Clamp robot capable of avoiding abrasion of raw materials

Abstract

The invention discloses a clamp robot capable of avoiding abrasion of raw materials, and relates to the technical field of clamp robos.The clamp robot comprises a mechanical clamping arm, a connecting block is fixedly connected to the upper surface of the mechanical clamping arm, an air inlet is formed in the connecting block, a pneumatic shaft is slidably connected into the air inlet of the connecting block, and a driving block is fixedly connected to the face, away from the connecting block, of the pneumatic shaft; a sliding rail is fixed to the middle of the face, close to the clamping block, of the connecting block, the clamping block is slidably connected to the sliding rail of the connecting block, and a clamping plate is arranged on the outer surface of the end, away from the connecting block, of the clamping block. A clamp robot capable of avoiding abrasion of raw materials comprises a pressure protection mechanism, a pressure alarm mechanism and an air blowing and dust removing mechanism. Through the arrangement of the pressure protection mechanism, the device can be used in different environments, and can work normally even under the influence of vibration and noise, so that the situation that when an object is clamped, the pressure cannot be controlled due to the environment, and excessive pressure and abrasion are caused to the object is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of clamp robots, in particular to a clamp robot capable of avoiding wear of raw materials. Background Art

[0002] Existing clamping robots generally use mechanical clamps, vacuum suction cups, magnetic clamps and pneumatic clamps to clamp objects. Among them, mechanical clamps are one of the most common types of clamping robots. They are usually composed of adjustable claws, clamp fingers or clamp arms, which are used to fix and clamp workpieces.

[0003] However, when the existing mechanical clamp uses a pneumatic drive source, the rapid movement of the gas will drive the clamp to quickly clamp the object, and the rapid clamping of the object will cause the surface of the object to be damaged due to the rapid clamping of the clamp. The existing mechanical surface clamping pressure control mostly uses a pressure sensor, and the machine will generate vibration and noise during the clamping operation. The pressure sensor is easily affected by the external environment and fails when in use. The failure of the pressure sensor will cause the clamp to have an excessive clamping force. The excessive clamping force will cause a large friction between the clamp and the raw material, resulting in scratches or wear on the surface of the raw material, and even deformation or damage to the raw material, which will affect the appearance and quality of the raw material.

[0004] In addition, when existing mechanical clamps clamp objects, dust and particles in the air usually adhere to the clamping plates. The dust and particles form obstacles between the clamp and the object, increasing surface friction and causing scratches and wear on the material surface. At the same time, the dust and particles on the surface of the clamp will leave imprints or defects when clamping, causing the surface of the object to be uneven or produce uneven defects.

[0005] Therefore, a clamping robot that avoids raw material wear is proposed to solve the above problems. Summary of the invention

[0006] In view of this, the technical problem to be solved by the present invention is to propose a clamping robot that avoids wear of raw materials, so as to solve the problems in the prior art that the material surface is easily worn by the clamping force during clamping and the dust on the clamp surface causes wear of the material during clamping.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a clamping robot that avoids wear of raw materials, comprising a mechanical clamping arm, a connecting block fixedly connected to the upper surface of the mechanical clamping arm, an air inlet hole opened in the connecting block, a pneumatic shaft slidably connected to the air inlet hole of the connecting block, a driving block fixedly connected to the side of the pneumatic shaft away from the connecting block, a clamping block fixedly connected to the side of the driving block away from the connecting block, a slide rail fixed to the middle part of the side of the connecting block close to the clamping block, the clamping block is slidably connected to the connecting block slide rail, a clamping plate is arranged on the outer surface of one end of the clamping block away from the connecting block, a clamping robot that avoids wear of raw materials comprises a pressure protection mechanism, a pressure alarm mechanism, and an air blowing and cleaning mechanism, the pressure protection mechanism is arranged on the clamping plate, the pressure alarm mechanism is arranged in the clamping block; the air blowing and cleaning mechanism is arranged on the driving block;

[0008] The pressure protection mechanism is used to prevent excessive clamping pressure from causing wear of the raw material when the clamping plate is clamped;

[0009] The pressure alarm mechanism is used for emergency warning when the clamping pressure is too high;

[0010] The air blowing and dust cleaning mechanism is used for cleaning impurities and dust on the clamping plate.

