A fire damper production robot and method thereof

Abstract

The present invention discloses a manipulator for producing fire dampers and a method thereof, which belongs to the technical field of manipulators. The following scheme is proposed, which includes a manipulator device, wherein the operating arm of the manipulator device is equipped with a switchable gripping mechanism; the present invention drives the gripping assembly to grip the processed fire damper through a driving assembly, and after gripping, drives the two gripping assemblies to rotate through a switching assembly to switch the positions of the gripping assemblies, while at this time the other gripping assembly grips the unprocessed fire damper at the bottom, and then directly feeds the material, and after completion, switches the two gripping assemblies again, and at this time the processed fire damper can be smoothly delivered to the next area, and in this way, the material gripping and feeding can be completed by exchanging the two gripping assemblies, and there is no need to grab the material and deliver it to the next area before taking the material again, thereby reducing the idle stroke running time of the manipulator device and improving the processing efficiency, and the gripping assembly adopts a switching type, which is simple to operate and has a low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator for producing fire dampers and a method thereof. Background Art

[0002] In the automatic fire damper production line, the robot is usually used as part of the automation integration, working in coordination with other equipment such as fire damper frame forming machines, blade forming machines, support strip forming machines, etc. The robot can accurately complete tasks such as grasping, handling and assembling various components of the fire damper, thereby improving production efficiency and product quality.

[0003] At present, within the scope of existing technologies, when performing the pick-up and placement operations of fire dampers, the robot usually follows a rather cumbersome process: first, the processed fire dampers need to be taken out from the workstation one by one, and then transferred to the preset position; then, the robot needs to return to the discharge area, clamp the new fire damper, and then place it in the processing area. This series of actions is not only time-consuming, but also leads to a clear separation between effective working time and ineffective waiting time, resulting in unnecessary loss of time resources.

[0004] Furthermore, traditional manipulators often rely on built-in pick-up plates to carry fire dampers by clamping on both sides. However, during the movement of the manipulator, slight vibrations may cause fluctuations in the clamping force, which in turn may lead to unstable clamping or even the risk of falling off, which undoubtedly increases the instability of the product during movement. In addition, the fire damper may be contaminated with debris during the processing process. When the pick-up plate clamps the fire damper, these debris will not only affect the stability of the clamping, but may also cause scratches or damage to the surface of the fire damper due to friction, further reducing the quality of the product.

[0005] In view of the above problems, the present invention document proposes a manipulator and method for producing fire dampers. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the prior art that when a manipulator performs the operation of taking and placing a fire damper, the whole process takes a long time, resulting in the waste of time due to invalid time between effective working periods, and during the movement of the manipulator, slight vibration may cause the fluctuation of the clamping force, thereby causing the risk of unstable clamping or even falling off, and the surface of the fire damper may be scratched or damaged due to friction, further reducing the quality of the product. A manipulator for producing fire dampers and a method thereof are proposed.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A manipulator for fire damper production, comprising a manipulator device, wherein an operating arm of the manipulator device is equipped with a switchable gripping mechanism;

[0009] The switchable clamping mechanism includes a mounting bracket assembly, on which a driving assembly is mounted, an arc-shaped opening is provided on one side of the mounting bracket assembly, and an arc-shaped portion is provided below the arc-shaped opening, two limit assemblies are provided inside the arc-shaped portion, the limit assemblies are used to limit the limit plate tightly, and the limit plate is mounted on one end of the clamping assembly, and the clamping assembly is equipped with a blowing assembly for cleaning the fire damper, the two clamping assemblies are mounted on the switching assembly, the clamping assembly is driven to rotate by the switching assembly to transmit to the driving assembly, and the switching assembly and the driving assembly are mounted on the mounting bracket assembly.

[0010] Preferably, the mounting bracket assembly comprises a mounting bracket, the mounting bracket is fixedly mounted on the operating arm of the manipulator device, and both sides of the mounting bracket are connected to side brackets;

[0011] An arc plate is fixedly connected to the lower part of the mounting frame, the arc opening is arranged on the arc plate, and the arc plate is fixedly connected between two side brackets.

