Reversible clamping hand device

Abstract

The utility model discloses a reversing hand clamping device which comprises an upper cross beam and a lower cross beam which are fixed through a cross beam fixing plate, a vacuum generator is arranged on one side of the cross beam fixing plate, the cross beam fixing plate is of an I-shaped structure, a connecting flange is arranged in the middle of the cross beam fixing plate to fix a reversing module, and a bent connecting body is arranged in the reversing module. The upper cross beam and the lower cross beam are provided with a plurality of suction cup fixing plates, the suction cup fixing plates are of L-shaped structures, the top of the reversing module is provided with an upper connecting block, one side of the reversing module is connected with a side fixing plate, the lower portion of the lower base is connected with a clamping hand fixing seat, and a plurality of connecting blocks are arranged on the periphery of the clamping hand fixing seat. The clamping device is used for clamping different materials through reversing of the manipulator, is provided with the I-shaped fixing plate, and is stable in structure.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping hand devices, in particular to a reversible clamping hand device. Background Art

[0002] The reversible clamping hand device is a complex and important field. In a wheel packaging process, a robot is required to clamp the core-wheels on the transport line in the previous process onto a wooden pallet. After one layer of the wooden pallet is filled, a cardboard needs to be placed above the products, and then the stacking of the next layer of wheels is carried out. At this time, a robot clamping hand needs to be designed to clamp the core-wheels and place them in an orderly manner. And after one layer of wheels is placed, the cardboard also needs to be sucked onto the wheels, integrating these two functions, which can improve work efficiency and save costs. The utility model solves the problems of automatic clamping of wheels and automatic sucking of paper by the robot in the automatic packaging of core-wheels.

[0003] In the prior art, in a multi-functional manipulator end device disclosed in the patent No. CN221391090U, the utility model discloses a multi-functional manipulator end device, including: a connecting bracket, a detection light source, a vision detection device, a material taking suction cup, a suction cup bracket, an electric vacuum generator, an electric clamping jaw, a clamping jaw driving device, a steel mesh bracket, a bracket connecting plate, and a hook box mechanism. Through the above method, various forms of material taking such as clamping, sucking, and hooking can be performed. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a reversible clamping hand device with a simple structure and clamping and sucking multi-functions.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A reversible clamping hand device includes a plurality of suction cup modules provided on an upper cross beam and a lower cross beam; the upper cross beam and the lower cross beam are fixed by a cross beam fixing plate; a vacuum generator is provided on one side of the cross beam fixing plate; the cross beam fixing plate is of an I-shaped structure; a connecting flange is provided in the middle of the cross beam fixing plate to fix a reversing module; a bent connecting body is provided in the reversing module.

[0006] Preferably, the suction cup module includes a suction cup fixing plate and a suction cup, and the suction cup fixing plate is connected to the suction cup by a fastening bolt.

[0007] Preferably, the suction cup fixing plate is of an L-shaped structure.

[0008] Preferably, an upper connecting block is provided at the top of the reversing module.

[0009] Preferably, the upper connecting block is connected to a lower base through a bent connecting body; one side of the reversing module is connected to a side fixing plate.

[0010] Preferably, a gripper fixing base is connected below the lower base; several connecting blocks are arranged around the gripper fixing base.

[0011] Preferably, a clamping block base is arranged below the connecting block; a clamping block is arranged below the clamping block base.

[0012] Preferably, the connecting block is of a T-shaped structure.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows: the present utility model is provided with a commutation device, which can realize the commutation of the operating hand for clamping different materials; the present utility model is provided with an I-shaped fixing plate, which has stable structure, lower cost, can reduce labor and improve efficiency. Description of the Drawings

[0014] Figure 1 It is a schematic diagram of the main structure of the present utility model.

[0015] Figure 2 It is an enlarged view C of the partial structure of the present utility model.

[0016] Figure 3 It is a side view of the present utility model.

[0017] In the figure: 1, lower cross beam; 2, upper cross beam; 3, suction cup fixing plate; 4, fastening bolt; 5, suction cup; 6, cross beam fixing plate; 7, vacuum generator; 8, gripper fixing base; 9, connecting block; 10, clamping block base; 11, clamping block; 12, connecting flange; 13, bent connecting body; 14, lower base; 15, upper connecting block; 16, side fixing plate; 17, commutation module; 18, suction cup module. Detailed Embodiments

[0018] Next, the technical solutions in the embodiments of the present utility model will be clearly described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0019] Embodiment 1: Refer to Figures 1 to 3 , the upper cross beam 2 and the lower cross beam 1 are fixedly connected through the cross beam fixing plate 6. The upper cross beam 2 is a long strip-shaped pipe, and the overall pipe is in a nine-square grid structure. There is a circular ring-shaped through hole in the middle of the pipe. There are four protrusions around the circular structure. The four sides of the nine-square grid are square through holes, and this structure has stronger stability.

