Article clamping, airing and hanging mechanism and manipulator

Abstract

The utility model relates to an article clamping and hanging mechanism and a manipulator, the article clamping and hanging mechanism comprises a clamping and unclamping assembly and a hanging clamp, the clamping and unclamping assembly comprises a first connecting plate, a first cylinder, a second cylinder, a first sucker and a second sucker, the first cylinder and the first sucker are fixedly connected to one end of the first connecting plate, and the second cylinder is fixedly connected to the other end of the first connecting plate; the second cylinder and the second sucker are fixedly connected to the other end of the first connecting plate; the hanging clamp comprises a hanging frame and two clamps, the hanging frame is provided with a plane plate matched with the suction cup, the two clamps are fixedly installed at the two ends of the hanging frame, and when the suction cup sucks the plane plate, the two clamps are located on a piston rod push-out path of the first air cylinder and a piston rod push-out path of the second air cylinder respectively. The full-automatic clamping and hanging device can realize full-automatic clamping and hanging of articles such as paper, films and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of clamps, in particular to an article clamping and hanging mechanism and a manipulator. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, the application of automated equipment is becoming increasingly widespread across various fields. Gripping mechanisms, a common type of automated equipment, are primarily used to grip and release various workpieces, such as paper and sheet materials. In industries such as printing, packaging, and electronics manufacturing, gripping mechanisms efficiently and accurately grasp and place workpieces, significantly improving production efficiency.

[0003] However, the current clamping mechanism clamps the workpiece from one horizontal surface to another. For production scenarios that require hanging processing (such as drying, baking, and painting), the item needs to be manually clamped on the workpiece and then hung on the processing beam, which cannot meet the needs of automated production. Utility Model Content

[0004] Based on this, it is necessary to provide an item clamping and hanging mechanism and a manipulator to address the problem that the clamping mechanism cannot meet the needs of automated production.

[0005] In a first aspect, the utility model provides an article clamping and hanging mechanism, comprising a clamping and opening assembly and a hanging clamp, wherein the clamping and opening assembly comprises a first connecting plate, a first cylinder, a second cylinder, a first suction cup, and a second suction cup, wherein the first cylinder and the first suction cup are fixedly connected to one end of the first connecting plate, and the second cylinder and the second suction cup are fixedly connected to the other end of the first connecting plate;

[0006] The hanging clamp includes a hanging rack and two clips. The hanging rack is provided with a flat plate adapted to the suction cup. The two clips are fixedly installed at both ends of the hanging rack. When the suction cup absorbs the flat plate, the two clips are respectively located on the piston rod pushing path of the first cylinder and the piston rod pushing path of the second cylinder.

[0007] In some embodiments, each of the first suction cup and the second suction cup includes two adjacent suction cups.

[0008] In some embodiments, the first connecting plate is further fixedly connected to a first U-shaped positioning plate and a second U-shaped positioning plate, the first suction cup is within the U-shape of the first U-shaped positioning plate, and the second suction cup is within the U-shape of the second U-shaped positioning plate.

[0009] In some embodiments, both side plates of the first U-shaped positioning plate are provided with a first U-shaped notch adapted to the flat plate, and both side plates of the second U-shaped positioning plate are provided with a second U-shaped notch adapted to the flat plate.

[0010] In some embodiments, a hanging ring is provided in the middle of the drying rack.

[0011] In some embodiments, the height of the rotating member of the clip relative to the installation position of the drying rack is lower than the height of the flat plate relative to the installation position of the drying rack.

[0012] In some embodiments, the first cylinder and the first suction cup are symmetrically arranged on the first connecting plate as are the second cylinder and the second suction cup.

[0013] In some embodiments, the first cylinder and the second cylinder are both bolted to the first connecting plate.

[0014] In some embodiments, the first connecting plate is further fixedly connected to a second connecting plate.

[0015] In a second aspect, the utility model also provides an article clamping and hanging robot, comprising a robot and an article clamping and hanging mechanism connected to the robot, wherein the article clamping and hanging mechanism is the above-mentioned article clamping and hanging mechanism.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] By integrating the clamping and opening functions into the item clamping and hanging mechanism, the item clamping and hanging mechanism can automatically absorb the hanging clamp through the suction cup, and use the cylinder to push out the piston rod to act on the clamp to achieve opening. After the clamp clamps the item, the robot arm is used to move the hanging clamp to the hook at the preset position, and the suction of the suction cup is released, thereby realizing the automatic hanging of items such as paper and film. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of an article clamping and hanging mechanism according to an embodiment of the present utility model from a three-dimensional perspective;

[0019] Figure 2 This is another three-dimensional structural diagram of the article clamping and hanging mechanism shown in an embodiment of the present utility model;

[0020] Figure 3 This is another three-dimensional structural diagram of the article clamping and hanging mechanism according to an embodiment of the present utility model;

[0021] Figure 4This is a schematic structural diagram of an article-gripping and hanging robot shown in an embodiment of the present utility model. DETAILED DESCRIPTION

[0022] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only."