[0011] Preferably, the pressure protection mechanism includes a small fixed bin, which is symmetrically fixedly connected to a clamping plate, a medium-sized fixed bin is arranged on the outer surface of the small fixed bin, the bottom of the medium-sized fixed bin is fixedly connected to a clamping block, the outer surface of the small fixed bin is slidably connected to an inner wall of the medium-sized fixed bin, the clamping plate is fixedly connected to a first spring near the inside of the small fixed bin, and the first spring is fixedly connected to the clamping block at one end away from the clamping plate.

[0012] Preferably, the splint is fixedly connected to a sliding gear block on one side close to the small fixed warehouse, the tooth surface of the sliding gear block is meshed with a first gear, the middle part of the first gear is fixedly connected to a rotating shaft, the two sides of the medium-sized fixed warehouse are fixedly connected to fixed plates, the outer surfaces of both ends of the rotating shaft are rotatably connected to the fixed plates, the end of the rotating shaft away from the sliding gear block is fixedly connected to a second gear, and the tooth surface of the second gear is meshed with a rack slide.

[0013] Preferably, the lower surface of the rack slide is slidably connected to the clamping block, the end of the rack slide away from the second gear is fixedly connected to an n-type extrusion block, the n-type extrusion block is slidably connected to the side of the clamping block close to the connecting block, the n-type extrusion block is fixedly connected to a second spring on a side close to the rack slide, the second spring is fixedly connected to a baffle at one end away from the n-type extrusion block, and the lower surface of the baffle is fixedly connected to the clamping block.

[0014] Preferably, the pressure alarm mechanism includes an angled extrusion block, a square groove is provided on one side of the clamping block close to the clamping plate, and the square groove is adapted to the size of the sliding gear block, the outer surface of the sliding gear block is slidably connected in the square groove, the clamping block is also provided with a sliding groove near the middle of the square groove, and the middle part of the angled extrusion block is slidably connected to the sliding groove.

[0015] Preferably, the angled extrusion block is fixedly connected to a sliding column on one side away from the square groove, a pressure spring is sleeved on the outer surface of the sliding column, one end of the pressure spring is fixedly connected to the angled extrusion block, and the other end of the pressure spring is fixedly connected to the sliding groove, a pressure alarm is provided on the end of the sliding column away from the angled extrusion block, and the pressure alarm is fixedly mounted on the clamping block.

[0016] Preferably, the air blowing and cleaning mechanism includes a push rod, which is fixedly connected to the driving block, and a piston is fixedly connected to one end of the push rod away from the driving block, a cylinder is provided on the outer surface of the piston, and one end of the cylinder away from the push rod is fixedly connected to the clamping block, a sealing ring is fixedly connected to the piston, and the outer surface of the piston is slidably connected to the inner wall of the cylinder.

[0017] Preferably, an air intake hole is provided in the middle of one end of the cylinder away from the piston, and the air intake hole is slidably connected to a beveled air intake sealing plate close to the inner wall of the cylinder, and a third spring is fixedly connected to one side of the beveled air intake sealing plate close to the air intake hole, and an end of the third spring away from the beveled air intake sealing plate is fixedly connected to an air intake groove body, and the air intake groove body is fixedly connected to the outer surface of the cylinder, and an air outlet hole is provided on the side of the cylinder close to the clamping plate.

[0018] Preferably, an exhaust bin is fixedly connected to the outside of the air outlet, a compression spring is fixedly connected in the exhaust bin, an inclined exhaust sealing sheet is fixedly connected to one end of the compression spring away from the exhaust bin, the inclined exhaust sealing sheet is slidably connected to the air outlet near the outer surface of the exhaust bin, an air outlet pipe is fixedly connected to the exhaust bin, and the air outlet pipe is communicated with the exhaust bin.

[0019] Compared with the prior art, the present invention provides a clamping robot that avoids wear of raw materials, and has the following beneficial effects:

[0020] 1. Through the setting of the pressure protection mechanism, compared with the use of existing pressure sensors, the pressure protection mechanism can be used in different environments and can work normally even under the influence of vibration and noise, thereby avoiding the uncontrollable pressure due to the environment when clamping the object, thereby causing excessive pressure and wear on the object. In addition, through the setting of the pressure protection mechanism, it can also prevent the pressure sensor from failing and causing the clamp to generate excessive clamping pressure, causing accidents to the clamp robot during operation, which can reduce the risk of harm to the operator or the surrounding environment, thereby improving the safety of the operator's work.

[0021] 2. Through the setting of the pressure alarm mechanism, the alarm can be sounded in time to notify the operator, and the pressure of the fixture can be adjusted in time to ensure that the clamping force is appropriate and meets the requirements. This can timely detect and diagnose the working status of the fixture robot, which is conducive to discovering potential problems and faults, and taking timely measures to repair them, thereby improving the reliability and continuous stability of the equipment and avoiding unnecessary wear on objects.