[0020] A plurality of suction cup modules 18 are provided on both sides of the upper cross beam 2 and the lower cross beam 1. Each suction cup module 18 is composed of a suction cup fixing plate 3 and a suction cup 5. The suction cup fixing plate 3 is connected to the suction cup 5 through a fastening bolt 4. The suction cup fixing plate 3 has an L-shaped structure. One end of the suction cup fixing plate 3 is provided with a bolt hole. The suction cup fixing plate 3 is connected to the front end of the cross beam through a bolt and nut, and the other end fixed on the cross beam extends beyond the edge of the cross beam.

[0021] The other end of the suction cup fixing plate 3 is also provided with a bolt hole. The suction cup 5 is fixed on the suction cup fixing plate 3 through a fastening bolt 4. The number of suction cup fixing plates 3 can be adjusted according to actual needs. The suction cup 5 can be of a circular structure. The suction cup 5 in this embodiment is composed of two layers of circular plates, and its structure is more stable.

[0022] Bolt holes are provided at the middle position of the cross beam. The cross beam fixing plate 6 is installed at the middle position of the cross beam and fixed through the bolt holes. The cross beam fixing plate 6 is designed with an I-shaped structure and is composed of two parallel long plates and an intermediate plate connecting these two long plates. The widths of the upper and lower long plates of the cross beam fixing plate 6 are slightly smaller than the width of the intermediate plate, and the widths of the upper and lower long plates are equal. A fixed flange 12 is connected at the middle position of the cross beam fixing plate 6. The fixed flange 12 is designed as a circle and is provided with a number of through holes. The connection between the cross beam fixing plate 6 and the cross beam is realized through nuts and bolts.

[0023] The commutation module 17 is located in the middle of the cross beam fixing plate 6 and is fixed through the connection flange 12. An upper connection block 15 is provided at the top of the commutation module 17. The upper connection block 15 is connected to the lower base 14 through a bent connecting body 13. The upper connection block 15 has a square structure. A through hole for positioning is provided at the central position thereof, and a number of through holes for connection are also provided at the four corners respectively. A side fixing plate 16 is installed on one side of the commutation module 17. The side fixing plate 16 is also of a square structure, and bolt holes are evenly distributed around it and it is connected to the commutation module 17 through bolts.

[0024] The overall structure of the lower base 14 is square, but a part of its periphery is cut off, and a gripper fixing seat 8 is connected below. The gripper fixing seat 8 has a cylindrical structure, and a number of connection blocks 9 are evenly distributed on its periphery. These connection blocks 9 adopt a T-shaped structure, and this design makes the connection more stable and helps to rotate and clamp objects. A gripper block base 10 is connected below each connection block 9, and a gripper block 11 is connected below the gripper block base 10. During the working process, the gripper block 11 is responsible for clamping and fixing the components.

[0025] The connecting block 9 connects the gripper holder 8 to the clamping block base 10. The upper crossbeam 2 and lower crossbeam 1 form the device's lateral support structure. Suction cup modules 18 are mounted on the upper and lower crossbeams 2 and 1 to attach to objects. The reversing module 17, in conjunction with the curved connector 13, enables the device's movement and directional conversion. The gripper holder 8, connecting block 9, clamping block base 10, and clamping block 11 together form the mechanical structure that performs the clamping and release actions.

[0026] It should be noted that the main structure of the present invention is composed of an upper crossbeam 2 and a lower crossbeam 1, and these two crossbeams are fixed by a crossbeam fixing plate 6. The function of the crossbeam fixing plate 6 is not only to connect the upper and lower crossbeams, it also integrates a vacuum generator 7 on one side. This vacuum generator 7 is crucial for the adsorption function of the gripping device and can ensure that the device is firmly adsorbed on various surfaces. The vacuum generator 7 generates negative pressure so that the suction cup can be tightly adsorbed on the surface of the object, whether it is smooth glass, metal, or relatively rough wood or plastic, it can provide stable adsorption force, thereby achieving stable transportation of the object. A number of suction cup modules 18 are provided on the upper crossbeam 2 and the lower crossbeam 1.

