connected to the top surface of the mounting frame 1. Before the upper mold is grasped, the second servo reduction motor 12 drives the active synchronous pulley 13 to rotate, and the active synchronous pulley 13 then drives the follower synchronous pulley 14 to rotate through the synchronous belt 15, so that the follower synchronous pulley 14 can drive the mounting frame 1 to rotate through the second rotating shaft, and then the mounting frame 1 drives the two grasping claws to deflect, so that the mold clamping robot can adjust the deflection direction of the two grasping claws according to the deflection direction of the mold to be grasped when grasping the mold. It can be flexibly adjusted to grasp the molds with different deflection directions. When the mold is transported to the destination, the gas circuit of the long air guide hose 26 is disconnected through the solenoid valve 20, and then the gas valve 42 on the pressure relief pipe is opened. After the upper mold part and the lower mold part are molded together, and the handle part of the upper mold part is gradually separated from the grasping claw, the gas valve 42 is opened, so that the original columnar plug seat 37 will drive the rack 36 to separate from the limiting tooth groove, so that the columnar plug seat 37 enables the electric cylinder 23 to drive the hollow lower pressure plate 7 to move vertically again.

[0074] See also Figure 1-10The present invention provides an anti-drop grabbing claw used in a mold clamping robot. Before grabbing the upper mold, the second servo reduction motor 12 can drive the active synchronous pulley 13 to rotate, and the active synchronous pulley 13 can then drive the follower synchronous pulley 14 to rotate through the synchronous belt 15, so that the follower synchronous pulley 14 can drive the mounting frame 1 to rotate through the second rotating shaft, and then the mounting frame 1 drives the two grabbing claws to deflect, so that when the mold clamping robot grabs the mold, the deflection direction of the two grabbing claws can be flexibly adjusted according to the deflection direction of the mold to be grabbed, so as to grab the molds with different deflection directions. Afterwards, through the forward and reverse rotation of the first servo reduction motor 10, the bidirectional lead screw 3 can drive the two lead screw nuts 4 to move toward or away from each other, and then the two lead screw nuts 4 respectively drive the guide sliders 5 connected to them to move, so that the spacing between the two claw bodies 6 can be adjusted according to the size of the mold to be grabbed.After the grabbing claw grabs the handle of the upper mold, the electric cylinder 23 drives the U-shaped frame 16 to move downward, and then the U-shaped frame 16 drives the vacuum suction cup 8 to move downward and fit the upper surface of the upper mold. Subsequently, the electric air pump 18 delivers air to the vacuum generator 19, and then the vacuum generator 19 extracts the air inside the vacuum suction cup 8 and the contraction joint 31 to form a negative pressure, and the contraction joint 31 and the vacuum suction cup 8 are gradually squeezed and contracted by the external atmospheric pressure, and in the process of gradually forming a negative pressure state inside the vacuum suction cup 8 and the contraction joint 31, the electric air pump 18 delivers air to the vacuum generator 19, and then the vacuum generator 19 extracts the air inside the vacuum suction cup 8 and the contraction joint 31 to form a negative pressure. The cylinder 23 continuously pushes the hollow lower pressing plate 7 downward, and the hollow lower pressing plate 7 continues to press the vacuum suction cup 8 downward in the process that the volume of the vacuum suction cup 8 and the contraction joint 31 is continuously reduced and contracted, so that the vacuum suction cup 8 can be firmly adsorbed and fixed on the upper surface of the mold, thereby realizing the preliminary fixation of the mold. In the process that the air inside the contraction joint 31 is gradually extracted and negative pressure is formed, the two contraction joints 31 are in a compressed state. When the two contraction joints 31 are gradually compressed, the annular airbag 32 between the two contraction joints 31 is subjected to the pressure of the two contraction joints. The extrusion of 31 causes the annular airbag 32 to discharge the gas in its inner cavity into the piston cavity through the airflow soft conduit 33, and the gas discharged into the piston cavity pushes the columnar plug seat 37 to move, and then the columnar plug seat 37 pushes the rack 36 to move, and the rack 36 is snapped into the limiting tooth groove on the side wall of the vertical rod body 21 and meshed with the limiting tooth groove. The limiting effect of the limiting tooth groove on the rack 36 is used to further limit and lock the hollow lower pressure plate 7, so that the hollow lower pressure plate 7 always maintains the downward pressure on the suction cup assembly, so that the vacuum suction cup 8 can always be firmly fixed. The upper surface of the mold handle is adsorbed and fixed to further ensure the clamping and fixing effect of the grabbing claws, so that when the mold robot is quickly transporting the upper mold, the upper mold is difficult to separate from the two grabbing claws of the mold robot, which can not only ensure the normal operation of the mold closing work, but also ensure the safe operation of the mold closing work, and improve the safety of the use of the mold closing robot. The elastic rubber anti-skid pad 9 connected to the bottom wall of the inner cavity of the claw body 6 can not only increase the friction between the bottom surface of the mold, but also achieve buffer protection for the bottom surface of the mold. When the mold is transported to the destination, the gas path of the long air-conducting hose 26 is disconnected by the solenoid valve 20, and then the gas valve 42 on the pressure relief pipe is opened. After the upper mold part and the lower mold part are closed, and the handle of the upper mold part is gradually separated from the grabbing claws, the gas valve 42 is opened, so that the original columnar plug seat 37 will drive the rack 36 to separate from the limit tooth groove, so that the columnar plug seat 37 allows the electric cylinder 23 to drive the hollow lower pressure plate 7 to move vertically again.