[0012] Preferably, the switching assembly comprises a switching shaft, the switching shaft is rotatably mounted on a mounting frame via two bearings, and one end of the switching shaft is fixedly connected to an output shaft of the first drive motor.

[0013] Preferably, the driving assembly includes a fixed frame, the first driving motor is fixedly installed in the fixed frame, the fixed frame is fixedly connected to the mounting frame, a second driving motor is fixedly installed below the inside of the fixed frame, the output shaft of the second driving motor passes through the fixed frame and is rotatably installed on the fixed frame through a bearing, and the output shaft of the second driving motor is fixedly connected to a second transmission gear.

[0014] Preferably, the gripping assembly includes a support frame and a bidirectional screw, one end of the bidirectional screw is fixedly connected to the limit plate, the bidirectional screw is rotatably mounted on the support frame via two bearings, the threads on both sides of the bidirectional screw are oppositely arranged, and two nuts are threadedly connected to the bidirectional screw.

[0015] Preferably, a guide slot is provided on the top wall of the support frame, and two movable bars are slidably connected in the guide slot. The two movable bars are respectively fixedly connected to two nuts, and a gripping portion is fixedly connected below the two movable bars.

[0016] Preferably, the other end of the bidirectional screw is fixedly connected to a first transmission gear, the first transmission gear is meshed with the second transmission gear, and a guide opening is opened on one side of the support frame.

[0017] Preferably, the limiting assembly comprises a roller body, one end of which is slidably disposed in the arc-shaped opening, and the curvature of the arc-shaped opening is smaller than the curvature of the arc-shaped portion;

[0018] A limiting plate is fixedly connected to the roller body, and an I-shaped plate is fixedly connected to the other end of the roller body. The I-shaped plate is slidably arranged in the guide opening.

[0019] Preferably, the blowing assembly includes an elastic airbag, two one-way filtering structures are arranged below the elastic airbag, one-way joints are arranged at both ends of the elastic airbag, the one-way joints are fixedly mounted on the movable bar, one end of the one-way joint is connected to an air supply pipe, one end of the air supply pipe is connected to an air outlet shell, the air outlet shell is mounted on the clamping part, and a plurality of air outlets are arranged on one side of the air outlet shell corresponding to the inner arc surface of the clamping part.

[0020] A method for using a manipulator for producing a fire damper, comprising the following steps:

[0021] S1. When the fire damper is being gripped, the second drive motor drives the second transmission gear to rotate, and the second transmission gear and the first transmission gear are driven to rotate, so that the first transmission gear drives the bidirectional screw to rotate, and the bidirectional screw drives the two nuts to approach each other, so that the two movable bars drive the two gripping parts to move relative to each other, so that the two gripping parts grip the fire damper;

[0022] S2, after clamping, the first driving motor drives the switching shaft to rotate, so that the two clamping components rotate and switch, so that the support frame drives the roller body to move out of the arc portion. Since the curvature of the arc portion is greater than the curvature of the arc mouth, the arc mouth drives the roller body to move, so that the roller body drives the limit plate to move, and the limit plate is pressed against the limit plate, so that the bidirectional screw is locked, and the clamping component that does not clamp the fire damper turns to the bottom, and the roller body follows and moves to the lower arc portion, so that the limit plate and the limit plate remain separated;

[0023] S3, then the manipulator equipment is transferred to the processing area, and the fire damper in the processing area is clamped by the driving component and the clamping component. During the clamping process, the two movable bars squeeze the elastic airbag, so that the elastic airbag discharges the gas through the gas pipe and the gas outlet shell, and the air flow is discharged through the gas outlet to clean the fire damper;

[0024] S4. After the processed fire damper is grasped and clamped, the two grasping and clamping components are switched again through the switching component. At this time, the unprocessed fire damper turns to the bottom, and the limit component moves downward through the arc part to disengage from the limit plate. At this time, the fire damper is placed in the processing area. After placement, the two grasping and clamping components are switched again, and the processed fire damper is transferred to the next area through the manipulator equipment. At the same time, the manipulator equipment grasps the unprocessed fire damper again, and then the material grasping operation is repeated in sequence.