[0022] 3. The air-blowing cleaning mechanism can not only play a buffering role when the clamp clamps the object, but also blow the gas to the surface of the clamp plate to blow off the dust and particles on the surface of the clamp plate, thereby reducing the increase in friction between the clamp and the object caused by the particles, resulting in uneven clamping force and damage to the material. By automatically blowing off the dust on the surface of the clamp, the clamping effect of the object surface during mechanical clamping can be improved, and the damage to the object surface during mechanical clamping can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is an auxiliary schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 3 A schematic diagram of the structural connection relationship of the pressure protection mechanism of the present invention;

[0026] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0027] Figure 5 It is an auxiliary schematic diagram of the structural connection relationship of the pressure protection mechanism of the present invention;

[0028] Figure 6 For the present invention Figure 5 Enlarged view of point B in the middle;

[0029] Figure 7 This is a schematic diagram of the structural connection relationship of the pressure alarm mechanism of the present invention;

[0030] Figure 8 For the present invention Figure 7 Enlarged view of point C in the middle;

[0031] Fig. 9 This is a schematic diagram of the structural connection relationship of the air blowing and dust cleaning mechanism of the present invention;

[0032] Fig.10 For the present invention Fig. 9 Enlarged view of point D in the middle.

[0033] In the figure:

[0034] 1. Mechanical clamping arm; 101. Connecting block; 102. Pneumatic shaft; 103. Driving block; 104. Clamping block; 105. Clamping plate;

[0035] 2. Pressure protection mechanism; 201. Small fixed bin; 202. Medium fixed bin; 203. First spring; 204. Sliding gear block; 205. First gear; 206. Rotating shaft; 207. Fixed plate; 208. Second gear; 209. Rack slide plate; 210. N-type extrusion block; 211. Second spring; 212. Baffle;

[0036] 3. Pressure alarm mechanism; 301. Angle extrusion block; 302. Sliding column; 303. Sliding groove; 304. Pressing spring; 305. Pressing alarm;

[0037] 4. Air blowing and cleaning mechanism; 401. Push rod; 402. Piston; 403. Cylinder; 404. Inclined air inlet sealing plate; 405. Air suction hole; 406. Third spring; 407. Air inlet slot; 408. Air outlet hole; 409. Inclined air exhaust sealing plate; 410. Compression spring; 411. Exhaust chamber; 412. Air outlet pipe. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0040] Example

[0041] Please refer to Figures 1 to 10 As shown:

[0042] In order to solve the problems mentioned in the technical solution, the embodiment of the present application provides a clamping robot that avoids raw material wear, including a mechanical clamping arm 1, a connecting block 101 is fixedly connected to the upper surface of the mechanical clamping arm 1, an air inlet is opened in the connecting block 101, a pneumatic shaft 102 is slidably connected in the air inlet of the connecting block 101, a driving block 103 is fixedly connected to the side of the pneumatic shaft 102 away from the connecting block 101, a clamping block 104 is fixedly connected to the side of the driving block 103 away from the connecting block 101, a slide rail is fixed to the middle of the side of the connecting block 101 close to the clamping block 104, the clamping block 104 is slidably connected to the slide rail of the connecting block 101, and a clamping plate 105 is arranged on the outer surface of the end of the clamping block 104 away from the connecting block 101, a clamping robot that avoids raw material wear includes a pressure protection mechanism 2, a pressure alarm mechanism 3, and an air blowing and cleaning mechanism 4, the pressure protection mechanism 2 is arranged on the clamping plate 105, the pressure alarm mechanism 3 is arranged in the clamping block 104; the air blowing and cleaning mechanism 4 is arranged on the driving block 103;

[0043] The pressure protection mechanism 2 is used to prevent the clamping pressure from being too high and causing the raw material to be worn when the clamping plate 105 is clamping;

[0044] The pressure alarm mechanism 3 is used for emergency warning when the clamping pressure is too high;

[0045] The air blowing and dust cleaning mechanism 4 is used to clean the impurities and dust on the clamping plate 105;

[0046] The pressure protection mechanism 2 includes a small fixed bin 201, which is symmetrically fixedly connected to the clamping plate 105, a medium fixed bin 202 is arranged on the outer surface of the small fixed bin 201, the bottom of the medium fixed bin 202 is fixedly connected to the clamping block 104, the outer surface of the small fixed bin 201 is slidably connected to the inner wall of the medium fixed bin 202, the clamping plate 105 is fixedly connected to the inside of the small fixed bin 201 with a first spring 203, and the end of the first spring 203 away from the clamping plate 105 is fixedly connected to the clamping block 104;

