Mechanical hand clamp with breaking function

Abstract

The application discloses a mechanical hand clamp with a breaking function and belongs to the technical field of mechanical hands. One end of a clamp assembly is hingedly connected to a rotary arm; two ends of a clamp amplitude cylinder are respectively hingedly connected to the rotary arm and the clamp assembly; a breaking air bag assembly is fixed on the rotary arm; the breaking air bag assembly comprises an air bag limited on the rotary arm, and the air bag is connected with an air path system; a block assembly is fixed on the clamp assembly; the block assembly comprises a block opposite to the air bag; when the clamp amplitude cylinder controls the clamp assembly to rotate towards the rotary arm, the block contacts and extrudes the air bag. The application adopts the air bag structure to cooperate with the mechanical hand clamp to complete the breaking operation of the silicon rod. The air bag has certain flexibility, can generate certain buffering after being stressed, the guard plate at the front end of the air bag has the freedom of three-dimensional directions, can better be attached to the block, is good for the stressed components in the mechanical hand clamp, and prolongs the service life of the product.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to a robotic arm gripper with a breaking function. Background Technology

[0002] Pneumatic-assisted manipulators, as specialized equipment for transferring U-shaped silicon rods in reduction furnace workshops of the polysilicon industry, are widely used by polysilicon manufacturers both domestically and internationally. Primarily relying on overhead cranes in the reduction workshop, the equipment is horizontally moved and positioned in front of each reduction furnace to perform the rod removal operation. During operation, the equipment's outriggers are extended, fixed, and leveled. Then, the clamping assembly at the front of the equipment is manually operated to clamp the native U-shaped polysilicon rods on the reduction furnace tray. Finally, the lifting force of the equipment's balancing cylinders is used to transfer the U-shaped silicon rods from the furnace tray to a nearby silicon rod carriage, completing the rod transfer operation. Previously, the rod removal manipulator's breaking device mainly used a method of directly lifting vertically upwards with cylinders. With recent technological advancements, radial breaking methods along the silicon rod have gradually been adopted. However, current breaking drive devices all use cylinder devices. Due to the presence of corrosive gases in the silicon rod production workshop, the cylinder rods are easily corroded and damaged. Furthermore, during the lifting process, the cylinder rods are subjected to impact forces, which can also easily cause damage. This undoubtedly increases the cost of using the product for users.

[0003] For example, a silicon rod handling tool with an auxiliary breaking device disclosed in Chinese patent (CN213445014U) has the following drawbacks in actual production: because the breaking limiting cylinder in this patent is arranged perpendicularly to the clamp assembly, the limiting cylinder is easily subjected to a resultant force in both the vertical and oblique directions during the clamp's flipping process, and this force acts directly on the cylinder. This creates a lateral force on the piston rod of the limiting cylinder, which can easily squeeze the sealing ring and damage the limiting cylinder, resulting in high production and usage costs. Summary of the Invention

[0004] To address the aforementioned technical shortcomings, this invention provides a robotic gripper with a breaking function. This invention utilizes a controllable airbag structure to simultaneously limit and buffer the gripper assembly, thereby improving product lifespan and reducing operating costs.

[0005] The present invention adopts the following technical solution: a robotic gripper with a breaking function, comprising a rotary arm, a gripper assembly, and a gripper luffing cylinder; one end of the gripper assembly is hinged to the rotary arm; the two ends of the gripper luffing cylinder are respectively hinged to the rotary arm and the gripper assembly, and are used to control the angle of the gripper assembly relative to the rotary arm;

[0006] Also includes:

[0007] A break-off airbag assembly is fixed on the rotary arm; the break-off airbag assembly includes an airbag that is limited on the rotary arm, and the airbag's air inlet and air outlet are connected to an air passage system, through which the air passage system controls the airbag's air intake and exhaust.

[0008] A ramming block assembly is fixed to the clamp assembly; the ramming block assembly includes a ramming block opposite to the airbag; when the clamp luffing cylinder controls the clamp assembly to rotate toward the slewing arm, the ramming block contacts the airbag and squeezes the airbag, at which time the air circuit system controls the airbag to exhaust.

