Mechanical arm clamping jaw for automatically grabbing air conditioner filter element

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm clamping jaw for automatically grabbing an air conditioner filter element, the mechanical arm clamping jaw comprises a mechanical arm and a connecting frame, the connecting frame is detachably connected to the mechanical arm, clamping frames for clamping the air conditioner filter element are arranged on the two sides of the connecting frame in a telescopic sliding mode, and a clamping space is formed between the clamping frames; by means of the detachable connection design of the mechanical arm and the connecting frame, the connecting frame and the clamping frame are easy to mount or dismount from the mechanical arm; according to the air conditioner filter element grabbing device, the two clamping frames on the connecting frame are arranged in a telescopic sliding mode, so that the positions of the clamping frames can be adjusted, the air conditioner filter element is accurately clamped, the stability of the clamping frames in the grabbing process is guaranteed, then the air conditioner filter element is automatically grabbed by the mechanical arm, and the carrying efficiency of the air conditioner filter element is improved.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a robotic arm gripper for automatically grasping air conditioning filters. Background Technology

[0002] With the acceleration of industrialization and the improvement of urbanization, air quality problems have become increasingly prominent. Therefore, it is particularly important to develop efficient and reliable air filtration technology. As an important component of the air filtration system, the technology of air conditioning filter elements is constantly improving to meet people's needs for healthy air.

[0003] During the production of air conditioning filters, the filters need to be moved to a designated location. Currently, the filters are usually moved manually, which is labor-intensive and needs improvement. Utility Model Content

[0004] To improve the handling efficiency of air conditioning filters, this application provides a robotic arm gripper for automatically picking up air conditioning filters.

[0005] This application provides a robotic arm gripper for automatically grasping air conditioning filters, employing the following technical solution:

[0006] A robotic arm gripper for automatically grasping air conditioning filters includes a robotic arm and a connecting frame. The connecting frame is detachably connected to the robotic arm. The connecting frame has telescopically sliding gripping frames on both sides for holding the air conditioning filter, and a gripping space is formed between the gripping frames.

[0007] By adopting the above technical solution, the detachable connection design between the robotic arm and the connecting frame makes it easy to install or remove the connecting frame and the clamping frame from the robotic arm; the telescopic sliding setting of the two clamping frames on the connecting frame allows the clamping frames to adjust their position to accurately clamp the air conditioning filter, ensuring the stability of the clamping frames during the gripping process, thereby realizing the automatic gripping of the air conditioning filter by the robotic arm and improving the handling efficiency of the air conditioning filter.

[0008] Preferably, the connecting frame includes a support plate, a first connecting plate, and a reinforcing rib, wherein the support plate and the first connecting plate are fixedly connected to the reinforcing rib.

[0009] By adopting the above technical solution and using the reinforcing ribs, the overall structural strength of the connecting frame is improved, enabling it to withstand greater loads and impacts, thus ensuring the stability and durability of the equipment during long-term use.

[0010] Preferably, a cylinder is provided on the first connecting plate, and the piston rod of the cylinder is fixedly connected to the clamping frame.

[0011] By adopting the above technical solution, the piston rod of the cylinder is fixedly connected to the clamping frame, and the piston rod is operated to retract by controlling the air pressure in the cylinder, thereby achieving precise control of the clamping frame position.

[0012] Preferably, the clamping frame is connected to a rubber component for clamping and cushioning the air conditioning filter.

[0013] By adopting the above technical solution and utilizing the rubber component, the rubber component can buffer the air conditioning filter during the clamping process, reducing the damage to the air conditioning filter caused by the impact force generated by sudden clamping or release, thereby protecting the integrity and service life of the air conditioning filter.

[0014] Preferably, the connecting frame is equipped with an infrared sensor for detecting the position of the air conditioning filter.

[0015] By adopting the above technical solution and utilizing the infrared sensor, the infrared sensor can detect in real time whether the air conditioning filter is being gripped by the clamp, providing accurate grasping information for the robotic arm, thereby improving the automation level and grasping efficiency of the robotic arm.

[0016] Preferably, the support plate is provided with positioning pins for transmitting position signals.

[0017] By adopting the above technical solution and utilizing the positioning pin, the tip of the positioning pin will approach the position sensor at the material detection end and receive the position signal during each grabbing of the air conditioner filter by the robotic arm, thereby ensuring the accuracy of the robotic arm's grabbing position each time.

[0018] Preferably, the support plate is provided with a first weight-reducing groove, and the first connecting plate is provided with a second weight-reducing groove.

[0019] By adopting the above technical solution and utilizing the first and second weight-reduction grooves, the weight of the support plate is reduced without affecting the overall strength and stability of the equipment, while also improving the flexibility and operability of the robotic arm.