[0075] It should be noted that, in this document, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The electrical components appearing in this document are all electrically connected to the 220V mains. Contents not described in detail in this specification belong to the prior art known to professionals in the field.

[0076] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. An anti-drop grabbing claw used in a mold clamping robot, It is characterized in that The invention comprises a mounting frame (1), wherein a straight guide groove is formed transversely through the bottom of the mounting frame (1), a bidirectional lead screw (3) is rotatably connected to the inner cavity of the mounting frame (1), two lead screw nuts (4) cooperating therewith are provided on the outer peripheral movable sleeve of the bidirectional lead screw (3), a guide slider (5) matching therewith is connected to the bottom of the lead screw nut (4) at a position corresponding to the position of the straight guide groove, and the bottom end of the guide slider (5) passes through the straight guide groove, and a grabbing claw is provided on the bottom end of the guide slider (5); The grabbing claw comprises a claw body (6), the claw body (6) is fixedly connected to the bottom end of the corresponding guide slider (5), an upper base (22) is connected to the upper side wall of the claw body (6), an electric cylinder (23) is connected to the bottom surface of the upper base (22), a pressure sensor (24) is fixedly connected to the end of the electric cylinder (23) away from the upper base (22), a U-shaped frame (16) is connected to the end of the pressure sensor (24) away from the electric cylinder (23), and the U-shaped frame (16) is movably sleeved on the outer periphery of the claw body (6), a hollow lower pressure plate (7) is commonly connected to both ends of the U-shaped frame (16), and the hollow lower pressure plate (7) is movably arranged in the inner cavity of the claw body (6), a suction cup assembly is provided on the bottom surface of the hollow lower pressure plate (7), and a long air guide hose (26) is connected to the top surface of the hollow lower pressure plate (7); The suction cup assembly comprises an upper tube body, the upper tube body is connected to the bottom surface of the hollow lower pressure plate (7), two contraction joints (31) are arranged below the upper tube body, the two contraction joints (31) are arranged up and down, and the two contraction joints (31) are connected to each other, and the bottom end of the contraction joint (31) at the bottom is connected to the vacuum suction cup (8), and the outer periphery of the connection point of the two contraction joints (31) is commonly sleeved and fixed with an annular air bag (32), and the side wall of the inner cavity of the annular air bag (32) is fixedly connected with an annular metal reset net (34), and the annular metal reset net (34) is made of memory alloy material, and the side wall of the annular air bag (32) is connected with an airflow soft conduit (33), and the side wall of the airflow soft conduit (33) is connected with a pressure relief pipe, and the pressure relief pipe is provided with a gas valve (42); A vertical rod body (21) arranged vertically is connected to the bottom surface of the upper base (22); a plurality of limit tooth grooves are evenly arranged on the side wall of the vertical rod body (21) in the vertical direction; a bottom annular seat (35) is sleeved on the outer periphery of the vertical rod body (21); and the bottom annular seat (35) is fixedly connected to the bottom surface of the U-shaped frame (16); a movable groove is arranged on the side wall of the inner cavity of the bottom annular seat (35); a piston groove is arranged on the side wall of the movable groove; a reserved hole is also arranged on the side wall of the bottom annular seat (35); and the reserved hole is connected to the piston groove; one end of the airflow soft conduit (33) away from the annular airbag (32) is fixedly connected to the reserved hole; a rack (36) that cooperates with the limit tooth groove is movably arranged in the movable groove; and a columnar plug seat (37) is movably arranged in the piston groove; A vertical plate (29) is fixedly connected to the rear side of the bottom wall of the inner cavity of the mounting frame (1); a vacuum generator (19) and an electric air pump (18) are respectively connected to the side walls of the vertical plate (29); a connecting pipe (28) is connected between the input end of the vacuum generator (19) and the output end of the electric air pump (18); a solenoid valve (20) is provided on the connecting pipe (28); a connecting pipe (27) is connected to the output end of the vacuum generator (19); and a long horizontal and vertical hose (25) is connected to the end of the connecting pipe (27) away from the vacuum generator (19); A first servo reduction motor (10) is fixedly connected to the side wall of the mounting frame (1).