[0047] The clamping plate 105 is fixedly connected to a sliding gear block 204 on one side close to the small fixed bin 201, and a first gear 205 is meshed with the tooth surface of the sliding gear block 204. A rotating shaft 206 is fixedly connected to the middle of the first gear 205. Fixed plates 207 are fixedly connected to both sides of the medium fixed bin 202. The outer surfaces of both ends of the rotating shaft 206 are rotatably connected to the fixed plates 207. The end of the rotating shaft 206 away from the sliding gear block 204 is fixedly connected to a second gear 208. A rack slide plate 209 is meshed with the tooth surface of the second gear 208.

[0048] The lower surface of the rack slide 209 is slidably connected to the clamping block 104, and the end of the rack slide 209 away from the second gear 208 is fixedly connected to the n-type extrusion block 210, and the n-type extrusion block 210 is slidably connected to the side of the clamping block 104 close to the connection block 101, and the n-type extrusion block 210 is fixedly connected to the second spring 211 on the side close to the rack slide 209, and the end of the second spring 211 away from the n-type extrusion block 210 is fixedly connected to the baffle 212, and the lower surface of the baffle 212 is fixedly connected to the clamping block 104;

[0049] The pressure alarm mechanism 3 includes an angled extrusion block 301, a square groove is provided on one side of the clamping block 104 close to the clamping plate 105, and the square groove is adapted to the size of the sliding gear block 204, the outer surface of the sliding gear block 204 is slidably connected in the square groove, the clamping block 104 is also provided with a slide groove 303 near the middle of the square groove, and the middle of the angled extrusion block 301 is slidably connected to the slide groove 303;

[0050] The side of the angled extrusion block 301 away from the square groove is fixedly connected with a sliding column 302, and the outer surface of the sliding column 302 is sleeved with a pressing spring 304, one end of the pressing spring 304 is fixedly connected to the angled extrusion block 301, and the other end of the pressing spring 304 is fixedly connected to the sliding groove 303. The end of the sliding column 302 away from the angled extrusion block 301 is provided with a pressing alarm 305, and the pressing alarm 305 is fixedly installed on the clamping block 104;

[0051] Wherein: the pressure protection mechanism 2 is symmetrically arranged on both sides of the connection block 101;

[0052] The second gear 208 and the rack slide plate 209 are symmetrically arranged on both sides of the first spring 203;

[0053] The upper surface of the clamping plate 105 is made of rubber;

[0054] There is an electrical connection between the sliding column 302 and the pressing alarm 305. When the sliding column 302 touches the pressing alarm 305, the pressing alarm 305 can start the warning.

[0055] In the prior art, when a mechanical clamp uses a pneumatic drive source, the rapid movement of gas will drive the clamp to quickly clamp the object, and the rapid clamping of the object will cause the surface of the object to be damaged due to the rapid clamping of the clamp. The existing mechanical surface clamping pressure control mostly uses pressure sensors, and the machine will generate vibration and noise during clamping. Compared with the prior art, through the implementation of this embodiment, compared with the existing use of pressure sensors, the pressure protection mechanism 2 can be used in different environments, and can work normally even under the influence of vibration and noise, thereby avoiding the pressure being unable to be controlled due to the environment when clamping the object, thereby causing excessive pressure and wear on the object. In addition, through the setting of the pressure protection mechanism 2, the pressure sensor failure is also prevented, which causes the clamp to generate excessive clamping pressure, causing accidents during operation of the clamp robot, which can reduce the risk of harm to the operator or the surrounding environment, thereby improving the safety of the operator's work.

[0056] For further examples, please refer to Figures 1 to 10 As shown:

[0057] The air blowing and cleaning mechanism 4 includes a push rod 401, which is fixedly connected to the driving block 103, and a piston 402 is fixedly connected to one end of the push rod 401 away from the driving block 103, and a cylinder 403 is arranged on the outer surface of the piston 402, and one end of the cylinder 403 away from the push rod 401 is fixedly connected to the clamping block 104, and a sealing ring is fixedly connected to the piston 402, and the outer surface of the piston 402 is slidably connected to the inner wall of the cylinder 403;

