Mask hook taking clamp, hook taking carrying device and mask hook taking method

Abstract

The invention provides a mask hook taking clamp, a hook taking carrying device and a mask hook taking method, and belongs to the technical field of carrying clamps. The mask hook taking clamp comprises a mounting frame, a movable plate is arranged on the mounting frame, one side of the movable plate is hinged to the mounting frame through a connecting shaft, and a first driving device for driving the movable plate to rotate is arranged on the mounting frame. A clamping piece is arranged on the movable plate and comprises a second driving device and a clamping jaw, and the second driving device drives the clamping jaw to be opened and closed. According to the clamp, the face mask can be clamped through the clamping piece, the angle of the face mask is changed through movement of the movable plate, and therefore the face mask can be hung and taken from the hook of the hanging chain, manpower for hanging and taking the face mask can be saved, and production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of handling fixtures, and in particular to a mask hook removal fixture, a hook removal handling device and a mask hook removal method. Background Art

[0002] The air conditioner outdoor unit mask is an important component covering the outside of the air conditioner outdoor unit, and plays multiple key roles in the operation of the air conditioner. It can effectively prevent external dust, debris, rainwater, etc. from eroding the precision components inside the air conditioner outdoor unit, reduce the risk of failure caused by the entry of foreign objects, and extend the service life of the air conditioner outdoor unit. During the production process, the air conditioner outdoor unit mask needs to go through multiple processes, such as stamping, surface treatment, and assembly of accessories. Between different production processes, the mask is usually hung on the hook of the hanging chain, so that the mask can be moved in an orderly manner between the processes, ensuring the continuity and smoothness of the production process, avoiding transportation delays between processes, and improving overall production efficiency.

[0003] However, when making and assembling the air conditioner outdoor unit mask, it is usually carried and removed from the hanging chain by manpower, which takes a lot of time and is extremely inefficient, seriously affecting the production progress. On the other hand, the long-term handling work makes the workers' labor intensity extremely high and puts a heavy burden on the workers' bodies. In addition, during the manual handling and assembly process, uncontrollable damage factors often occur due to differences in the degree of movement and assembly. These damages not only lead to a decline in product quality, but also cause a waste of cost, increasing the company's production costs and quality control difficulties.

[0004] Therefore, it is necessary to improve the existing method of hanging the air-conditioning mask on the hanging chain to overcome the defects of the prior art. Summary of the invention

[0005] In order to overcome the problems existing in the related art, one of the objects of the present invention is to provide a mask hook removal clamp, which can use the clamping part to clamp the mask and change the angle of the mask through the movement of the movable plate, so that the mask can be hung from the hook of the hanging chain, which can save manpower for hanging the mask and improve production efficiency.

[0006] A mask hook removal fixture, comprising:

[0007] A mounting frame, wherein a movable plate is arranged on the mounting frame, one side of the movable plate is hinged to the mounting frame via a connecting shaft, and a first driving device for driving the movable plate to rotate is arranged on the mounting frame;

[0008] The movable plate is provided with a clamping member, and the clamping member includes a second driving device and a clamping jaw, and the second driving device drives the clamping jaw to open and close.

[0009] During the use of the fixture, the robot can be used to drive the mask hook removal fixture to move to the waiting position next to the hanging chain. At this time, the electric push rod is in a retracted state, the movable plate is in a horizontal position, and the micro-cylinder drives the clamp to be in a retracted state. When removing the hook, the robot drives and drives the clamp close to the mask, and the clamp clamps the mask. After the clamp is successfully clamped, the electric push rod extends according to the preset program, pushing the movable plate to rotate a certain angle around the connecting axis, so that the hanging hole on the mask is gradually separated from the hook on the hanging chain and reaches a position that is easy to carry. Then the robot moves the mask to the designated storage area or the next process position. The fixture can realize the automatic hook removal of the mask, greatly reducing the manpower input, reducing the labor intensity of workers, and greatly shortening the hook removal time of a single mask, thereby significantly improving production efficiency.

[0010] In a preferred technical solution of the present invention, the second driving device is provided with two output ends, each of the output ends is provided with a clamping jaw, and the two clamping jaws are arranged opposite to each other; the two output ends drive the two clamping jaws to move closer to or away from each other.

[0011] Since the two clamping jaws are arranged opposite to each other and can be flexibly moved closer or farther away from each other, the clamp can adapt to the hook removal requirements of masks of various sizes and shapes. By adjusting the stroke of the second driving device and the initial spacing of the clamping jaws, compatibility with different products can be achieved, reducing the investment cost of production equipment and production switching time, and improving production efficiency and equipment utilization.