[0020] Preferably, the connecting frame is provided with a rotating connection structure for driving the cylinder to rotate and a drive motor for driving the rotating connection structure to drive the cylinder to rotate, and the rotating connection structure is coaxially fixed with the output shaft of the drive motor.

[0021] By adopting the above technical solution, and utilizing the rotating connection structure and the drive motor, the drive motor can drive the rotating connection structure to rotate the cylinder, thereby causing the clamping component connected to the piston rod of the cylinder to rotate. This allows the clamping space between the two clamping frames to be adjusted as needed, enabling the clamping frames to hold air conditioning filters of different specifications, thus improving the practicality of the clamping frames.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] 1. The detachable connection design between the robotic arm and the connecting frame makes it easy to install or remove the connecting frame and the clamping frame from the robotic arm; the telescopic sliding mechanism of the two clamping frames on the connecting frame allows the clamping frames to be adjusted in position to accurately clamp the air conditioning filter, ensuring the stability of the clamping frames on the robotic arm during the gripping process, thereby realizing the automatic gripping of the air conditioning filter by the robotic arm and improving the handling efficiency of the air conditioning filter;

[0024] 2. The piston rod of the cylinder is connected to the clamping frame by bolts and threads. The piston rod is operated to retract by controlling the air pressure in the cylinder, thereby achieving precise control of the position of the clamping frame.

[0025] 3. By utilizing the rotating connection structure and the drive motor, the drive motor can drive the rotating connection structure to rotate the cylinder, thereby causing the clamping component connected to the piston rod of the cylinder to rotate. This allows the clamping space between the two clamping frames to be adjusted as needed, enabling the clamping frames to hold air conditioning filter elements of different specifications, thus improving the practicality of the clamping frames. Attached Figure Description

[0026] Figure 1 This is an isometric schematic diagram of the main overall structure in Embodiment 1 of this application;

[0027] Figure 2 This is a schematic diagram of the main structure of the connecting frame and the clamping frame in Embodiment 1 of this application;

[0028] Figure 3 This is a schematic diagram illustrating the connection relationship between the connecting frame and the rotating connection structure, which is the main feature of Embodiment 2 of this application.

[0029] Figure 4 This is a schematic diagram of the rotating connection structure, which is the main feature of Embodiment 2 of this application.

[0030] Reference numerals: 1. Connecting frame; 11. Support plate; 111. First weight-reducing groove; 112. Positioning block; 113. Positioning pin; 12. First connecting plate; 121. Second weight-reducing groove; 122. Sheet metal part; 1221. Mating hole; 123. Infrared sensor; 13. Reinforcing rib; 14. Cylinder; 2. Clamping frame; 21. Rubber part; 3. Clamping space; 4. Rotary connection structure; 41. Driving gear; 42. Driven gear; 43. Rotating rod; 44. Second connecting plate; 441. Clearance hole; 45. Reinforcing plate; 46. Gas spring; 5. Drive motor. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1- Appendix Figure 4 This application will be described in further detail.

[0032] This application discloses a robotic arm gripper for automatically picking up air conditioning filters.

[0033] Reference Figure 1 and Figure 2 A robotic arm gripper for automatically grasping air conditioning filters includes a connecting frame 1 connected to the robotic arm. The connecting frame 1 includes a support plate 11, a first connecting plate 12, and a reinforcing rib 13. The support plate 11 is mounted on the robotic arm. The support plate 11 and the first connecting plate 12 are respectively fixedly connected to the reinforcing rib 13. The support plate 11 and the first connecting plate 12 are fixedly arranged perpendicularly to each other. The reinforcing rib 13 is in the shape of a right-angled triangle and is symmetrically arranged on both sides of the upper surface of the first connecting plate 12 near the edge.

[0034] Reference Figure 1 and Figure 2 In this embodiment, the two right-angled surfaces of any reinforcing rib 13 are respectively connected to the support plate 11 and the first connecting plate 12 by bolts. By using the reinforcing rib 13, the overall structural strength of the connecting frame 1 is improved, enabling it to withstand greater loads and impacts, and ensuring the stability and durability of the equipment under long-term use.

[0035] Reference Figure 1 and Figure 2 The support plate 11 is provided with a first weight reduction groove 111, and the first connecting plate 12 is provided with a second weight reduction groove 121, which reduces the weight of the support plate 11 without affecting the overall strength and stability of the equipment, and also improves the flexibility and operability of the robotic arm.