[0025] Compared with the prior art, the present invention provides a manipulator for producing fire dampers and a method thereof, which have the following beneficial effects:

[0026] 1. The fire damper production robot and method thereof can clamp the processed fire damper by driving the gripping assembly through the driving assembly. After clamping, the two gripping assemblies are driven to rotate by the switching assembly to switch the positions of the gripping assemblies. At this time, the other gripping assembly grips the unprocessed fire damper at the bottom, and then directly feeds the material. After completion, the two gripping assemblies are switched again, and the processed fire damper can be smoothly delivered to the next area. In this way, the material can be grasped and fed by replacing the two gripping assemblies, and there is no need to grab the material and deliver it to the next area and then take the material again, thereby reducing the idle stroke running time of the robot equipment and improving the processing efficiency. In addition, the gripping assembly adopts a switching type, which is simple to operate and has a low cost.

[0027] 2. The fire damper production robot and method thereof, drives the switching shaft to rotate through the first driving motor, so that the gripping assembly rotates, so that the roller body at the bottom is separated from the arc portion, and drives the limit plate to move upward along the arc mouth, so that the limit plate plays a role of limiting the limit plate, thereby ensuring the stability of the gripping assembly gripping the fire damper, and drives the second transmission gear and the first transmission gear through the second driving motor, so that the two-way screw drives the two movable bars to move relative to each other through the two nuts, so that the elastic airbag is exhausted through the air pipe, and the process of the gripping part gripping the fire damper can accelerate the air flow through the air outlet, thereby removing the debris attached to the fire damper, and avoiding the debris after gripping to cause damage to the surface of the fire damper.

[0028] 3. The fire damper production robot and method thereof can complete the clamping of the fire damper by driving the clamping assembly through the driving assembly. After clamping, the two clamping assemblies can be driven to rotate by the switching assembly to switch the positions of the two clamping assemblies, so as to facilitate the subsequent clamping of the fire damper directly in the processing area and reduce unnecessary operations. At the same time, during the switching process, the limit assembly is transferred from the arc portion to the arc mouth. At this time, the limit assembly can be pressed against the limit plate to achieve the function of locking the clamping assembly, thereby achieving the function of direct limiting. This method does not require unnecessary operations, which is not only beneficial to the control of the robot equipment, but also has a simple structure and efficient and flexible operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional view of a manipulator for producing fire dampers proposed by the present invention;

[0030] Figure 2 A three-dimensional view of the connection between a manipulator device of a manipulator for producing a fire damper proposed by the present invention and a mounting bracket assembly;

[0031] Figure 3A three-dimensional view of a switchable gripping assembly of a manipulator for producing fire dampers proposed by the present invention;

[0032] Figure 4 A three-dimensional view showing the connection between a driving component and a switching component of a manipulator for producing fire dampers proposed by the present invention;

[0033] Figure 5 A three-dimensional view showing the connection between a mounting bracket assembly and a driving assembly of a manipulator for producing fire dampers proposed by the present invention;

[0034] Figure 6 A three-dimensional view showing the connection between a switching component and a gripping component of a manipulator for producing fire dampers proposed by the present invention;

[0035] Figure 7 A three-dimensional view showing the connection between a gripping assembly and a blowing assembly of a manipulator for producing a fire damper proposed by the present invention;

[0036] Figure 8 A three-dimensional view showing the connection between a gripping assembly and a limiting assembly of a manipulator for producing fire dampers proposed by the present invention;

[0037] Fig. 9 A three-dimensional view of a limit assembly of a manipulator for producing fire dampers proposed by the present invention;

[0038] Fig.10 This is a three-dimensional view of the blowing component of a manipulator for producing fire dampers proposed by the present invention.

[0039] In the figure: 100, manipulator device; 200, switchable gripping mechanism; 201, mounting bracket assembly; 2011, mounting frame; 2012, side bracket; 2013, arc plate; 202, arc opening; 203, switching assembly; 2031, first drive motor; 2032, switching shaft; 204, arc portion; 205, gripping assembly; 2051, support frame; 2052, movable bar; 2053, guide slide; 2054, bidirectional screw; 2055, guide opening; 2056, first Transmission gear; 2057, nut; 2058, gripping part; 206, driving assembly; 2061, fixing frame; 2062, second driving motor; 2063, second transmission gear; 207, limiting assembly; 2071, roller body; 2072, limiting plate; 2073, I-type plate; 208, blowing assembly; 2081, elastic airbag; 2082, one-way filtering structure; 2083, air transmission pipe; 2084, air outlet shell; 2085, air outlet; 2086, one-way joint; 209, limiting disk. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0041] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] Example 1: Reference Figure 1-Figure 8 , a manipulator for fire damper production, comprising a manipulator device 100, wherein a switchable gripping mechanism 200 is mounted on an operating arm of the manipulator device 100;

