Mask hook taking clamp and hook taking carrying device

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of handling fixture technology, and in particular to a mask hook removal fixture and a hook removal and handling device. Background Technology

[0002] The air conditioner outdoor unit cover is a crucial component that covers the exterior of the air conditioner's outdoor unit, playing multiple key roles during operation. It effectively prevents dust, debris, and rainwater from corroding the delicate internal components of the outdoor unit, reducing the risk of malfunctions caused by foreign objects and extending the unit's lifespan. The production of the air conditioner outdoor unit cover involves multiple processes, such as stamping, surface treatment, and accessory assembly. Between different production stages, the cover is typically suspended from hooks on a suspension chain, allowing for orderly movement between processes. This ensures the continuity and smoothness of the production process, avoids delays in transfer between stages, and improves overall production efficiency.

[0003] However, in the production and assembly of air conditioner outdoor unit covers, manual labor is typically used to move and hang the covers from the overhead conveyor belt. This process is time-consuming, extremely inefficient, and severely impacts production schedules. Furthermore, the prolonged handling and assembly work places a heavy burden on workers' physical health due to the high intensity of their labor. Moreover, during manual handling and assembly, uncontrollable damage often occurs due to variations in the degree of movement and assembly. This damage not only leads to a decline in product quality but also wastes resources, increasing production costs and the difficulty of quality control for the company.

[0004] Therefore, it is necessary to improve the existing method of hanging air conditioner covers on the suspension chain to overcome the shortcomings of the existing technology. Summary of the Invention

[0005] To overcome the problems existing in related technologies, one of the objectives of this utility model is to provide a mask hook clamp that can use clamping parts to grab the mask and change the angle of the mask by moving the movable plate, so that the mask can be hung from the hook of the suspension chain. This can save manpower for hanging the mask and improve production efficiency.

[0006] A mask hook removal clamp, comprising:

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

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

[0009] During operation, this fixture utilizes a robot to move the mask hook-removing fixture to a waiting position next to the overhead conveyor chain. At this point, the electric push rod is retracted, the movable plate is horizontal, and the micro-cylinder drives the grippers to retract as well. To retrieve the hook, the robot drives the fixture closer to the mask, causing the grippers to clamp it. Once clamped, the electric push rod extends according to a pre-programmed sequence, pushing the movable plate to rotate around the connecting shaft at a certain angle. This gradually separates the hanging holes on the mask from the hooks on the overhead conveyor chain, facilitating transport. The robot then transports the mask to a designated storage area or the next processing step. This fixture automates mask hook removal, significantly reducing manpower, lowering worker fatigue, and greatly shortening the hook removal time for a single mask, thereby significantly improving production efficiency.

[0010] In a preferred embodiment of this invention, the second driving device is provided with two output ends, each of which is provided with a gripper, and the two grippers are arranged opposite to each other; the two output ends drive the two grippers to move closer or further apart.

[0011] Because the two grippers are positioned opposite each other and can move closer or further apart flexibly, the clamp can adapt to the hook-removal needs of masks of various sizes and shapes. By adjusting the stroke of the second drive device and the initial distance between the grippers, compatibility with different products can be achieved, reducing the investment cost of production equipment and production changeover time, and improving production efficiency and equipment utilization.

[0012] In a preferred embodiment of this invention, buffer blocks are provided on the side walls of the two grippers that are opposite to each other, and the buffer blocks are detachably connected to the grippers.

[0013] The buffer block plays a crucial protective role in hook-removal operations. When the gripper approaches the face mask or may accidentally come into contact with other objects in a complex production environment, the buffer block effectively absorbs impact energy, preventing damage to the gripper and face mask from rigid impacts. For example, in cases of occasional slight swaying of the overhead chain or slight misalignment of the face mask, the buffer block prevents the gripper from directly impacting the face mask, reducing scratches, dents, and other defects on the face mask surface, thus improving product appearance quality and yield. Simultaneously, it protects the structural integrity of the gripper itself, reducing the risk of wear and deformation caused by frequent collisions, extending the gripper's lifespan, reducing the frequency of equipment maintenance and parts replacement, and lowering production costs. The detachable connection method makes buffer block replacement convenient. When the buffer block wears out due to prolonged use or needs to be replaced with a buffer block with different cushioning characteristics for different production tasks, operators can quickly disassemble and install it.