[0009] Preferably, the break-off airbag assembly further includes:

[0010] Install the support plate and fix it on the rotary arm;

[0011] The airbag cover is fixed at the rear end to the mounting plate and has an open front end.

[0012] The protective plate is fitted inside the front end of the airbag shield.

[0013] The mounting plate, the airbag cover, and the protective plate form a closed space, and the airbag is installed in the closed space;

[0014] During the breaking operation, the clamp luffing cylinder controls the clamp assembly to rotate toward the slewing arm, the impact block contacts the guard plate and squeezes the airbag, at which point the air circuit system controls the airbag to exhaust.

[0015] Preferably, the airbag cover is a cylindrical shape with open ends, the rear end of the airbag cover is fixed to the mounting plate by a flange, and the front end of the airbag cover has an inwardly extending annular sealing plate.

[0016] The protective plate is a circular plate, with an outer diameter smaller than the inner diameter of the airbag cover and an outer diameter larger than the inner diameter of the annular sealing plate.

[0017] Before the break-off operation, the airbag is filled with working gas at a certain pressure, and the protective plate is tightly attached to the inner side of the annular sealing plate.

[0018] Preferably, the outer diameter of the airbag is smaller than the diameter of the airbag cover, and the air inlet and exhaust port at the rear end of the airbag pass through the mounting bracket and connect to the air circuit system.

[0019] Preferably, the air circuit system includes an air source and a control valve, and the inflation and deflation of the airbag are achieved by operating the control valve.

[0020] Preferably, both ends of the airbag are fixedly connected to the protective plate and the mounting plate by screw I, respectively.

[0021] Preferably, the impact block assembly further includes a mounting bracket fixed to the clamp assembly; one end of the impact block is fixed to the end of the mounting bracket by a washer and screw II, and the other end of the impact block has a boss that mates with the guard plate.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] The controllable airbag structure, combined with the robotic gripper, is used to complete the silicon rod breaking operation, which effectively reduces the workload of operators, improves production efficiency, and makes the operation safer and more reliable.

[0024] The airbag has a certain degree of flexibility, which can provide some cushioning after being subjected to force. In addition, the protective plate at the front end of the airbag has three-dimensional freedom, which can better fit with the impact block and is good for the force-bearing components in the robotic gripper. The airbag is made of high molecular polymer, which has excellent corrosion resistance, and its environmental tolerance and impact resistance are greatly improved, thus extending the product's service life.

[0025] The production and usage costs of the robotic gripper are effectively controlled, and no special maintenance is required; the production and usage costs of the airbag assembly are significantly lower than those of the cylinder type. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a perspective view of a robotic gripper with a breaking function according to the present invention.

[0028] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0029] Figure 3 This is a front view of a robotic gripper with a breaking function according to the present invention.

[0030] Figure 4 This is a right view of a robotic gripper with a breaking function according to the present invention.

[0031] Figure 5 This is an exploded view of the broken airbag assembly in this invention.

[0032] Figure 6 This is an exploded view of the impact block assembly in this invention.

[0033] Explanation of reference numerals in the attached drawings: 1. Slewing arm; 2. Fixture assembly; 3. Fixture luffing cylinder;

[0034] 4. Break the airbag assembly; 401. Mounting support plate; 402. Airbag cover; 4021. Circular sealing plate; 403. Airbag; 404. Protective plate; 405. Screw I;

[0035] 5. Impact block assembly; 501. Mounting bracket; 502. Impact block; 503. Washer; 504. Screw II;

[0036] 6. Silicon rods. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figures 1 to 4 As shown, this invention provides a robotic gripper with a breaking function, including a rotary arm 1, a gripper assembly 2, and a gripper luffing cylinder 3. The upper end of the rotary arm 1 is connected to the robotic arm, and the position of the rotary arm 1 is controlled by the robotic arm. The rotary arm 1 has two hinge points for realizing the luffing of the gripper assembly 2. One upper hinge point is connected to one hinge point of the gripper luffing cylinder 3, and one lower hinge point of the rotary arm 1 is connected to the rotation hinge point of the gripper assembly 2. The other hinge point on the gripper assembly 2 is connected to the other hinge point of the gripper luffing cylinder 3. The rotary arm 1, gripper assembly 2, and gripper luffing cylinder 3 together constitute a common three-hinge luffing mechanism in mechanical equipment. The gripper assembly 2 is provided with several pairs of grippers. The object is transferred by gripping it, and the angle between the gripper assembly 2 and the rotary arm 1 is controlled by the extension and retraction of the gripper luffing cylinder 3.