[0043] The switchable gripping mechanism 200 includes a mounting bracket assembly 201, the mounting bracket assembly 201 includes a mounting frame 2011, the mounting frame 2011 is fixedly mounted on the operating arm of the manipulator device 100, both sides of the mounting frame 2011 are connected to side brackets 2012, an arc plate 2013 is fixedly connected below the mounting frame 2011, an arc opening 202 is opened on the arc plate 2013, the arc plate 2013 is fixedly connected between the two side brackets 2012, a driving assembly 206 is mounted on the mounting bracket assembly 201, an arc opening 202 is provided on one side of the mounting bracket assembly 201, and an arc portion 206 is provided below the arc opening 202. 204, since the curvature of the arc portion 204 is greater than the curvature of the arc-shaped opening 202, the roller body 2071 contacts the arc portion 204 and can move downward, so that the limit plate 2072 can be separated from the limit plate 209. Two limit assemblies 207 are arranged inside the arc portion 204. The limit assemblies 207 are used to press the limit plate 209 tightly and limit the limit plate 209. The limit plate 209 is assembled at one end of the clamp assembly 205. The clamp assembly 205 includes a support frame 2051 and a bidirectional screw 2054. One end of the bidirectional screw 2054 is fixedly connected to the limit plate 209. The bidirectional screw 2054 is rotatably mounted on the support frame 2051 through two bearings. The bidirectional screw 205 The bearing keeps stable rotation, so that the bidirectional screw 2054 can drive the nut 2057 to stably transmit. The threads on both sides of the bidirectional screw 2054 are oppositely arranged. By setting the threads on both sides of the bidirectional screw 2054 oppositely, the bidirectional screw 2054 can control the relative movement of the two nuts 2057 through the opposite threads, so that the clamping part 2058 can move relatively to clamp the fire damper. Two nuts 2057 are threadedly connected on the bidirectional screw 2054. The top wall of the support frame 2051 is provided with a guide slot 2053. Two movable bars 2052 are slidably connected in the guide slot 2053. The guide slot 2053 can be used to clamp the fire damper. The movable bar 2052 guides the movable bar 2052 to slide smoothly along the guide slot 2053, so that the clamping part 2058 moves smoothly. The two movable bars 2052 are respectively fixedly connected to the two nuts 2057. The clamping part 2058 is fixedly connected below the two movable bars 2052. The other end of the bidirectional screw 2054 is fixedly connected to the first transmission gear 2056. The first transmission gear 2056 is meshed with the second transmission gear 2063. The second transmission gear 2063 is transmitted to the first transmission gear 2056, so that the bidirectional screw 2054 can be driven to rotate. A guide port 2055 is opened on one side of the support frame 2051.

[0044] The gripping assembly 205 is equipped with a blowing assembly 208 for cleaning the fire damper. The two gripping assemblies 205 are assembled on the switching assembly 203. The switching assembly 203 includes a switching shaft 2032. The switching shaft 2032 is rotatably mounted on the mounting frame 2011 through two bearings. The switching shaft 2032 can maintain smooth rotation through the bearings, so that the switching shaft 2032 can drive the gripping assembly 205 to rotate stably. One end of the switching shaft 2032 is fixedly connected to the output shaft of the first drive motor 2031. The first drive motor 2031 is used as a driving source to drive the switching shaft 2032 to rotate. The switching shaft 2032 can drive the gripping assembly 205 to rotate, so that the gripping assembly 205 can smoothly switch positions. The gripping assembly is driven to rotate and the drive assembly is driven by the switching assembly 203. The drive assembly 206 is transmitted by the fixing frame 2061, and the first drive motor 2031 and the second drive motor 2062 can be fixed by the fixing frame 2061 to ensure the stability of the first drive motor 2031 and the second drive motor 2062. The first drive motor 2031 is fixedly installed in the fixing frame 2061, and the fixing frame 2061 is fixedly connected to the mounting frame 2011. The second drive motor 2062 is fixedly installed at the lower part of the fixing frame 2061. The output shaft of the second drive motor 2062 passes through the fixing frame 2061 and is rotatably installed on the fixing frame 2061 through a bearing. The output shaft of the second drive motor 2062 is fixedly connected to the second transmission gear 2063. The switching assembly 203 and the drive assembly 206 are assembled on the mounting bracket assembly 201.