2. According to claim 1, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that The two screw nuts (4) are symmetrically arranged on the bidirectional screw (3), and both ends of the horizontal and vertical long hose (25) are sealed.

3. According to claim 1, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that The output shaft of the first servo reduction motor (10) passes through the mounting frame (1) and is connected to the end of the bidirectional lead screw (3).

4. According to claim 1, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that A claw steering mechanism is also provided at the top of the mounting frame (1), the claw steering mechanism comprising a cross arm (11), a second servo reduction motor (12) being connected to the top surface of the cross arm (11), a driving synchronous pulley (13) and a follower synchronous pulley (14) being provided below the cross arm (11), the top surfaces of the driving synchronous pulley (13) and the follower synchronous pulley (14) being parallel to the bottom surface of the cross arm (11), and a gap is provided between the bottom surface of the cross arm (11) and the top surfaces of the driving synchronous pulley (13) and the follower synchronous pulley (14); A first rotating shaft is inserted and fixed in the inner cavity of the driving synchronous pulley (13), a first bearing seat is sleeved and fixed on the outer periphery of the top end of the first rotating shaft, a second rotating shaft is inserted and fixed in the inner cavity of the follower synchronous pulley (14), a second bearing seat (30) is sleeved and fixed on the outer periphery of the top end of the second rotating shaft, and a synchronous belt (15) is sleeved on the outer peripheries of the driving synchronous pulley (13) and the follower synchronous pulley (14) for cooperation with the two.

5. According to claim 4, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that The first rotating shaft is rotatably connected to the bottom surface of the cross arm (11) via a first bearing seat, and the second rotating shaft is rotatably connected to the bottom surface of the cross arm (11) via a second bearing seat (30).

6. According to claim 4, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that The output shaft of the second servo reduction motor (12) passes through the cross arm (11) and is connected to the top end of the first rotating shaft.

7. According to claim 4, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that The lower end of the second rotating shaft is fixedly connected to the top surface of the mounting frame (1).

8. According to claim 1, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that A plurality of rubber anti-skid pads (9) are evenly connected to the bottom wall of the inner cavity of the claw body (6); A sealing ring (38) is sleeved and fixed on the outer periphery of the columnar plug seat (37), and the sealing ring (38) is tightly fitted with the side wall of the piston groove. A coupling block is connected between the columnar plug seat (37) and the rack (36). A telescopic mother rod (39) is connected to the side of the columnar plug seat (37) away from the rack (36). A telescopic sub-rod (40) is movably inserted into the inner cavity of the telescopic mother rod (39). A tension spring (41) is sleeved on the outer periphery of the telescopic mother rod (39) and the telescopic sub-rod (40). The bottom end of the vertical rod body (21) is fixedly connected to a lower base (17), and the lower base (17) is connected to the side wall of the claw body (6).

9. According to claim 8, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that One end of the telescopic sub-rod (40) away from the telescopic mother rod (39) is fixedly connected to the inner wall of the piston groove; One end of the tension spring (41) is fixedly connected to a side of the columnar plug seat (37) away from the rack (36), and the other end of the tension spring (41) is connected to the inner wall of the piston groove.

10. According to claim 8, an anti-drop grabbing claw used in a mold clamping robot, It is characterized in that One end of the long air-conducting hose (26) away from the hollow lower pressing plate (7) is connected to the side wall of the long horizontal hose (25).

Images