[0012] In a preferred technical solution of the present invention, buffer blocks are respectively arranged on the side walls of the two clamping jaws facing away from each other, and the buffer blocks are detachably connected to the clamping jaws.

[0013] The setting of the buffer block plays a vital protective role in the hook removal operation. When the clamp is close to the mask or may accidentally contact other objects in a complex production environment, the buffer block can effectively absorb the collision energy and prevent the clamp and the mask from being damaged by rigid impact. For example, when the suspension chain occasionally shakes slightly or the position of the mask is slightly deviated, the buffer block can prevent the clamp from directly hitting the mask, reducing scratches, dents and other defects on the surface of the mask, and improving the appearance quality and yield rate of the product. At the same time, it also protects the structural integrity of the clamp itself, reduces the risk of wear and deformation of the clamp caused by frequent collisions, extends the service life of the clamp, reduces the frequency of equipment maintenance and replacement of parts, and reduces production costs. The detachable connection method makes it easy to replace the buffer block. When the buffer block is worn due to long-term use or needs to be replaced with a buffer block with different buffering characteristics according to different production tasks, the operator can quickly perform disassembly and installation operations.

[0014] In a preferred technical solution of the present invention, the buffer block is provided with N card slots, and the N card slots are parallel to each other; wherein N is a natural number greater than 1.

[0015] During use, the N card slots can be snapped onto the mask to ensure clamping stability.

[0016] In a preferred technical solution of the present invention, a pressure sensor is provided on the buffer block.

[0017] The pressure sensor on the buffer block provides key data support for the precise control of the clamping force. By monitoring the clamping pressure in real time, the robot control system can accurately adjust the second drive device according to the preset pressure threshold to ensure that the clamp always clamps the mask with appropriate force.

[0018] In a preferred technical solution of the present invention, a plurality of movable plates are arranged on the mounting frame, and each of the movable plates is provided with the clamping member.

[0019] The multi-movable plate and multi-clamp design can realize the clamping and hooking operation of multiple masks at one time. In the same time, compared with the single mask hooking method, the production efficiency is multiplied.

[0020] Since the unhooking and carrying processes of multiple masks are completed in one robot motion cycle, the number of times the robot travels back and forth between the hanging chain and the storage area is reduced, the robot's idle running time is reduced, the effective working time ratio of the equipment is further increased, and the production efficiency and equipment utilization rate of the entire production line are improved.

[0021] In a preferred technical solution of the present invention, a connecting seat is provided on the movable plate, and the output end of the first driving device is hinged to the connecting seat.

[0022] In a preferred technical solution of the present invention, a connecting flange is provided in the middle of the mounting frame, and a plurality of mounting holes are provided on the connecting flange.

[0023] The design of the connecting flange and its mounting holes greatly improves the connection stability between the fixture and the robot, can effectively disperse and withstand various forces, ensure that the position of the fixture at the end of the robot always remains fixed, avoid equipment deviation and damage caused by loose connection, and improve the reliability and service life of the equipment.

[0024] A second object of the present invention is to provide a hook removal and transporting device, comprising a mechanical arm, on which the mask hook removal clamp as described above is provided.

[0025] The combination of the robotic arm and the mask hook removal fixture realizes the fully automated operation of mask hook removal and handling, significantly shortening the production cycle and meeting the needs of large-scale production. The high-precision motion control capability of the robotic arm enables the fixture to accurately position and operate the mask, reducing production interruptions and product damage caused by inaccurate positioning or operating errors, and improving production stability and reliability.

[0026] The third object of the present invention is to provide a mask hook removal method, which is implemented based on the hook removal and transportation device as described above.

[0027] The beneficial effects of the present invention are:

[0028] The present invention provides a mask hook removal fixture, which includes a mounting frame, a movable plate is arranged on the mounting frame, one side of the movable plate is hinged to the mounting frame through a connecting shaft, and a first driving device is arranged on the mounting frame to drive the movable plate to rotate. A clamping member is arranged on the movable plate, and the clamping member includes a second driving device and a clamping claw, and the second driving device drives the clamping claw to open and close. The first driving device can be an electric push rod, and the second driving device can be a cylinder. During use, the robot drives the mask hook removal fixture to move to a waiting position next to the hanging chain, at which time the electric push rod is in a retracted state, the movable plate is in a horizontal position, and the micro cylinder drives the clamping claw to be in a retracted state. When removing the hook, the robot drives and drives the fixture to approach the mask, and the clamping claw clamps the mask. After the clamping is successful, the electric push rod extends according to the preset program, and pushes the movable plate to rotate a certain angle around the connecting shaft, so that the hanging hole on the mask and the hook on the hanging chain are gradually separated and reach a position that is convenient for transportation. Then the robot transports the mask to a designated storage area or the next process position. The fixture can realize automatic hook removal of masks, greatly reducing manpower input, reducing the labor intensity of workers, and greatly shortening the hook removal time of a single mask, thereby significantly improving production efficiency. In addition, automatic hook removal can reduce product quality problems caused by improper operation, improve product yield, and reduce production costs and quality risks of enterprises.

[0029] The present application also provides a hook removal and transportation device including the above-mentioned mask hook removal clamp and a mask hook removal method. The transportation device can realize automatic hook removal and transportation of the mask on the hanging chain, improve the transportation efficiency of the mask, and thus save production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional diagram of a mask hook removal fixture provided in an embodiment of the present invention;

[0031] Figure 2 yes Figure 1 The main view in ;

[0032] Figure 3 yes Figure 1 Side view in;

[0033] Figure 4 yes Figure 1 Bottom view in

[0034] Figure 5 yes Figure 1 Bottom view in

[0035] Figure 6 Schematic diagram of a hook removal and transporting device provided in an embodiment of the present invention.

[0036] Reference numerals:

[0037] 1. Mounting frame; 11. Connecting flange; 111. Mounting hole; 2. First driving device; 3. Movable plate; 31. Connecting shaft; 32. Connecting seat; 4. Clamping member; 41. Second driving device; 42. Clamping claw; 421. Buffer block; 100. Mask; 200. Robotic arm. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0039] During the production process, the air conditioner outdoor unit mask needs to go through multiple processes, such as stamping, surface treatment, and assembly of accessories. Between different production processes, the mask is usually hung on the hook of the hanging chain, so that the mask can be moved in an orderly manner between the processes, ensuring the continuity and smoothness of the production process, avoiding transportation delays between processes, and improving overall production efficiency.

[0040] However, when making and assembling the air conditioner outdoor unit mask, it is usually carried and removed from the hanging chain by manpower, which takes a lot of time and is extremely inefficient, seriously affecting the production progress. On the other hand, the long-term handling work makes the workers' labor intensity extremely high and puts a heavy burden on the workers' bodies. In addition, during the manual handling and assembly process, uncontrollable damage factors often occur due to differences in the degree of movement and assembly. These damages not only lead to a decline in product quality, but also cause a waste of cost, increasing the company's production costs and quality control difficulties.

[0041] Based on this, the present application provides a mask hook removal clamp.

[0042] Example 1

[0043] See also Figure 1-Figure 5 The present embodiment provides a mask hook removal fixture, comprising:

[0044] A mounting frame 1 is provided with a movable plate 3, one side of the movable plate 3 is hinged to the mounting frame 1 through a connecting shaft 31, and a first driving device 2 for driving the movable plate 3 to rotate is provided on the mounting frame 1; more preferably, a connecting seat 32 is provided on the movable plate 3, and the output end of the first driving device 2 is hinged to the connecting seat 32.

[0045] The movable plate 3 is provided with a clamping member 4 , and the clamping member 4 includes a second driving device 41 and a clamping jaw 42 . The second driving device 41 drives the clamping jaw 42 to open and close.

[0046] During the use of the fixture, the robot drives the mask hook removal fixture to move to the waiting position next to the hanging chain. At this time, the electric push rod is in a retracted state, the movable plate 3 is in a horizontal position, and the micro-cylinder drives the clamp 42 to be in a retracted state. When removing the hook, the robot drives and drives the clamp close to the mask 100, and the clamp 42 clamps the mask. After the clamp is successfully clamped, the electric push rod extends according to the preset program, and pushes the movable plate 3 to rotate a certain angle around the connecting shaft 31, so that the hanging hole on the mask 100 is gradually separated from the hook on the hanging chain and reaches a position that is convenient for transportation. Then the robot transports the mask to the designated storage area or the next process position. The fixture can realize the automatic hook removal of the mask, greatly reducing the manpower input, reducing the labor intensity of the workers, and greatly shortening the hook removal time of a single mask, thereby significantly improving the production efficiency. In addition, the automatic hook removal can reduce product quality problems caused by improper operation, improve the product yield, and reduce the production cost and quality risk of the enterprise.