[0045] In this embodiment, the second drive motor 2062 drives the second transmission gear 2063 to transmit to the first transmission gear 2056, so that the first transmission gear 2056 drives the bidirectional screw 2054 to rotate, and the bidirectional screw 2054 drives the two nuts 2057 to move relative to each other, and the two nuts 2057 drive the two movable bars 2052 to move relative to each other, so that the two clamping parts 2058 move relative to each other, and clamp the processed fire damper. After clamping, the first drive motor 2031 drives the switching shaft 2032 to rotate, and the switching shaft 2032 drives the two clamping components 205 Rotate to switch the position of the gripping component 205, and at this time the other gripping component 205 grips the unprocessed fire damper at the bottom, and then directly feeds the material. After completion, switch the two gripping components 205 again, and at this time the processed fire damper can be smoothly delivered to the next area. In this way, the two gripping components 205 can be replaced to complete the gripping and feeding of materials, and there is no need to grab the materials and deliver them to the next area and then take the materials again, thereby reducing the idle stroke running time of the manipulator equipment 100 and improving the processing efficiency. In addition, the gripping component 205 adopts a switching type, which is simple to operate and has a low cost.

[0046] Example 2: Reference Figure 5 , Figure 7 and Figure 9-10 A manipulator for producing fire dampers, comprising a switching assembly 203, the switching assembly 203 comprising a switching shaft 2032, the switching shaft 2032 being rotatably mounted on a mounting frame 2011 through two bearings, one end of the switching shaft 2032 being fixedly connected to an output shaft of a first drive motor 2031;

[0047] The driving assembly 206 includes a fixing frame 2061, in which the first driving motor 2031 is fixedly installed, and the fixing frame 2061 is fixedly connected to the mounting frame 2011. A second driving motor 2062 is fixedly installed below the fixing frame 2061, and an output shaft of the second driving motor 2062 passes through the fixing frame 2061 and is rotatably installed on the fixing frame 2061 through a bearing, and the output shaft of the second driving motor 2062 is fixedly connected to a second transmission gear 2063;

[0048] The limiting assembly 207 includes a roller body 2071, one end of which is slidably disposed in the arc-shaped opening 202. The roller body 2071 moves along the arc-shaped opening 202 through the curvature of the arc-shaped opening 202, and the roller body 2071 drives the limiting plate 2072 to move, so that the limiting plate 2072 can be pressed against the limiting disk 209, thereby locking the position of the bidirectional screw 2054. The curvature of the arc-shaped opening 202 is smaller than the curvature of the arc-shaped portion 204. The limiting plate 2072 is fixedly connected to the roller body 2071, and the other end of the roller body 2071 is fixedly connected to the I-shaped plate 2073. The I-shaped plate 2073 is slidably disposed in the guide opening 2055. The I-shaped plate 2073 can be guided by the guide opening 2055, so that the I-shaped plate 2073 slides up and down smoothly along the guide opening 2055, thereby making the roller body 2071 move up and down smoothly.