[0014] In a preferred embodiment of this invention, the buffer block is provided with N slots, which are parallel to each other; where N is a natural number greater than 1.

[0015] The N slots allow for secure attachment to the face mask during use, ensuring stability of the clamping mechanism.

[0016] In a preferred embodiment of this invention, a pressure sensor is provided on the buffer block.

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

[0018] In a preferred embodiment of this invention, the mounting frame is provided with a plurality of movable plates, and each movable plate is provided with the clamping member.

[0019] The multi-movable plate and multi-clamping component design enables the clamping and hooking of multiple masks at once. Compared to the single-mask hooking method, production efficiency is increased exponentially within the same time frame.

[0020] Since the process of picking up and transporting multiple masks is completed in one robot motion cycle, the number of times the robot travels back and forth between the overhead conveyor and the storage area is reduced, the idle running time of the robot is reduced, and the effective working time of the equipment is further increased, thereby improving the production efficiency and equipment utilization of the entire production line.

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

[0022] In a preferred embodiment of this invention, a connecting flange is provided in the middle of the mounting bracket, and the connecting flange is provided with multiple mounting holes.

[0023] The design of the connecting flange and its mounting holes greatly improves the connection stability between the fixture and the robot, effectively distributing and bearing various forces, ensuring that the fixture remains fixed at the end of the robot, avoiding equipment deviation and damage caused by loose connections, and improving the reliability and service life of the equipment.

[0024] The second objective of this utility model is to provide a hook-retrieving and transporting device, including a robotic arm, on which a mask hook-retrieving clamp as described above is provided.

[0025] The combination of a robotic arm and a mask-retrieving gripper enables fully automated mask retrieval and handling, significantly shortening the production cycle and meeting the needs of large-scale production. The robotic arm's high-precision motion control capabilities allow the gripper to accurately position and manipulate the masks, reducing production interruptions and product damage caused by inaccurate positioning or operational errors, and improving production stability and reliability.

[0026] The beneficial effects of this utility model are as follows:

[0027] This utility model provides a mask hook retrieval fixture, which includes a mounting frame with a movable plate on it. One side of the movable plate is hinged to the mounting frame via a connecting shaft. A first driving device is provided on the mounting frame to drive the movable plate to rotate. A clamping component is provided on the movable plate, including a second driving device and a gripper. The second driving device drives the gripper to open and close. The first driving device can be an electric push rod, and the second driving device can be a cylinder. During use, the robot moves the mask hook retrieval fixture to a waiting position next to the suspension chain. At this time, the electric push rod is in a retracted state, the movable plate is in a horizontal position, and the micro cylinder drives the gripper to a retracted state. When retrieving the hook, the robot drives the fixture closer to the mask, causing the gripper to clamp the mask. After successful clamping, the electric push rod extends according to a preset program, pushing the movable plate to rotate around the connecting shaft at a certain angle, so that the hanging hole on the mask gradually separates from the hook on the suspension chain and reaches a position that is easy to transport. Then the robot transports the mask to a designated storage area or the next process position. This fixture automates the removal of hooks from face masks, significantly reducing manual labor, lowering worker workload, and greatly shortening the removal time for a single mask, thereby significantly improving production efficiency. Furthermore, automated hook removal reduces product quality issues caused by improper operation, increases product yield, and lowers production costs and quality risks for enterprises.