[0027] The crossbeam fixing plate 6 is designed in an I-shaped configuration. Composed of two parallel flanges and a vertical web, this design evenly distributes stress when subjected to pressure, reducing localized stress concentrations and thus improving the durability and reliability of the entire device. The crossbeam fixing plate 6 is typically constructed of high-strength steel or aluminum alloy, which not only possess excellent mechanical properties but also possess good corrosion and oxidation resistance, ensuring stable performance in a variety of harsh operating environments.

[0028] The ends of the crossbeam fixing plate 6 are connected to the upper crossbeam 2 and lower crossbeam 1. These connections are typically made using bolts or welding to ensure a secure and reliable connection. The design of the connection structure fully considers the various forces that the crossbeam fixing plate 6 may be subjected to during operation, such as tension, compression, and bending, to ensure that the connection structure remains stable under various operating conditions.

[0029] The installation and disassembly of the beam fixing plate 6 is also very convenient and only requires simple tools to complete. This design enables the beam fixing plate 6 to be quickly carried out when needs are changed or repaired.

[0030] A connecting flange 12 is located in the middle of the crossbeam fixing plate 6. This flange secures the reversing module 17. The connecting flange 12 is typically made of high-strength material to ensure it resists deformation or damage when subjected to high forces. The reversing module 17 is a key component of the device, controlling the direction of the gripper mechanism, enabling it to flexibly adapt to various operational requirements, such as grasping, transporting, or releasing items on an automated production line.

[0031] It should also be noted that a curved connector 13 is designed inside the reversing module 17. This curved connector 13 is a key connecting component in the device. It is usually made of durable and flexible materials, such as stainless steel or high-strength plastic, to ensure stable performance during frequent direction changes. The design of the curved connector 13 enables it to flexibly guide the movement of the reversing module 17 without increasing excessive friction, thereby achieving precise directional control. Several suction cup fixing plates 3 are designed on the upper crossbeam 2 and the lower crossbeam 1. These suction cup fixing plates 3 are the key parts of the contact between the clamping device and the clamped object. The layout and number of the suction cup fixing plates 3 are determined according to the design and application requirements of the clamping device to ensure that objects of various shapes and sizes can be effectively adsorbed and transported. Each suction cup fixing plate 3 is connected to the suction cup 5 by a fastening bolt 4. This connection method ensures the stable fixation of the suction cup to prevent it from falling off during operation. The design of the fastening bolt 4 adopts a standard thread design.

[0032] The suction cup fixing plate 3 adopts an L-shaped structural design. This design not only increases the stability of the fixing plate, but also makes the layout of the suction cups more reasonable, improving the suction efficiency. The L-shaped structure design allows the suction cup fixing plate 3 to fit tightly against the surfaces of the upper beam 2 and the lower beam 1, while providing sufficient space for the suction cup 5 to ensure that the suction cup can fully contact the surface of the clamped object. In addition, the L-shaped structure design takes into account the distribution of force, allowing the suction cup to evenly distribute force when sucking the object, reducing damage to the object caused by concentrated force.

[0033] The top of the reversing module 17 is designed with an upper connecting block 15. This block, through its ingenious connection to the curved connector 13, achieves a secure connection to the lower base 14. The design of the curved connector 13 takes into account force transmission and direction changes. The curved portion of the curved connector 13 creates a smooth force transmission path between the upper connecting block 15 and the lower base 14 to accommodate various operating angles. A side fixing plate 16 is also connected to one side of the reversing module 17. This design further enhances the stability of the entire device and helps disperse the forces exerted on the device during operation, thereby protecting the reversing module 17 and other key components from damage.

[0034] A clamping hand fixing base 8 is connected below the lower base 14, which is the part where the clamping hand device directly contacts the object to be clamped. The shape and size of the clamping hand fixing base 8 are designed according to the characteristics of the object to be clamped. A number of connecting blocks 9 are designed around the clamping hand fixing base 8. This design enables the clamping hand device to adapt to more objects. Whether it is an object with a regular shape or an irregular shape, stable clamping can be achieved by adjusting the positions of the connecting blocks 9. The connecting blocks 9 are designed to be quickly disassembled and installed.

[0035] A clamping block base 10 is provided below the connecting block 9, and a clamping block 11 is below the clamping block base 10. This multi-level design enables the clamping hand device to clamp the object more firmly. The clamping block 11 fits the surface of the object when clamping the object. The movement of the clamping block 11 is usually controlled by a precise drive mechanism to ensure the accuracy and repeatability of the clamping action.