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended only to describe specific embodiments and are not intended to limit this invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of an article clamping and hanging mechanism according to an embodiment of the present invention. The article clamping and hanging mechanism comprises a clamping and unclamping assembly 1 and a hanging fixture 2. The clamping and unclamping assembly 1 comprises a first connecting plate 11, a first cylinder 12, a second cylinder 13, a first suction cup 14, and a second suction cup 15. The first cylinder 12 and the first suction cup 14 are fixedly connected to one end of the first connecting plate 11, and the second cylinder 13 and the second suction cup 15 are fixedly connected to the other end of the first connecting plate 11.

[0026] The hanging clamp 2 includes a hanging rack 21 and two clips 22. The hanging rack 21 is provided with a flat plate 211 adapted to the suction cup. The two clips 22 are fixedly installed at both ends of the hanging rack 21. When the suction cup absorbs the flat plate 211, the two clips 22 are respectively located on the piston rod pushing path of the first cylinder 12 and the piston rod pushing path of the second cylinder 13.

[0027] In this embodiment, the first suction cup 14 and the second suction cup 15 are adsorbed on the flat plate 211 of the hanging clamp 2 to complete the clamping operation; the first cylinder 12 and the second cylinder 13 respectively push out the piston rod, and the piston rod acts on one end of the clamp to complete the unclamping operation; then cooperate with the robot to move the object clamping and hanging mechanism to the position where objects such as paper and film are located, and place the edge of the object in the clamping groove of the clamp, and the first cylinder 12 and the second cylinder 13 retract the piston rod so that the clamp clamps the edge of the object; finally, move the object clamping and hanging mechanism to the preset hanging position, and control the first suction cup 14 and the second suction cup 15 to no longer release the suction, so that the hanging rack is placed in the hanging position, thereby performing the object hanging operation.

[0028] In some embodiments, as Figure 1 As shown, the first suction cup 14 and the second suction cup 15 each comprise two adjacent suction cups. Providing two suction cups on both the left and right ends of the first connecting plate 1 ensures the stability of the clip removal operation and reduces clip removal errors. Furthermore, multiple suction cups can better cope with the reaction force generated by the piston rods pushed out by the first and second cylinders 12, 13 acting on the clip, thereby enabling the use of a clip with greater clamping force.

[0029] In some embodiments, as Figure 1 and Figure 2 As shown, the first connecting plate 11 is also fixedly connected to a first U-shaped positioning plate 16 and a second U-shaped positioning plate 17 , the first suction cup 14 is within the U-shape of the first U-shaped positioning plate 16 , and the second suction cup 15 is within the U-shape of the second U-shaped positioning plate 17 .

[0030] In this embodiment, the U-shaped positioning plate can leave space for the suction cup and simultaneously enable the clamp removal and opening assembly 1 to position the hanging fixture 2 during clamp removal. Specifically, the length and width of the flat plate 211 are fixed. When both the first U-shaped positioning plate 16 and the second U-shaped positioning plate 17 can fully contact the flat plate 211, it indicates that the lengthwise positioning of the hanging fixture 2 is complete. However, when one side plate of the first U-shaped positioning plate 16 or one side plate of the second U-shaped positioning plate 17 exceeds the length range of the flat plate 211 and cannot contact the flat plate 211, it indicates that the positioning of the hanging fixture 2 is incomplete. By providing the U-shaped positioning plate, this embodiment can ensure the success rate of the clamp removal operation.

[0031] Alternatively, as Figure 1 and Figure 2 As shown, both side plates of the first U-shaped positioning plate 16 are provided with first U-shaped notches adapted to the plane plate 211 , and both side plates of the second U-shaped positioning plate 17 are provided with second U-shaped notches adapted to the plane plate 211 .

[0032] In this optional embodiment, U-shaped notches that match the width of the flat plate 211 are provided on both side plates of the U-shaped positioning plate, so that during the clamping operation, the U-shaped notches can be just stuck into the flat plate to complete the positioning in the width direction, and combined with the above-mentioned positioning in the length direction, the positioning accuracy can be improved, thereby further improving the success rate of the clamping operation.