[0028] This application also provides a hook-removing and conveying device including the above-mentioned mask hook-removing clamp. This conveying device can realize the automatic hook-removing and conveying of masks on the suspension chain, improve the conveying efficiency of masks, and thus save production costs. Attached Figure Description

[0029] Figure 1 This is a perspective view of the mask hook clamp provided in an embodiment of this utility model;

[0030] Figure 2 yes Figure 1 The main view in the middle;

[0031] Figure 3 yes Figure 1 Side view in the middle;

[0032] Figure 4 yes Figure 1 The bottom view in the middle;

[0033] Figure 5 yes Figure 1 The bottom view in the middle;

[0034] Figure 6 This is a schematic diagram of the hook-picking and transporting device provided in an embodiment of this utility model.

[0035] Figure label:

[0036] 1. Mounting bracket; 11. Connecting flange; 111. Mounting hole; 2. First drive unit; 3. Movable plate; 31. Connecting shaft; 32. Connecting seat; 4. Clamping component; 41. Second drive unit; 42. Gripper; 421. Buffer block; 100. Mask; 200. Robotic arm. Detailed Implementation

[0037] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

[0038] The production of air conditioner outdoor unit covers involves multiple processes, such as stamping, surface treatment, and accessory assembly. Between different production stages, the covers are typically suspended from hooks on a suspension chain, allowing for orderly movement between processes. This ensures the continuity and smoothness of the production process, avoids delays in transfer between stages, and improves overall production efficiency.

[0039] However, in the production and assembly of air conditioner outdoor unit covers, manual labor is typically used to move and hang the covers from the overhead conveyor belt. This process is time-consuming, extremely inefficient, and severely impacts production schedules. Furthermore, the prolonged handling and assembly work places a heavy burden on workers' physical health due to the high intensity of their labor. Moreover, during manual handling and assembly, uncontrollable damage often occurs due to variations in the degree of movement and assembly. This damage not only leads to a decline in product quality but also wastes resources, increasing production costs and the difficulty of quality control for the company.

[0040] Based on this, this application provides a mask hook removal clamp.

[0041] Example 1

[0042] See Figures 1-5 This embodiment provides a mask hook removal clamp, comprising:

[0043] Mounting bracket 1, wherein a movable plate 3 is provided on the mounting bracket 1, one side of the movable plate 3 is hinged to the mounting bracket 1 via a connecting shaft 31, and a first driving device 2 is provided on the mounting bracket 1 to drive the movable plate 3 to rotate; more preferably, a connecting seat 32 is provided on the movable plate 3, and the output end of the first driving device 2 is hinged to the connecting seat 32.

[0044] The movable plate 3 is provided with a clamping member 4, which includes a second driving device 41 and a gripper 42. The second driving device 41 drives the gripper 42 to open and close.

[0045] During operation, the robot moves the mask hook-removing fixture to a waiting position next to the overhead conveyor chain. At this time, the electric push rod is retracted, the movable plate 3 is horizontal, and the micro-cylinder drives the gripper 42 to retract. When removing the hook, the robot drives the fixture closer to the mask 100, causing the gripper 42 to clamp the mask. After successful clamping, the electric push rod extends according to a preset program, pushing the movable plate 3 to rotate around the connecting shaft 31 by a certain angle, gradually separating the hanging hole on the mask 100 from the hook on the overhead conveyor chain and bringing it to a position easy to handle. The robot then transports the mask to a designated storage area or the next processing step. This fixture automates mask hook removal, significantly reducing manpower, lowering worker fatigue, and greatly shortening the hook removal time for a single mask, thus significantly improving production efficiency. Furthermore, automated hook removal reduces product quality problems caused by improper operation, improves product yield, and lowers production costs and quality risks for the company.

[0046] Furthermore, the clamp, through its precisely designed grippers 42 and automated operation, ensures that a uniform and appropriate force is applied to the face mask 100 during the hook removal process, effectively preventing damage to the face mask. For example, the rubber protective pads on the grippers 42 and the precisely controlled clamping force can firmly hold the face mask while protecting its surface from scratches; the precise movement control of the electric push rod and the movable plate 3 ensures the smoothness of the hook removal process, preventing damage to the face mask due to sudden force or shaking.