[0049] The blowing assembly 208 includes an elastic airbag 2081, and a spring is added inside the elastic airbag 2081 to make the elastic airbag 2081 resettable, so that the elastic airbag 2081 can be reset smoothly, and the purpose of air intake is achieved through the one-way filtering structure 2082, so that it can play the role of gas storage. Two one-way filtering structures 2082 are arranged below the elastic airbag 2081, and the one-way filtering structures 2082 can keep the gas from entering the elastic airbag 2081 in one direction, and can also filter the gas. One-way joints 2086 are arranged at both ends of the elastic airbag 2081, and the one-way joints 2086 can be used to filter the gas. One-way exhaust can be maintained, and a one-way joint 2086 is fixedly installed on the movable bar 2052. One end of the one-way joint 2086 is connected to a gas pipe 2083, and the gas transmission distance can be extended through the gas pipe 2083, so that the gas can smoothly enter the gas outlet shell 2084. One end of the gas pipe 2083 is connected to the gas outlet shell 2084, and the gas outlet shell 2084 is installed on the clamping part 2058. A plurality of gas outlets 2085 are provided on one side of the gas outlet shell 2084 corresponding to the inner arc surface of the clamping part 2058. The gas can be smoothly discharged through the gas outlet 2085, and the rapid outflow of gas can remove the waste on the surface of the fire damper.

[0050] In this embodiment: the first driving motor 2031 drives the switching shaft 2032 to rotate, so that the clamping assembly 205 rotates, so that the roller body 2071 at the bottom is separated from the arc portion 204, and drives the limit plate 2072 to move upward along the arc opening 202, so that the limit plate 2072 limits the limit plate 209, thereby ensuring the stability of the clamping assembly 205 in clamping the fire damper, and the second driving motor 2062 drives the second transmission gear 2063 and the first transmission gear 2056 to transmit, so that the two-way screw 2054 drives the two movable bars 2052 to move relative to each other through the two nuts 2057, so that the elastic airbag 2081 is exhausted through the air pipe 2083, and the process of the clamping part 2058 clamping the fire damper can accelerate the air flow through the air outlet 2085, so that the debris attached to the fire damper can be removed, and the debris after clamping can be prevented from damaging the surface of the fire damper.

[0051] Example 3: Reference Figure 3-Figure 6A manipulator for producing fire dampers includes a switchable gripping assembly 205. The switchable gripping mechanism 200 includes a mounting bracket assembly 201, on which a driving assembly 206 is mounted. An arc-shaped opening 202 is provided on one side of the mounting bracket assembly 201, and an arc-shaped portion 204 is provided below the arc-shaped opening 202. Two limit assemblies 207 are provided inside the arc-shaped portion 204. The limit assemblies 207 are used to limit a limit plate 209 tightly, and the limit plate 209 is mounted on one end of the gripping assembly 205. The gripping assembly 205 is equipped with a blowing assembly 208 for cleaning the fire damper. The two gripping assemblies 205 are mounted on a switching assembly 203. The gripping assembly 205 is driven to rotate and transmit to the driving assembly 206 through the switching assembly 203. The switching assembly 203 and the driving assembly 206 are mounted on the mounting bracket assembly 201.

[0052] In this embodiment: the fire damper can be clamped by driving the clamping assembly 205 through the driving assembly 206. After clamping, the two clamping assemblies 205 can be driven to rotate through the switching assembly 203, so that the two clamping assemblies 205 switch positions, which is convenient for subsequent direct clamping of the fire damper in the processing area and reduces unnecessary operations. At the same time, during the switching process, the limiting assembly 207 is transferred from the arc portion 204 to the arc mouth 202. At this time, the limiting assembly 207 can be pressed against the limiting plate 209 to lock the clamping assembly 205, thereby achieving the effect of direct limiting. This method does not require unnecessary operations, which is not only beneficial to the control of the manipulator device 100, but also has a simple structure and efficient and flexible operation.

[0053] A method for using a manipulator for producing a fire damper, comprising the following steps:

[0054] S1. When the fire damper is being gripped, the second drive motor 2062 drives the second transmission gear 2063 to rotate, and the second transmission gear 2063 and the first transmission gear 2056 are in transmission, so that the first transmission gear 2056 drives the bidirectional screw 2054 to rotate, and the bidirectional screw 2054 drives the two nuts 2057 to move closer to each other, so that the two movable bars 2052 drive the two gripping parts 2058 to move relative to each other, so that the two gripping parts 2058 grip the fire damper;