[0047] In addition, the clamp can ensure that a uniform and appropriate force is applied to the mask 100 during the hook removal process through the precisely designed clamping jaws 42 and the automated operation process, effectively avoiding damage to the mask. For example, the rubber protective pad on the clamping jaws 42 and the precisely controlled clamping force can firmly clamp the mask while protecting the mask surface from scratches; the precise motion control of the electric push rod and the movable plate 3 ensures the smoothness of the hook removal process and prevents the mask from being damaged due to sudden force or shaking.

[0048] Example 2

[0049] This embodiment is optimized based on embodiment 1.

[0050] See also Figure 1-Figure 5 Specifically, the second driving device 41 is provided with two output ends, each of the output ends is provided with a clamping jaw 42, and the two clamping jaws 42 are arranged opposite to each other; the two output ends drive the two clamping jaws 42 to move closer to or away from each other.

[0051] Specifically, the second driving device 41 uses a cylinder with two output ends, and its cylinder body is firmly fixed to the center of the movable plate 3 by bolts to ensure uniform force. Each output end is fixedly connected to the clamp 42, so as to drive the clamp 42 to move. During the production process, the robot first moves the mask hook removal fixture to the initial position. At this time, the two output ends of the second driving device 41 are in a retracted state, the two clamps 42 are away from each other and are in the maximum open position, the electric push rod is also in a retracted state, and the movable plate 3 remains horizontal.

[0052] When the mask on the hanging chain reaches the hook-removing position, the robot moves the clamp accurately according to the preset program so that the mask is located between the two clamps 42. Subsequently, the second drive device 41 is ventilated, and the two output ends extend synchronously, driving the two clamps 42 to approach each other at a stable and uniform speed through the connecting rod mechanism until the clamps 42 are tightly fitted to the predetermined clamping position of the mask, and the pressure sensor stops the action after detecting that the preset clamping force is reached. Then, the electric push rod extends according to the preset program, pushing the movable plate 3 to rotate around the connecting shaft 31. During the rotation process, the robot's control system monitors the angle change of the movable plate 3 in real time, and makes precise adjustments according to the preset angle curve to ensure that the hanging hole on the mask can be smoothly and accurately separated from the hook on the hanging chain.

[0053] More preferably, in this embodiment, a buffer block 421 is respectively provided on one side wall of the two clamping jaws 42 which are away from each other, and the buffer block 421 is detachably connected to the clamping jaws 42 .

[0054] In this embodiment, the buffer block 421 is provided with N card slots, and the N card slots are parallel to each other; wherein N is a natural number greater than 1.

[0055] Furthermore, a pressure sensor is provided on the buffer block 421 .

[0056] The buffer block 421 is made of polyurethane elastomer material, and is detachably connected to the clamping jaw 42 through a slot and a buckle structure, which is convenient for operation when the buffer block 421 with different characteristics is worn or needs to be replaced. In a specific embodiment, three parallel slots are provided on the buffer block 421. The depth and width of the slots can be determined according to the mask to be clamped, and elastic gaskets of different thicknesses can be inserted according to actual needs to adjust the buffering performance. A high-precision pressure sensor is embedded in the buffer block 421. The pressure sensor is connected to the control system of the robot through a wireless transmission module, and the clamping pressure data is transmitted to the control system in real time.

[0057] During the production process, the robot first moves the clamp to the waiting position next to the hanging chain. At this time, the two output ends of the electric cylinder are in a retracted state, the clamping jaws 42 are retracted, and the buffer block 421 is in a state of approaching each other. When the hanging chain transports the mask to the hook-taking position, the robot accurately positions the mask according to the preset visual recognition program, and then drives the electric cylinder to move the two clamping jaws 42 away from each other. The two clamping jaws 42 extend into the opening of the mask. In the process of the clamping jaws 42 approaching the mask, once the clamping jaws 42 have a slight collision with the mask or other surrounding objects, the buffer block 421 first contacts and acts as a buffer to avoid damage caused by rigid collision. When the clamping jaws 42 are fully opened to clamp the mask, the pressure sensor monitors the clamping pressure in real time and feeds the data back to the control system. The control system determines whether the clamping force is appropriate based on the preset pressure threshold. If the pressure is too large or too small, the system will automatically adjust the output of the electric cylinder to ensure that the clamping force always remains within the optimal range.