[0047] Example 2

[0048] This embodiment is an optimization based on embodiment 1.

[0049] See Figures 1-5 Specifically, the second driving device 41 is provided with two output terminals, each of which is provided with a gripper 42, and the two grippers 42 are arranged opposite to each other; the two output terminals drive the two grippers 42 to move closer or further apart from each other.

[0050] Specifically, the second drive device 41 uses a cylinder with dual output ends, and its cylinder body is firmly fixed to the center of the movable plate 3 by bolts to ensure uniform force distribution. Each output end is fixedly connected to the gripper 42, thereby driving the gripper 42 to move. During the production process, the robot first moves the mask hook fixture to the initial position. At this time, the two output ends of the second drive device 41 are in the retracted state, the two grippers 42 are far apart and in the maximum open position, the electric push rod is also in the retracted state, and the movable plate 3 remains horizontal.

[0051] When the face mask on the suspension chain reaches the hook-removal position, the robot precisely moves the gripper according to a preset program, positioning the face mask between the two grippers 42. Then, the second drive unit 41 is ventilated, and its two output ends extend synchronously, driving the two grippers 42 to approach each other at a stable and uniform speed via a linkage mechanism until the grippers 42 are tightly pressed against the predetermined clamping area of ​​the face mask. The pressure sensor detects that the preset clamping force has been reached and stops the operation. Next, the electric push rod extends according to a preset program, pushing the movable plate 3 to rotate around the connecting shaft 31. During rotation, the robot's control system monitors the angle changes of the movable plate 3 in real time and makes precise adjustments according to a preset angle curve to ensure that the hanging holes on the face mask can smoothly and accurately separate from the hooks on the suspension chain.

[0052] More preferably, in this embodiment, buffer blocks 421 are respectively provided on the side walls of the two grippers 42 that are opposite to each other, and the buffer blocks 421 are detachably connected to the grippers 42.

[0053] In this embodiment, the buffer block 421 is provided with N slots, and the N slots are parallel to each other; where N is a natural number greater than 1.

[0054] Furthermore, a pressure sensor is provided on the buffer block 421.

[0055] The buffer block 421 is made of polyurethane elastomer material and is detachably connected to the gripper 42 via a slot and snap-fit ​​structure, facilitating operation when the buffer block 421 is worn or needs to be replaced with one of different characteristics. In one specific embodiment, the buffer block 421 is provided with three parallel slots. The depth and width of the slots can be designed according to the face mask to be gripped, and elastic pads of different thicknesses can be inserted as needed to adjust the cushioning performance. A high-precision pressure sensor is embedded inside the buffer block 421. The pressure sensor is connected to the robot's control system via a wireless transmission module, transmitting the gripping pressure data to the control system in real time.

[0056] During production, the robot first moves the gripper to a waiting position next to the overhead conveyor. At this time, the two output ends of the electric cylinder are in a retracted state, the grippers 42 are retracted, and the buffer blocks 421 are close to each other. When the overhead conveyor transports the mask to the hook-taking position, the robot accurately positions the mask according to a preset visual recognition program, and then drives the electric cylinder to move the two grippers 42 away from each other. The two grippers 42 then extend into the opening of the mask. During the process of the grippers 42 approaching the mask, if the grippers 42 slightly collide with the mask or other surrounding objects, the buffer blocks 421 will make contact first and act as a buffer to avoid damage caused by rigid collisions. After the grippers 42 are fully extended and hold the mask, the pressure sensor monitors the gripping pressure in real time and feeds the data back to the control system. The control system determines whether the gripping force is appropriate based on a preset pressure threshold. If the pressure is too high or too low, the system will automatically adjust the output of the electric cylinder to ensure that the gripping force is always kept within the optimal range.