[0055] S2, after clamping, the first driving motor 2031 drives the switching shaft 2032 to rotate, so that the two clamping assemblies 205 rotate and switch, so that the support frame 2051 drives the roller body 2071 to move out of the arc portion 204. Since the curvature of the arc portion 204 is greater than the curvature of the arc opening 202, the roller body 2071 is driven to move through the curvature of the arc opening 202, so that the roller body 2071 drives the limit plate 2072 to move, and the limit plate 2072 is pressed against the limit plate 209, so that the bidirectional screw 2054 is locked, and the clamping assembly 205 that does not clamp the fire damper turns to the bottom, and the roller body 2071 follows and moves to the lower arc portion 204, so that the limit plate 2072 and the limit plate 209 remain separated;

[0056] S3, then the manipulator device 100 is transferred to the processing area, and the driving component 206 cooperates with the clamping component 205 to clamp the fire damper in the processing area. During the clamping process, the two movable bars 2052 squeeze the elastic airbag 2081, so that the elastic airbag 2081 discharges the gas through the gas pipe 2083 and the gas outlet shell 2084, and the air flow is discharged through the gas outlet 2085 to clean the fire damper;

[0057] S4. After the processed fire damper is grasped and clamped, the two grasping and clamping components 205 are switched again through the switching component 203. At this time, the unprocessed fire damper turns to the bottom, and at this time, the limit component 207 moves downward through the arc portion 204 to disengage from the limit plate 209. At this time, the fire damper is placed in the processing area. After placement, the two grasping and clamping components 205 are switched again, and the processed fire damper is transferred to the next area through the manipulator device 100. At the same time, the manipulator device 100 grasps the unprocessed fire damper again, and then the grasping operation is repeated in sequence.

[0058] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A manipulator for producing fire dampers, comprising a manipulator device (100), characterized in that: The operating arm of the manipulator device (100) is equipped with a switchable gripping mechanism (200); The switchable gripping mechanism (200) comprises a mounting bracket assembly (201), a driving assembly (206) being mounted on the mounting bracket assembly (201), an arcuate opening (202) being provided on one side of the mounting bracket assembly (201), an arcuate portion (204) being provided below the arcuate opening (202), two limit assemblies (207) being provided inside the arcuate portion (204), the limit assemblies (207) being used to press the limit plate (209) against the limit plate (209) to prevent the limit plate (209) from being damaged. The clamp assembly (205) is provided with a limit plate (209) mounted on one end of the clamp assembly (205), and the clamp assembly (205) is provided with an air blowing assembly (208) for cleaning the fire damper. The two clamp assemblies (205) are mounted on the switching assembly (203). The clamp assemblies (205) are driven to rotate and transmit power to the driving assembly (206) through the switching assembly (203). The switching assembly (203) and the driving assembly (206) are mounted on the mounting bracket assembly (201); The gripping assembly (205) comprises a support frame (2051) and a bidirectional screw (2054), one end of the bidirectional screw (2054) is fixedly connected to the limit plate (209), the bidirectional screw (2054) is rotatably mounted on the support frame (2051) via two bearings, and two nuts (2057) are threadedly connected to the bidirectional screw (2054); The limiting assembly (207) comprises a roller body (2071), one end of the roller body (2071) being slidably disposed in the arc-shaped opening (202), and the arc of the arc-shaped opening (202) is smaller than the arc of the arc-shaped portion (204); The roller body (2071) is fixedly connected to a limiting plate (2072), the other end of the roller body (2071) is fixedly connected to an I-shaped plate (2073), and the I-shaped plate (2073) is slidably disposed in the guide opening (2055); The blowing assembly (208) comprises an elastic airbag (2081), two one-way filtering structures (2082) are arranged below the elastic airbag (2081), one-way joints (2086) are arranged at both ends of the elastic airbag (2081), the one-way joints (2086) are fixedly mounted on the movable bar (2052), one end of the one-way joint (2086) is connected to an air supply pipe (2083), one end of the air supply pipe (2083) is connected to an air outlet shell (2084), the air outlet shell (2084) is mounted on the clamping portion (2058), and a plurality of air outlets (2085) are arranged on one side of the air outlet shell (2084) corresponding to the inner arc surface of the clamping portion (2058).

2. A fire damper production robot according to claim 1, characterized in that: The mounting bracket assembly (201) comprises a mounting bracket (2011), wherein the mounting bracket (2011) is fixedly mounted on an operating arm of the manipulator device (100), and both sides of the mounting bracket (2011) are connected to side brackets (2012); An arc-shaped plate (2013) is fixedly connected below the mounting frame (2011), the arc-shaped opening (202) is opened on the arc-shaped plate (2013), and the arc-shaped plate (2013) is fixedly connected between two side brackets (2012).