[0039] The break airbag assembly 4 is fixed on the rotary arm 1, and the impact block assembly 5 is fixed on the clamp assembly 2. During the operation of the robotic gripper breaking the silicon rod, the break airbag assembly 4 and the impact block assembly 5 cooperate to limit and buffer the clamp assembly 2.

[0040] Figures 1 to 5 As shown, the mounting plate 401 is fixed to the rotary arm 1 by bolts;

[0041] The airbag cover 402 is a cylindrical shape with open ends. The rear end of the airbag cover 402 has a flange, which is fixed to the mounting plate 401 by bolts. The mounting plate 401 seals the rear end of the airbag cover 402. The front end of the airbag cover 402 has an inwardly extending annular sealing plate 4021.

[0042] The protective plate 404 is a circular plate, and the protective plate 404 is fitted inside the annular sealing plate 4021 at the front end of the airbag cover 402; the outer diameter of the protective plate 404 is smaller than the inner diameter of the airbag cover 402, and the outer diameter of the protective plate 404 is larger than the inner diameter of the annular sealing plate 4021.

[0043] The airbag 403, when inflated, is cylindrical and fits snugly within a closed space formed by the mounting plate 401, the airbag cover 402, and the protective plate 404. The airbag 403 is made of a high-molecular polymer, exhibiting excellent corrosion resistance and withstanding millions of impacts, thus ensuring a long product lifespan. The outer diameter of the airbag 403 is smaller than the diameter of the airbag cover 402, facilitating smooth expansion and contraction within the cover. Both ends of the airbag 403 are fixedly connected to the protective plate 404 and the mounting plate 401 respectively using screws I 405, enhancing the stability of the airbag 403. Under normal conditions, the airbag 403 is filled with a pressurized working gas, causing the protective plate 404 to fit tightly against the inner side of the annular sealing plate 4021.

[0044] The air inlet and outlet of the airbag 403 are connected to the air circuit system after passing through the mounting plate 401. The air circuit system controls the air intake and exhaust of the airbag 403. The air circuit system includes at least an air source and a control valve. The inflation and deflation of the airbag are achieved by operating the control valve. During the breaking operation, the clamp assembly 2 holds the silicon rod 6. When the clamp luffing cylinder 3 controls the clamp assembly 2 to rotate toward the rotary arm 1, the impact block assembly 5 will squeeze the guard plate 404, and the guard plate 404 will squeeze the airbag 403. At this time, the air circuit system controls the airbag 403 to slowly exhaust air, thereby controlling the clamp assembly 2 to gradually change its amplitude, so as to break the silicon rod 6.

[0045] Example 2:

[0046] Based on the above embodiment one, and further combined with Figure 6 As shown, the impact block assembly 5 in this embodiment includes a mounting bracket 501, which is fixed to the clamp assembly 2 by bolts. The mounting bracket 501 has an extension shaft at one end for mounting the impact block 502. One end of the impact block 502 is fixed to the end of the extension shaft by a washer 503 and a screw II 504, and the other end of the impact block 502 has a disc-shaped boss for engaging with the guard plate 404.

[0047] Work process;

[0048] When the robotic gripper is powered on, the airbag 403 is filled with working gas at a certain pressure, causing the protective plate 404 to be tightly attached to the inner side of the annular sealing plate 4021.

[0049] When the control fixture assembly 2 is in a vertical position, the end of the impact block 502 is also pressed against the outside of the guard plate 404, and the fixture assembly 2 holds the silicon rod 6.

[0050] Then, the clamping cylinder 3 controls the clamping assembly 2 to make a small amplitude change, so that the silicon rod 6 is subjected to the bending moment applied by the clamping force at the root and breaks.