[0033] In some embodiments, a hanging ring is provided in the middle of the hanging rack 21 to facilitate hanging the hanging clamps at a preset hanging position.

[0034] In some embodiments, as Figure 3 As shown, the height of the rotating part 221 of the clip 22 relative to the installation position of the drying rack is lower than the height of the flat plate 211 relative to the installation position of the drying rack, so as to reserve a larger movable space for the cylinder piston rod above the clip 22, thereby meeting the maximum opening angle of the clip.

[0035] In some embodiments, the first cylinder 12 and the first suction cup 14 are symmetrically arranged with the second cylinder 13 and the second suction cup 15 on the first connecting plate 11. The symmetrical arrangement can improve the structural stability of the clip removal and opening mechanism 1, thereby improving the clip removal success rate and the clip opening success rate.

[0036] In some embodiments, the first cylinder 12 and the second cylinder 13 are both bolted to the first connecting plate 11, and the first suction cup 14 and the second suction cup 15 are both bolted to the first connecting plate 11, so as to facilitate the disassembly of the cylinders and suction cups for cleaning, maintenance and fault repair.

[0037] In some embodiments, the first connecting plate 11 is further fixedly connected to a second connecting plate 18 to facilitate connection with a robot arm.

[0038] See also Figure 4 , Figure 4 This is a structural schematic diagram of an article clamping and hanging robot shown in an embodiment of the present utility model. The article clamping and hanging robot includes a robot 3 and an article clamping and hanging mechanism A connected to the robot 3. The article clamping and hanging mechanism A is the above-mentioned article clamping and hanging mechanism.

[0039] This article clamping and hanging robot integrates clamping and opening into the article clamping and hanging mechanism A, so that the article clamping and hanging mechanism A can automatically absorb the hanging clamp through the suction cup, and push the piston rod through the cylinder to act on the clamp to achieve opening. After the clamp clamps the article, it cooperates with the robot 3 to move the hanging clamp to the hook at a preset position and release the suction of the suction cup, thereby realizing automatic hanging of articles such as paper and film.

[0040] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. An article clamping and hanging mechanism, characterized in that: The device comprises a clip removing and opening assembly and a hanging clamp, wherein the clip removing and opening assembly comprises a first connecting plate, a first cylinder, a second cylinder, a first suction cup and a second suction cup, wherein the first cylinder and the first suction cup are fixedly connected to one end of the first connecting plate, and the second cylinder and the second suction cup are fixedly connected to the other end of the first connecting plate; The hanging clamp includes a hanging rack and two clips. The hanging rack is provided with a flat plate adapted for the suction cup. The two clips are fixedly mounted at both ends of the hanging rack. When the suction cup absorbs the flat plate, the two clips are respectively located on the piston rod push-out path of the first cylinder and the piston rod push-out path of the second cylinder.

2. The article clamping and hanging mechanism according to claim 1, characterized in that: The first suction cup and the second suction cup each include two adjacent suction cups.

3. The article clamping and hanging mechanism according to claim 1, characterized in that: The first connecting plate is also fixedly connected to a first U-shaped positioning plate and a second U-shaped positioning plate. The first suction cup is inside the U-shape of the first U-shaped positioning plate, and the second suction cup is inside the U-shape of the second U-shaped positioning plate.

4. The article clamping and hanging mechanism according to claim 3, characterized in that: Both side plates of the first U-shaped positioning plate are provided with first U-shaped notches adapted to the plane plate, and both side plates of the second U-shaped positioning plate are provided with second U-shaped notches adapted to the plane plate.

5. The article clamping and hanging mechanism according to claim 1, characterized in that: A hanging ring is provided in the middle of the drying rack.

6. The article clamping and hanging mechanism according to claim 1, characterized in that: The height of the rotating part of the clip relative to the installation position of the drying rack is lower than the height of the flat plate relative to the installation position of the drying rack.

7. The article clamping and hanging mechanism according to claim 1, characterized in that: The first cylinder and the first suction cup are symmetrically arranged on the first connecting plate as are the second cylinder and the second suction cup.

8. The article clamping and hanging mechanism according to claim 1, characterized in that: The first cylinder and the second cylinder are both connected to the first connecting plate with bolts.

9. The article clamping and hanging mechanism according to claim 1, characterized in that: The first connecting plate is also fixedly connected to a second connecting plate.

10. A robot for gripping and hanging items, characterized in that: It comprises a manipulator and an article clamping and hanging mechanism connected to the manipulator, and the article clamping and hanging mechanism is the article clamping and hanging mechanism as claimed in any one of claims 1 to 9.

Images