3. A fire damper production robot according to claim 2, characterized in that: The switching assembly (203) comprises a switching shaft (2032), the switching shaft (2032) being rotatably mounted on a mounting frame (2011) via two bearings, and one end of the switching shaft (2032) being fixedly connected to an output shaft of a first drive motor (2031).

4. A fire damper production robot according to claim 3, characterized in that: The driving assembly (206) comprises a fixing frame (2061), the first driving motor (2031) is fixedly mounted in the fixing frame (2061), the fixing frame (2061) is fixedly connected to the mounting frame (2011), a second driving motor (2062) is fixedly mounted below the inside of the fixing frame (2061), an output shaft of the second driving motor (2062) passes through the fixing frame (2061) and is rotatably mounted on the fixing frame (2061) via a bearing, and the output shaft of the second driving motor (2062) is fixedly connected to a second transmission gear (2063).

5. A fire damper production robot according to claim 4, characterized in that: The threads on both sides of the bidirectional screw (2054) are arranged oppositely.

6. A fire damper production robot according to claim 5, characterized in that: The top wall of the support frame (2051) is provided with a guide slot (2053), and two movable bars (2052) are slidably connected in the guide slot (2053). The two movable bars (2052) are respectively fixedly connected to two nuts (2057), and a gripping portion (2058) is fixedly connected below the two movable bars (2052).

7. A fire damper production robot according to claim 6, characterized in that: The other end of the bidirectional screw rod (2054) is fixedly connected to a first transmission gear (2056), the first transmission gear (2056) is meshed with a second transmission gear (2063), and a guide opening (2055) is provided on one side of the support frame (2051).

8. The method for using a manipulator for producing fire dampers according to claim 7, characterized in that: The following steps are involved: S1. When the fire damper is being gripped, the second drive motor (2062) drives the second transmission gear (2063) to rotate, and the second transmission gear (2063) and the first transmission gear (2056) are driven to rotate, so that the first transmission gear (2056) drives the bidirectional screw (2054) to rotate, and the bidirectional screw (2054) drives the two nuts (2057) to move closer to each other, so that the two movable bars (2052) drive the two gripping parts (2058) to move relative to each other, so that the two gripping parts (2058) grip the fire damper; S2, after clamping, the first drive motor (2031) drives the switching shaft (2032) to rotate, so that the two clamping components (205) rotate and switch, so that the support frame (2051) drives the roller body (2071) to move out of the arc-shaped portion (204). Since the curvature of the arc-shaped portion (204) is greater than the curvature of the arc-shaped opening (202), the roller body (2071) is driven to move by the curvature of the arc-shaped opening (202), so that the roller body (2071) drives the limit plate (2072) to move, and the limit plate (2072) is pressed against the limit plate (209), so that the bidirectional screw (2054) is locked, and the clamping component (205) that does not clamp the fire damper turns downward, and the roller body (2071) follows and moves to the lower arc-shaped portion (204), so that the limit plate (2072) and the limit plate (209) remain separated; S3, the manipulator device (100) is then transferred to the processing area, and the driving component (206) cooperates with the grasping component (205) to grasp the fire damper in the processing area. During the grasping process, the two movable bars (2052) squeeze the elastic airbag (2081), so that the elastic airbag (2081) discharges gas through the gas pipe (2083) and the gas outlet shell (2084), and the air flow is discharged through the gas outlet (2085) to clean the fire damper; S4. After the processed fire damper is grasped and clamped, the two grasping and clamping components (205) are switched again through the switching component (203). At this time, the unprocessed fire damper is turned downward, and at this time, the limit component (207) moves downward through the arc portion (204) to disengage from the limit plate (209). At this time, the fire damper is placed in the processing area. After being placed, the two grasping and clamping components (205) are switched again, and the processed fire damper is transferred to the next area through the manipulator device (100). At the same time, the manipulator device (100) grasps the unprocessed fire damper again, and then the grasping operation is repeated in sequence.

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