[0057] Subsequently, the electric push rod on the mounting bracket 1 extends according to a predetermined program, pushing the movable plate 3 to rotate around the connecting shaft 31, so that the axis of the mask hanging hole coincides with the axis of the hook, so as to remove the mask and achieve the purpose of separating the mask hanging hole from the hanging chain hook.

[0058] Example 3

[0059] This embodiment is an optimization based on embodiment 1.

[0060] See Figures 1-5 In this embodiment, the mounting frame 1 is provided with a plurality of movable plates 3, and each movable plate 3 is provided with the clamping member 4.

[0061] Multiple movable plates 3 allow multiple clamping parts 4 to be installed on the mounting frame 1, thereby enabling the clamping and hooking of multiple masks at one time.

[0062] In practical applications, each movable plate 3 is hinged to the mounting frame 1 via a precision-machined connecting shaft 31. The connecting shaft 31 is made of high-wear-resistant alloy steel and equipped with high-quality bearings, ensuring that the movable plate 3 rotates flexibly and is durable. The movable plate 3 is made of aluminum alloy and undergoes milling and drilling processes to achieve a smooth surface, reducing the risk of friction and damage when in contact with the mask. Each movable plate 3 is equipped with a clamping component 4. The design of multiple movable plates 3 and multiple clamping components 4 enables the clamping and hooking operation of multiple masks at the same time. Compared with the single mask hooking method, the production efficiency is increased exponentially within the same time frame.

[0063] Since the process of picking up and transporting multiple masks is completed in one robot motion cycle, the number of times the robot travels back and forth between the overhead conveyor and the storage area is reduced, the idle running time of the robot is reduced, and the effective working time of the equipment is further increased, thereby improving the production efficiency and equipment utilization of the entire production line.

[0064] Example 4

[0065] This embodiment is an optimization based on embodiment 1.

[0066] In this embodiment, a connecting flange 11 is provided in the middle of the mounting bracket 1, and a plurality of mounting holes 111 are provided on the connecting flange 11.

[0067] Specifically, the mounting bracket 1 is made of high-quality aluminum alloy and formed through precision casting and machining processes, ensuring sufficient strength while reducing the overall weight. The connecting flange 11 in the middle is made of high-strength stainless steel and undergoes fine grinding and drilling to ensure surface flatness and dimensional accuracy of the mounting holes 111.

[0068] Multiple mounting holes 111 on the connecting flange 11 are arranged in a circumferential array. The hole diameter and hole spacing are designed according to the connection standard of the robot end effector, so that the clamp can be tightly and accurately connected to the robot by bolts, ensuring that there will be no loosening or displacement during high-speed and high-intensity hook picking and handling operations.

[0069] The design of the connecting flange 11 and its mounting hole 111 greatly improves the connection stability between the fixture and the robot, effectively dispersing and bearing various forces, ensuring that the fixture remains fixed at the end of the robot, avoiding equipment deviation and damage caused by loose connection, and improving the reliability and service life of the equipment.

[0070] A stable connection ensures the accuracy and reliability of the clamp during the hook-picking process, reducing repetitive operations and production delays caused by equipment shaking or poor connections, thereby further improving production efficiency. Meanwhile, the high-precision clamping element 4 and movable plate 3 design better protect the surface quality of the face mask, ensuring that each mask is not damaged during hook picking and handling, thus improving product yield and overall quality.

[0071] Example 5

[0072] See Figures 1-6 This embodiment provides a hook-retrieving and transporting device, including a robotic arm 200, on which a mask hook-retrieving clamp as described above is provided.

[0073] The robotic arm of the hook-picking and handling device is a six-axis industrial robot, which possesses high-precision motion control capabilities and a large load capacity, enabling it to meet the demands of complex hook-picking and handling tasks. The robotic arm body is made of high-strength aluminum alloy and undergoes precision machining and assembly to ensure the motion accuracy and stability of each joint.