[0058] An air intake hole 405 is provided in the middle of one end of the cylinder 403 away from the piston 402, and an inclined air intake sealing sheet 404 is slidably connected to the air intake hole 405 near the inner wall of the cylinder 403, and a third spring 406 is fixedly connected to one side of the inclined air intake sealing sheet 404 near the air intake hole 405, and an air intake groove body 407 is fixedly connected to the end of the third spring 406 away from the inclined air intake sealing sheet 404, and the air intake groove body 407 is fixedly connected to the outer surface of the cylinder 403, and an air outlet hole 408 is provided on one side of the cylinder 403 near the clamping plate 105;

[0059] An exhaust bin 411 is fixedly connected to the outside of the air outlet 408, a compression spring 410 is fixedly connected in the exhaust bin 411, an inclined exhaust sealing sheet 409 is fixedly connected to one end of the compression spring 410 away from the exhaust bin 411, the inclined exhaust sealing sheet 409 is slidably connected to the outer surface of the air outlet 408 close to the exhaust bin 411, an air outlet pipe 412 is fixedly connected to the exhaust bin 411, and the air outlet pipe 412 is communicated with the exhaust bin 411;

[0060] in:

[0061] The air blowing and dust cleaning mechanism 4 is symmetrically arranged on both sides of the connecting block 101;

[0062] The air outlet pipe 412 is arranged to be aligned with the surface of the clamping plate 105, and the gas can be blown to the surface of the clamping plate 105 through the air outlet pipe 412;

[0063] In the prior art, when a mechanical clamp clamps an object, dust and particles in the air usually adhere to the clamp plate 105. The dust and particles form obstacles between the clamp and the object, increasing surface friction and causing scratches and wear on the material surface. At the same time, the dust and particles on the clamp surface will leave imprints or defects during clamping, causing the surface of the object to be uneven or have uneven defects. Compared with the prior art, the implementation of this embodiment can not only play a buffering role when the clamp clamps the object, but also blow gas to the surface of the clamp plate 105 to blow off the dust and particles on the surface of the clamp plate 105, thereby reducing the increase in friction between the clamp and the object caused by particles, resulting in uneven clamping force and damage to the material. By automatically blowing off the dust on the clamp surface, the clamping effect of the object surface during mechanical clamping can be improved, and the damage to the object surface during mechanical clamping can be reduced.

[0064] Everything in the above example works like this:

[0065] In the initial state: the mechanical clamp arm 1 is not powered on, the first spring 203 is not pressed, the second spring 211 is not stretched, the pressing spring 304 is not compressed, no gas flows in the connecting block 101, and the piston 402 is located at the leftmost side of the cylinder 403;

[0066] The following is the working process of the air blowing and dust cleaning mechanism 4 for cleaning impurities and dust on the clamping plate 105 and buffering when clamping an object:

[0067] When in use, first, under the control of the operator, by connecting the direct power supply of the mechanical clamping arm 1 to the power supply, the existing air pressure device is started at this time. When the mechanical clamping arm 1 needs to clamp the surface of the object, first, according to the existing pressure sensor, a suitable pressure threshold is set and the air pressure device is started. Because the middle part of the connecting block 101 is connected to the air pressure device, when the air pressure device starts to start, the pneumatic shafts 102 on both sides of the connecting block 101 will start to clamp the object. At the same time, because the air blowing and cleaning mechanisms 4 are respectively arranged on both sides of the connecting block 101, because of the same shape and the same principle, only the following Fig. 9 The left side air blowing and cleaning mechanism 4 is described as shown in the figure. At this time, the pneumatic shaft 102 will start to slide to the right under the action of the gas pressure. At the same time, the pneumatic shaft 102 will slide to the right, which will cause the driving block 103 to start to drive the push rod 401 to slide to the right. Fig. 9As shown, the push rod 401 slides to the right to cause the piston 402 to start sliding on the inner wall of the cylinder 403. Because the contact point between the piston 402 and the inner wall of the cylinder 403 is sealed with a sealing ring, the piston 402 slides to the right to cause the pressure in the cylinder 403 to increase continuously. At this time, when the gas pressure inside the cylinder 403 gradually exceeds the elastic potential energy of the compression spring 410;