[0051] During the process of operating the clamping cylinder 3 to control the clamping assembly 2 to make small amplitude changes, the air bag 403 is slowly released through the control valve. As the gas in the air bag 403 gradually decreases, the air bag 403 is gradually compressed under the pressure of the 502 impact block, and the clamping assembly 2 gradually changes amplitude, thereby achieving the breaking of the silicon rod.

[0052] As can be seen from the above embodiments, the present invention discloses a clamp breaking mechanism mainly composed of a breaking airbag assembly and a ramming block assembly. The clamp breaking mechanism innovatively uses an airbag to limit and buffer the clamp assembly, which greatly improves the product's service life. In addition, the overall production cost of the product is significantly reduced. For example, the production cost of the breaking assembly can be reduced by about 70% compared to the cylinder type, and the usage cost can be reduced by about 80%.

[0053] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A robotic gripper with a breaking function, comprising a rotary arm (1), a gripper assembly (2), and a gripper luffing cylinder (3); one end of the gripper assembly (2) is hinged to the rotary arm (1); both ends of the gripper luffing cylinder (3) are respectively hinged to the rotary arm (1) and the gripper assembly (2), for controlling the angle of the gripper assembly (2) relative to the rotary arm (1); Its features are, Also includes: The airbag assembly (4) is fixed on the rotary arm (1); the airbag assembly (4) includes an airbag (403) that is limited on the rotary arm (1), and the air inlet and outlet of the airbag (403) are connected to the air circuit system, and the air inlet and outlet of the airbag (403) are controlled by the air circuit system. The impact block assembly (5) is fixed on the clamp assembly (2); the impact block assembly (5) includes an impact block (502) opposite to the airbag (403); when the clamp luffing cylinder (3) controls the clamp assembly (2) to rotate toward the rotary arm (1), the impact block (502) contacts the airbag (403) and squeezes the airbag (403), at which time the air circuit system controls the airbag (403) to exhaust air; The broken airbag assembly (4) also includes: Mounting support plate (401) and fixing it on the rotary arm (1); The airbag cover (402) is fixed at the rear end to the mounting plate (401) and has an open front end; The protective plate (404) is fitted inside the front end of the airbag shield (402); A closed space is formed between the mounting plate (401), the airbag cover (402), and the protective plate (404), and the airbag (403) is installed in the closed space; During the breaking operation, the clamp luffing cylinder (3) controls the clamp assembly (2) to rotate toward the slewing arm (1), the impact block (502) contacts the guard plate (404) and squeezes the airbag (403), at which time the air circuit system controls the airbag (403) to exhaust air; The airbag cover (402) is a cylindrical shape with open ends. The rear end of the airbag cover (402) is fixed to the mounting plate (401) by a flange. The front end of the airbag cover (402) has an inwardly extending annular sealing plate (4021). The protective plate (404) is a circular plate, the outer diameter of the protective plate (404) is smaller than the inner diameter of the airbag cover (402), and the outer diameter of the protective plate (404) is larger than the inner diameter of the annular sealing plate (4021); Before the break-off operation, the airbag (403) is filled with working gas at a certain pressure, and the guard plate (404) is tightly attached to the inner side of the annular sealing plate (4021).

2. The robotic gripper with a breaking function according to claim 1, characterized in that: The outer diameter of the airbag (403) is smaller than the diameter of the airbag cover (402), and the air inlet and exhaust port at the rear end of the airbag (403) pass through the mounting bracket (401) to connect to the air circuit system.

3. A robotic gripper with a breaking function according to claim 2, characterized in that: The air system includes an air source and a control valve, which is used to inflate and deflate the airbag (403).

4. A robotic gripper with a breaking function according to claim 1, characterized in that: The two ends of the airbag (403) are fixedly connected to the guard plate (404) and the mounting plate (401) by screw I (405), respectively.

5. A robotic gripper with a breaking function according to claim 1, characterized in that: The impact block assembly (5) further includes a mounting bracket (501) fixed on the clamp assembly (2); one end of the impact block (502) is fixed to the end of the mounting bracket (501) by a washer (503) and screw II (504), and the other end of the impact block (502) has a boss that mates with the guard plate (404).

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