[0058] Subsequently, the electric push rod on the mounting frame 1 extends according to a predetermined program, pushing the movable plate 3 to rotate around the connecting shaft 31, so that the axis of the mask hanging hole coincides with the axis of the hook, so that the mask can be removed, thereby achieving the purpose of separating the mask hanging hole from the hanging chain hook.

[0059] Example 3

[0060] This embodiment is optimized based on embodiment 1.

[0061] See also Figure 1-Figure 5 In this embodiment, a plurality of movable plates 3 are provided on the mounting frame 1 , and each of the movable plates 3 is provided with the clamping member 4 .

[0062] The multiple movable plates 3 allow multiple clamping members 4 to be arranged on the mounting frame 1, thereby clamping and hooking multiple masks at one time.

[0063] In actual applications, each movable plate 3 is hinged to the mounting frame 1 through a precisely machined connecting shaft 31. The connecting shaft 31 is made of highly wear-resistant alloy steel and is equipped with high-quality bearings to ensure that the movable plate 3 is flexible and durable. The movable plate 3 is made of aluminum alloy and has a smooth surface after milling, drilling and other processing processes, reducing the friction and risk of damage when in contact with the mask. A clamp 4 is installed on each movable plate 3. The design of multiple movable plates 3 and multiple clamps 4 can realize the clamping and hooking operations of multiple masks at one time. In the same amount of time, compared with the single mask hooking method, the production efficiency is multiplied.

[0064] Since the unhooking and carrying processes of multiple masks are completed in one robot motion cycle, the number of times the robot travels back and forth between the hanging chain and the storage area is reduced, the robot's idle running time is reduced, the effective working time ratio of the equipment is further increased, and the production efficiency and equipment utilization rate of the entire production line are improved.

[0065] Example 4

[0066] This embodiment is optimized based on embodiment 1.

[0067] In this embodiment, a connecting flange 11 is disposed in the middle of the mounting frame 1 , and a plurality of mounting holes 111 are disposed on the connecting flange 11 .

[0068] Specifically, the mounting frame 1 is made of high-quality aluminum alloy material and is formed through precision casting and machining processes, which reduces the overall weight while ensuring sufficient strength. The connecting flange 11 in the middle is made of high-strength stainless steel and is finely ground and drilled to ensure surface flatness and dimensional accuracy of the mounting hole 111.

[0069] The multiple mounting holes 111 on the connecting flange 11 are distributed in a circular array, and the hole diameter and hole spacing are designed according to the connection standard of the robot end effector, so that the clamp can be tightly and accurately connected to the robot by bolts, ensuring that there will be no loosening or displacement during high-speed, high-intensity hook removal and handling operations.

[0070] The design of the connecting flange 11 and its mounting hole 111 greatly improves the connection stability between the fixture and the robot, can effectively disperse and withstand various forces, ensure that the position of the fixture at the end of the robot always remains fixed, avoids equipment deviation and damage caused by loose connection, and improves the reliability and service life of the equipment.

[0071] The stable connection ensures the accuracy and reliability of the clamp during the hook removal process, reduces repeated operations and production delays caused by equipment shaking or poor connection, and further improves production efficiency. At the same time, the high-precision clamping member 4 and movable plate 3 design can better protect the surface quality of the mask, ensuring that each mask is not damaged during the hook removal and transportation process, and improving the product yield and overall quality.

[0072] Example 4

[0073] See also Figure 1-Figure 6 The present embodiment provides a hook removal and transporting device, including a mechanical arm 200, on which the mask hook removal clamp as described above is provided.

[0074] The mechanical arm of the hook handling device uses a six-axis industrial robot, which has high-precision motion control capabilities and a large load capacity, and can meet the needs of complex hook handling tasks. The body of the mechanical arm is made of high-strength aluminum alloy, and is precisely processed and assembled to ensure the motion accuracy and stability of each joint.

[0075] The mask hook removal fixture is installed on the end effector of the robotic arm through the connecting flange 11. The mechanical interface is designed as a modular structure, which is convenient for quick installation, disassembly and replacement of the fixture to adapt to different types of masks or changes in production processes. The mechanical interface is equipped with a high-precision positioning sensor to ensure that the installation position of the fixture on the robotic arm is accurate and the accuracy of each hook removal operation is guaranteed. When the hanging chain transports the mask to the hook removal position, the robotic arm accurately adjusts the position and posture according to the preset program so that the clamping jaws 42 of the clamp are aligned with the clamping part of the mask. Then, the clamping jaws 42 are opened under the action of the second drive device 41, so that the clamping jaws 42 are from both sides of the through hole of the mask.