[0068] As the internal pressure of the gas further increases, the gas will push the inclined exhaust sealing sheet 409 along the outlet hole 408 to press the exhaust chamber 411. At the same time, the compression spring 410 begins to be compressed. At this time, the gas with a certain pressure will enter the exhaust chamber 411 along the outlet hole 408, and the gas with a certain flow rate will begin to act on the surface of the clamping plate 105 under the transmission of the outlet pipe 412. As the existing air pressure device applies negative pressure and boost to the gas, the pneumatic shaft 102 will push the clamping block 104 to reciprocate, and the air pressure device will again The pneumatic shaft 102 is pushed to the left in the opposite direction to make the clamping block 104 slide to the left. At this time, the piston 402 slides to the left in the cylinder 403, so that the air pressure in the cylinder 403 gradually decreases. At this time, because the external pressure is greater than the internal pressure, when the pressure thrust is greater than the elastic potential energy of the third spring 406, the gas will enter the air intake hole 405 along the air intake groove 407, pushing the inclined air intake sealing sheet 404 to slide to the left. At the same time, the third spring 406 is stretched, and the gas will enter the cylinder 403 and repeat the above-mentioned action again. , and when the machine continuously starts the mechanical clamping arm 1 before working, the clamping block 104 will continuously slide back and forth on the connecting block 101. At this time, the repeated operation of the air blowing and cleaning mechanism 4 will cause the gas to continuously act on the surface of the clamping plate 105, so that the dust and particles on the surface of the clamping plate 105 begin to separate under the blowing of the gas; the air blowing and cleaning mechanism 4 is set to enable the existing gas negative pressure device to drive the mechanical gripping and clamping, and the cylinder 403 can play a role in driving the clamping block 104 to clamp through the gas negative pressure device, and the clamping block can be clamped by the cylinder 403. 104 plays a buffering role when clamping objects, and the pressurized airflow inside the cylinder can also be blown to the surface of the clamping plate 105 through the air outlet 408 to clean the dust, so that the dust and particles on the surface of the clamping plate 105 can be blown off, thereby reducing the friction between the clamp and the object caused by the particles, resulting in uneven clamping force and damage to the material. By automatically blowing off the dust on the surface of the clamp, the clamping effect of the object surface during mechanical clamping can be improved, and the damage to the object surface during mechanical clamping can be reduced.

[0069] Please refer to the above working process Figures 1 to 10 .

[0070] The following is the working process of the pressure protection mechanism 2 for preventing the clamping pressure from being too high and causing the wear of the raw material when the clamping plate 105 is clamped, and the pressure alarm mechanism 3 for emergency warning when the clamping pressure is too high:

[0071] When in use, first, when the existing air pressure device as described above is started, the clamping blocks 104 on both sides of the connecting block 101 begin to slide toward the middle of the connecting block 101, and then the clamping plates 105 on the clamping blocks 104 begin to clamp the object, and when the clamping force is appropriate, the object will be clamped. Figure 4 As shown, the interaction force of the objects will cause the clamping plate 105 to start sliding downward. At this time, because the small fixed bin 201 is fixed to the lower surface of the clamping plate 105, and the outer surface of the small fixed bin 201 slides on the inner wall of the medium fixed bin 202, the first spring 203 will begin to be compressed by the downward sliding of the clamping plate 105. At this time, the small fixed bin 201 starts to slide downward in the medium fixed bin 202. At the same time, because the sliding gear block 204 is fixed to the middle of the clamping plate 105, and the tooth surface of the sliding gear block 204 is meshed with the first gear 205, the sliding gear block 204 is meshed with the first gear 205. When the tooth block 204 slides downward, the first gear 205 starts to rotate counterclockwise. Furthermore, because the shaft 206 is fixedly connected to the middle of the first gear 205, and the shaft 206 and the second gear 208 are fixed to each other, the counterclockwise rotation of the first gear 205 will drive the shaft 206 to start rotating counterclockwise in the same direction, thereby driving the second gear 208 to start rotating counterclockwise. At this time, because the tooth surface of the second gear 208 is meshed with the tooth surface of the rack slide 209, and the rack slide 209 slides on the clamping block 104, Figure 6 As shown, the rack slide 209 slides to the left to make the n-type extrusion block 210 start to slide to the side of the connection block 101 on the clamping block 104. At this time, because one end of the second spring 211 is fixed on the n-type extrusion block 210 and the other end is fixed on the baffle 212, as the n-type extrusion block 210 stretches the second spring 211, the second spring 211 will be stretched. At this time, the n-type extrusion block 210 is gradually contacted with the connection block 101 by the pressing of the rack slide 209. When the clamping force is greater than the object clamping pressure threshold, the rack slide 209 will make the n-type extrusion block 210 fit tightly with the connection block 101. The connection block 101 has an anti-skid rubber block evenly fixed on one side. The friction between the connection block 101 and the n-type extrusion block 210 is increased by squeezing between the rubber block and the connection block 101. Therefore, the n-type extrusion block 210 is pushed by the rack slide 209 to lock the n-type extrusion block 210 on the connection block 101, thereby preventing the machine from loosening the clamping when vibrating and causing the object to fall and be damaged. The overpressure protection mechanism 2 is set. Compared with the existing pressure sensor, the pressure protection mechanism 2 can be used in different environments and can work normally even under the influence of vibration, thereby avoiding the pressure being uncontrollable due to the environment when clamping the object, thereby causing excessive pressure and wear on the object;