[0074] The aforementioned mask-retrieving clamp is mounted on the end effector of the robotic arm via a connecting flange 11. The mechanical interface is designed with a modular structure for easy and quick installation, disassembly, and replacement of the clamp to adapt to different mask models or variations in production processes. A high-precision positioning sensor is installed at the mechanical interface to ensure accurate mounting of the clamp on the robotic arm, guaranteeing precision in each hook-retrieving operation. When the overhead conveyor transports the mask to the hook-retrieving position, the robotic arm precisely adjusts its position and orientation according to a preset program, aligning the clamp's jaws 42 with the mask's gripping area. Then, under the action of the second drive device 41, the jaws 42 open, allowing them to grip the mask from both sides of the through-hole.

[0075] Next, the electric push rod extends according to predetermined parameters, pushing the movable plate 3 to rotate around the connecting shaft 31 by a certain angle, so that the hanging hole on the mask can be smoothly separated from the hook on the suspension chain. During this process, the robotic arm remains stable to ensure that the mask separation process is safe and reliable.

[0076] Example 6

[0077] This embodiment provides a method for removing the hook from a face mask, which is implemented based on the hook removal and handling device described above.

[0078] The specific implementation process of this method is as follows:

[0079] The clamp is connected to the robotic arm via connecting flange 11. The overhead conveyor starts operating, transporting the masks to be retrieved sequentially to the retrieval area. The control system of the retrieval and handling device monitors the position and attitude information of the masks on the overhead conveyor in real time through a vision recognition system installed in the work area. Once a mask is detected to have entered the effective retrieval range, the robotic arm immediately starts moving according to a pre-programmed path planning algorithm.

[0080] The robotic arm moves the mask-removing gripper closer to the mask. During the approach, it continuously fine-tunes its position and posture based on visual feedback to ensure that the gripper's jaws 42 are accurately aligned with the predetermined gripping area of ​​the mask. When the jaws 42 reach the appropriate position, the second drive unit 41 is activated, driving the jaws 42 to open. The opening action of the jaws 42 adopts progressive control, first approaching the mask at a low speed, then reducing the speed and gradually increasing the gripping force upon contact with the mask, until the pressure sensor detects that a preset safe and stable gripping force value has been reached, at which point the action stops. This ensures that the jaws 42 can firmly abut against the two sides opposite the through-holes of the mask and avoids damage to the mask.

[0081] After successfully gripping the mask, the electric push rod slowly extends according to a preset time-stroke curve, pushing the movable plate 3 to rotate around the connecting shaft 31. During rotation, the robotic arm remains stable, while the control system continuously monitors the rotation angle of the movable plate 3 and the position changes of the mask, ensuring that the hanging holes on the mask smoothly and accurately separate from the hooks on the suspension chain, preventing the mask from shaking or damaging the hooks due to improper separation. Once the hanging holes are completely disengaged from the hooks, the robotic arm transports the mask to the designated storage area or the next process location according to the workshop layout and the location requirements of the next process.

[0082] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings. In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0083] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0084] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. The above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. For those skilled in the art, this utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

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

2. The mask hook removal clamp according to claim 1, characterized in that: The second drive device (41) is provided with two output terminals, each of which is provided with a gripper (42), and the two grippers (42) are arranged opposite to each other; the two output terminals drive the two grippers (42) to move closer or further apart from each other.

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

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

5. The mask hook removal clamp according to claim 3, characterized in that: A pressure sensor is provided on the buffer block (421).

6. The mask hook clamp according to any one of claims 1-5, characterized in that: The mounting frame (1) is provided with a plurality of movable plates (3), and each movable plate (3) is provided with a clamping member (4).

7. The mask hook clamp according to any one of claims 1-5, characterized in that: The movable plate (3) is provided with a connecting seat (32), and the output end of the first driving device (2) is hinged to the connecting seat (32).

8. The mask hook clamp according to any one of claims 1-5, characterized in that: The mounting bracket (1) is provided with a connecting flange (11) in the middle, and the connecting flange (11) is provided with a plurality of mounting holes (111).

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

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