[0036] The T-shaped structure of the connecting block 9 also has excellent load-bearing capacity. Due to its wider bottom, the connecting block 9 can withstand greater vertical and horizontal forces without breaking or permanent deformation. The connecting block 9 with a T-shaped structure helps to simplify the manufacturing and assembly process of the clamping hand device. The connecting block 9 can be cast or welded. This structure is also convenient for connecting and fixing with other components.

[0037] The specific working principle of this solution is as follows: The commutation module 17 is located in the middle of the crossbeam fixing plate 6 and is firmly connected through the fixing flange 12. Under the operation of the manipulator, the commutation module 17 can perform a rotating action, and this rotating action is the key to realizing multi-functional commutation. An upper connecting block 15 is provided at the top of the commutation module 17, and this connecting block 15 is connected to the square lower base 14 through a bent connecting body 13. Such a design allows for flexible direction conversion under the operation of the manipulator. On one side of the commutation module 17, a square-structured side fixing plate 16 is installed, and this fixing plate is also connected to the commutation module 17 through bolts to ensure the stability of the entire structure.

[0038] Although the lower base 14 is square as a whole, one side is deliberately cut off during the design. Such a design helps to reduce mechanical interference and improve the flexibility of operation. The lower base 14 is connected to the clamping hand fixing base 8, and this fixing base 8 is cylindrical, with a number of T-shaped connecting blocks 9 evenly distributed on its periphery. These connecting blocks 9 can rotate and clamp objects. A clamping block base 10 is connected below each connecting block 9, and a clamping block 11 is connected below the clamping block base 10. During the working process, the clamping block 11 is responsible for clamping and fixing the component to complete the clamping action.

[0039] When the manipulator starts to work, first, the gripper fixing base 8 and the connected gripper block 11 are used to grip the object. Once the object is successfully gripped and placed at the predetermined position, the commutation module 17 starts to work, transferring the operation from the gripper to the suction cup module. At this time, the suction cup module 18 starts to operate, using the combination of its suction cup fixing plate 3 and suction cups 5 to adsorb other components. Such a design enables a single device to achieve multiple functions, not only capable of gripping objects but also capable of performing adsorption operations through the suction cup module.

[0040] The lateral support of the entire device is composed of the upper crossbeam 2 and the lower crossbeam 1, and these two crossbeams are connected by the crossbeam fixing plate 6 to form a solid framework. The suction cup module 18 is installed on the upper crossbeam 2 and the lower crossbeam 1 for adsorbing to the object. The commutation module 17 and the bent connecting body 13 cooperate together to achieve the movement and direction conversion of the device. The gripper fixing base 8, the connecting block 9, the gripper block base 10, and the gripper block 11 together form a mechanical structure for performing the gripping and releasing actions, enabling the entire device to flexibly switch between different working modes.

[0041] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A reversible clamping device, characterized in that, There are a number of suction cup modules (18) provided on the upper cross beam (2) and the lower cross beam (1); the upper cross beam (2) and the lower cross beam (1) are fixed by a cross beam fixing plate (6); a vacuum generator (7) is provided on one side of the cross beam fixing plate (6); the cross beam fixing plate (6) is of an I-shaped structure; a connecting flange (12) is provided in the middle of the cross beam fixing plate (6) to fix the commutation module (17); a bent connecting body (13) is provided in the commutation module (17).

2. The reversible gripper device according to claim 1, wherein, The suction cup module (18) includes a suction cup fixing plate (3) and a suction cup (5), and the suction cup fixing plate (3) is connected to the suction cup (5) by a fastening bolt (4).

3. The reversible gripper device according to claim 2, characterized in that, The suction cup fixing plate (3) is of an L-shaped structure.

4. A reversible gripper device according to claim 1 or 2 or 3, characterized in that, An upper connecting block (15) is provided at the top of the commutation module (17).

5. The commutable gripper device according to claim 4, wherein, The upper connecting block (15) is connected to the lower base (14) through the bent connecting body (13); one side of the commutation module is connected to a side fixing plate (16).

6. The reversible gripper device according to claim 5, wherein, A gripper fixing seat (8) is connected below the lower base (14); a number of connecting blocks (9) are provided around the gripper fixing seat (8).

7. The reversible clamping device according to claim 6, characterized in that, A clamping block base (10) is provided below the connecting block (9); a clamping block (11) is provided below the clamping block base (10).

8. The reversible clamping device according to claim 7, characterized in that, The connecting block (9) is of a T-shaped structure.

Images