[0072] At the same time Figure 8As shown, because the clamping block 104 is provided with a square groove on one side close to the sliding tooth block 204, and the sliding tooth block 204 slides in the square groove, as the clamping force between the surface of the clamping plate 105 and the object continues to increase, the sliding tooth block 204 begins to gradually slide to the left. When the clamping force between the clamping plate 105 and the object is greater than the clamping pressure threshold of the object, the sliding tooth block 204 begins to squeeze the angled squeezing block 301 to the left. Since the pressure alarm mechanism 3 is symmetrically arranged in the square groove and has the same working principle, only the following example is used. Figure 8 The lower pressure alarm mechanism 3 shown in the figure is described. At this time, the sliding tooth block 204 starts to squeeze the inclined surface of the angled extrusion block 301, which causes the angled extrusion block 301 to start sliding downward in the slide groove 303. Because one end of the pressing spring 304 is fixed on the angled extrusion block 301 and the other end is fixed in the slide groove 303, the pressing spring 304 is compressed by the angled extrusion block 301 sliding downward, and at the same time, the sliding column 302 fixed on the angled extrusion block 301 also starts to slide downward in the slide groove 303. At this time, when the sliding column 302 is away from the angled extrusion block 301, the sliding column 302 is pressed downward in the slide groove 303. When one end begins to squeeze onto the surface of the slide groove 303, pressing through the slide column 302 will cause the pressure alarm 305 to start warning the operating table, reminding the staff of the abnormal machine clamping signal. Through the setting of the pressure alarm mechanism 3, the alarm can be promptly notified to the operator, and the pressure of the clamp can be adjusted in time to ensure that the clamping force is appropriate and meets the requirements. In this way, the working status of the clamp robot can be detected and diagnosed in time, which is conducive to discovering potential problems and faults, and taking timely measures to repair them, thereby improving the reliability and continuous stability of the equipment and avoiding unnecessary wear on objects.

[0073] Please refer to the above working process Figures 1 to 10 .

[0074] It should be noted that, in this article, 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 such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0075] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A clamping robot for preventing raw material wear, used for pressure control warning when the clamping robot arm is clamping, comprising a mechanical clamping arm (1), the upper surface of the mechanical clamping arm (1) is fixedly connected with a connecting block (101), the connecting block (101) is provided with an air inlet, a pneumatic shaft (102) is slidably connected in the air inlet of the connecting block (101), the side of the pneumatic shaft (102) away from the connecting block (101) is fixedly connected with a driving block (103), the side of the driving block (103) away from the connecting block (101) is fixedly connected with a clamping block (104), a sliding rail is fixed in the middle of a side of the connecting block (101) close to the clamping block (104), the clamping block (104) is slidably connected to the sliding rail of the connecting block (101), and a clamping plate (105) is provided on the outer surface of one end of the clamping block (104) away from the connecting block (101), characterized in that The clamping robot for preventing raw material wear comprises a pressure protection mechanism (2), a pressure alarm mechanism (3), and an air blowing and dust cleaning mechanism (4), wherein the pressure protection mechanism (2) is arranged on a clamping plate (105), the pressure alarm mechanism (3) is arranged in a clamping block (104), and the air blowing and dust cleaning mechanism (4) is arranged on a driving block (103); The pressure protection mechanism (2) is used to prevent excessive clamping pressure from causing wear of the raw material when the clamping plate (105) is clamping; The pressure alarm mechanism (3) is used for emergency warning when the clamping pressure is too high; The air blowing and dust cleaning mechanism (4) is used to clean impurities and dust on the clamping plate (105).

2. A clamping robot for avoiding raw material wear according to claim 1, characterized in that: The pressure protection mechanism (2) comprises a small fixed bin (201), wherein the small fixed bin (201) is symmetrically fixedly connected to a clamping plate (105), a medium fixed bin (202) is arranged on the outer surface of the small fixed bin (201), the bottom of the medium fixed bin (202) is fixedly connected to a clamping block (104), the outer surface of the small fixed bin (201) is slidably connected to the inner wall of the medium fixed bin (202), a first spring (203) is fixedly connected to the inside of the clamping plate (105) close to the small fixed bin (201), and the first spring (203) is fixedly connected to the clamping block (104) at one end away from the clamping plate (105).