[0076] Then, the electric push rod extends according to the predetermined parameters, pushing the movable plate 3 to rotate a certain angle around the connecting shaft 31, so that the hanging hole on the mask is smoothly separated from the hook on the hanging chain. In this process, the mechanical arm remains stable to ensure that the separation process of the mask is safe and reliable.

[0077] Example 5

[0078] This embodiment provides a mask hook removal method, which is implemented based on the hook removal and transportation device as described above.

[0079] The specific implementation process of this method is as follows:

[0080] The fixture is connected to the robot arm through the connecting flange 11. The hanging chain starts to run, and the masks to be unhooked are transported to the unhooking area in sequence. The control system of the unhooking and handling device monitors the position and posture information of the masks on the hanging chain in real time through the visual recognition system installed in the working area. Once the mask is detected to enter the effective range of unhooking, the robot arm immediately starts to move according to the pre-programmed path planning algorithm.

[0081] The mechanical arm drives the mask hook removal clamp to approach the mask. During the approach process, the position and posture are constantly fine-tuned according to the visual feedback information to ensure that the clamp's jaws 42 can accurately align with the predetermined clamping position of the mask. When the jaws 42 reach the appropriate position, the second drive device 41 is started to drive the jaws 42 to open. The opening action of the jaws 42 adopts progressive control, first approaching the mask at a lower speed, and then reducing the speed and gradually increasing the clamping force when it contacts the mask, until the pressure sensor detects that the preset safe and stable clamping force value is reached and stops the action, ensuring that the jaws 42 can firmly abut against the opposite sides of the mask through hole and avoid damage to the mask.

[0082] After successfully clamping the mask, the electric push rod slowly extends according to the preset time-stroke curve, pushing the movable plate 3 to rotate around the connecting shaft 31. During the rotation process, the robotic arm remains stable, and the control system continuously monitors the rotation angle of the movable plate 3 and the position change of the mask to ensure that the hanging hole on the mask is separated from the hook on the hanging chain smoothly and accurately, preventing the mask from shaking or damaging the hook due to improper separation process. When the hanging hole is completely separated from the hook, the robotic arm moves the mask to the designated storage area or the next process location according to the workshop layout and the location requirements of the next process.

[0083] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings. In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0084] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0085] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this application. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mask hook removal fixture, characterized in that: include: A mounting frame (1), wherein a movable plate (3) is arranged on the mounting frame (1), one side of the movable plate (3) is hinged to the mounting frame (1) via a connecting shaft (31), and a first driving device (2) is arranged on the mounting frame (1) for driving the movable plate (3) to rotate; The movable plate (3) is provided with a clamping member (4), the clamping member (4) comprising a second driving device (41) and a clamping jaw (42), and the second driving device (41) drives the clamping jaw (42) to open and close.

2. The mask hook removal fixture according to claim 1, characterized in that: The second driving device (41) is provided with two output ends, each of which is provided with a clamping jaw (42), and the two clamping jaws (42) are arranged opposite to each other; the two output ends drive the two clamping jaws (42) to move closer to or farther from each other.

3. The mask hook removal fixture according to claim 2, characterized in that: A buffer block (421) is respectively arranged on one side wall of the two clamping jaws (42) facing away from each other, and the buffer block (421) is detachably connected to the clamping jaws (42).

4. The mask hook removal fixture according to claim 3, characterized in that: The buffer block (421) is provided with N card slots, and the N card slots are parallel to each other; wherein N is a natural number greater than 1.

5. The mask hook removal fixture according to claim 3, characterized in that: The buffer block (421) is provided with a pressure sensor.

6. The mask hook removal fixture according to any one of claims 1 to 5, characterized in that: A plurality of movable plates (3) are arranged on the mounting frame (1), and each movable plate (3) is provided with the clamping member (4).

7. The mask hook removal fixture according to any one of claims 1 to 5, characterized in that: A connecting seat (32) is provided on the movable plate (3), and the output end of the first driving device (2) is hingedly connected to the connecting seat (32).

8. The mask hook removal fixture according to any one of claims 1 to 5, characterized in that: A connecting flange (11) is provided in the middle of the mounting frame (1), and a plurality of mounting holes (111) are provided on the connecting flange (11).

9. A hook removal and handling device, comprising a mechanical arm (200), characterized in that: The mechanical arm is provided with a mask hook removal clamp as described in any one of claims 1-8.

10. A mask hook removal method, characterized in that: The method is implemented based on the hook removal and handling device according to claim 9.

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