3. A clamping robot for avoiding raw material wear according to claim 2, characterized in that: The clamping plate (105) is fixedly connected to a sliding tooth block (204) on one side close to the small fixed warehouse (201); a first gear (205) is meshed on the tooth surface of the sliding tooth block (204); a rotating shaft (206) is fixedly connected to the middle of the first gear (205); fixed plates (207) are fixedly connected to the two sides of the medium-sized fixed warehouse (202); the outer surfaces of both ends of the rotating shaft (206) are rotatably connected to the fixed plates (207); a second gear (208) is fixedly connected to one end of the rotating shaft (206) away from the sliding tooth block (204); a rack slide plate (209) is meshed on the tooth surface of the second gear (208).

4. A clamping robot for avoiding raw material wear according to claim 3, characterized in that: The lower surface of the rack slide (209) is slidably connected to the clamping block (104); the end of the rack slide (209) away from the second gear (208) is fixedly connected to an n-type extrusion block (210); the n-type extrusion block (210) is slidably connected to a side of the clamping block (104) close to the connection block (101); the side of the n-type extrusion block (210) close to the rack slide (209) is fixedly connected to a second spring (211); the end of the second spring (211) away from the n-type extrusion block (210) is fixedly connected to a baffle (212); the lower surface of the baffle (212) is fixedly connected to the clamping block (104).

5. The clamping robot for avoiding material wear according to claim 1, characterized in that: The pressure alarm mechanism (3) includes an angled extrusion block (301), a square groove is provided on one side of the clamping block (104) close to the clamping plate (105), and the square groove is adapted to the size of the sliding tooth block (204), the outer surface of the sliding tooth block (204) is slidably connected in the square groove, the clamping block (104) is also provided with a sliding groove (303) close to the middle of the square groove, and the middle of the angled extrusion block (301) is slidably connected to the sliding groove (303).

6. A clamping robot for avoiding material wear according to claim 5, characterized in that: The angled extrusion block (301) is fixedly connected to a sliding column (302) on one side away from the square groove, and a pressing spring (304) is sleeved on the outer surface of the sliding column (302). One end of the pressing spring (304) is fixedly connected to the angled extrusion block (301), and the other end of the pressing spring (304) is fixedly connected to the sliding groove (303). A pressing alarm (305) is provided at one end of the sliding column (302) away from the angled extrusion block (301), and the pressing alarm (305) is fixedly mounted on the clamping block (104).

7. The clamping robot for avoiding material wear according to claim 1, characterized in that: The air blowing and cleaning mechanism (4) includes a push rod (401), the push rod (401) is fixedly connected to the driving block (103), the end of the push rod (401) away from the driving block (103) is fixedly connected to a piston (402), the outer surface of the piston (402) is provided with a cylinder (403), the end of the cylinder (403) away from the push rod (401) is fixedly connected to the clamping block (104), the piston (402) is fixedly connected with a sealing ring, and the outer surface of the piston (402) is slidably connected to the inner wall of the cylinder (403).

8. The clamping robot for avoiding material wear according to claim 7, characterized in that: An air intake hole (405) is provided in the middle of one end of the cylinder (403) away from the piston (402); the air intake hole (405) is slidably connected to an inclined air intake sealing sheet (404) close to the inner wall of the cylinder (403); a third spring (406) is fixedly connected to one side of the inclined air intake sealing sheet (404) close to the air intake hole (405); an air intake groove body (407) is fixedly connected to one end of the third spring (406) away from the inclined air intake sealing sheet (404); the air intake groove body (407) is fixedly connected to the outer surface of the cylinder (403); and an air outlet hole (408) is provided on one side of the cylinder (403) close to the clamping plate (105).

9. The clamping robot for avoiding material wear according to claim 8, characterized in that: The outside of the air outlet (408) is fixedly connected to an exhaust bin (411), a compression spring (410) is fixedly connected in the exhaust bin (411), an inclined exhaust sealing sheet (409) is fixedly connected to one end of the compression spring (410) away from the exhaust bin (411), the inclined exhaust sealing sheet (409) is slidably connected to the outer surface of the air outlet (408) close to the exhaust bin (411), an air outlet pipe (412) is fixedly connected to the exhaust bin (411), and the air outlet pipe (412) is communicated with the exhaust bin (411).

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