[0036] Reference Figure 2 The first connecting plate 12 is connected to a cylinder 14 by bolts. There are two cylinders 14, which are symmetrically arranged below the first connecting plate 12. The piston rod of any cylinder 14 is fixedly connected to the clamping frame 2. In this embodiment, any cylinder 14 is connected to the clamping frame 2 by bolts. A clamping space 3 for clamping the air conditioning filter is formed between the two clamping frames 2. The PLC device can drive the clamping frame 2 to slide by controlling the extension and retraction of the piston rod of the cylinder 14, so that the clamping frame 2 can accurately clamp the air conditioning filter, ensuring the stability of the clamping frame 2 during the gripping process, thereby realizing the automatic gripping of the air conditioning filter by the robotic arm and improving the handling efficiency of the air conditioning filter.

[0037] Reference Figure 2Each clamping frame 2 is connected by bolts to a rubber component 21 for clamping and buffering the air conditioning filter. The rubber component 21 is L-shaped and there are multiple rubber components 21. In this embodiment, there are four rubber components 21, with two symmetrically arranged on each clamping frame 2. The lower surface of each rubber component 21 forms an abutting fit with the upper surface of the air conditioning filter, and the side of each rubber component 21 forms an abutting fit with the side of the air conditioning filter near the clamping frame 2. Thus, the rubber component 21 can buffer the air conditioning filter during clamping, reducing the damage to the air conditioning filter caused by the impact force generated by sudden clamping or release, thereby protecting the integrity and service life of the air conditioning filter.

[0038] Reference Figure 2 The first connecting plate 12 has L-shaped sheet metal parts 122 connected to both sides of its width direction by bolts and threads. Each sheet metal part 122 is provided with a mating hole 1221 and an infrared sensor 123 for detecting the position of the air conditioning filter. Each infrared sensor 123 is connected to the PLC device signal. Each infrared sensor 123 passes through the mating hole 1221 and is fixed by a nut. Thus, the PLC device can detect in real time whether the air conditioning filter is clamped by the clamping frame 2 through the infrared sensor 123, providing accurate grasping information for the robotic arm, thereby improving the automation level and grasping efficiency of the robotic arm.

[0039] Reference Figure 1 and Figure 2 A positioning block 112 and a positioning pin 113 for transmitting position signals are provided on one side of the support plate 11 in the width direction. The positioning pin 113 is connected to the PLC device for signal transmission and is also connected to the position sensor of the material picking detection end for signal transmission. The positioning block 112 is connected to the support plate 11 by bolt thread. The end of the positioning pin 113 away from the pin tip is threaded to the positioning block 112. During each time the robotic arm picks up the air conditioning filter, the tip of the positioning pin 113 will approach the position sensor of the material picking detection end and receive the position signal. Then, after the positioning pin 113 processes the received position signal, it sends the position signal to the PLC device. Thus, the PLC device receives the position signal and controls the robotic arm to pick up the air conditioning filter within a limited range, thereby ensuring the accuracy of the robotic arm's picking position each time.

[0040] The implementation principle of this application embodiment is as follows: In actual operation, the operator turns on the power to start the equipment. The PLC device controls the robotic arm to move the tip of the positioning pin 113 on the support plate 11 to approach the position sensor at the material picking detection end and receive the position signal. Then, after the positioning pin 113 processes the received position signal, it sends the position signal to the PLC device. Thus, the PLC device receives the position signal and controls the robotic arm to grab the air conditioning filter within a limited range. Next, the PLC device controls the cylinder 14 to drive the clamping frame 2 to extend and slide. The infrared sensor 123 on the support plate 11 ensures that the clamping frame 2 can accurately clamp the air conditioning filter. When the PLC device receives the successful clamping signal sent by the infrared sensor 123, the PLC device processes the signal and controls the robotic arm to transport the air conditioning filter to the limited position according to the planned path.

[0041] Example 2:

[0042] The difference between Example 2 and Example 1 is that:

[0043] Reference Figure 2 and Figure 3 The connecting frame 1 is provided with a rotating connecting structure 4 for driving the cylinder 14 to rotate and a drive motor 5 for driving the rotating connecting structure 4 to drive the cylinder 14 to rotate. There are two rotating connecting structures 4 and two drive motors 5 respectively, and one motor 5 drives one rotating connecting structure 4 to rotate. Any drive motor 5 is installed on the first connecting plate 12. Since the structure and connection relationship of the two rotating connecting structures 4 are the same, we will now describe one of the rotating connecting structures 4 as an example.

[0044] Reference Figure 4 The rotating connection structure 4 includes a driving gear 41, a driven gear 42, a rotating rod 43, and a second connecting plate 44. The driving gear 41 is coaxially fixed with the output shaft of the drive motor 5 through a coupling, and the driving gear 41 is rotatably connected to the first connecting plate 12. The driving gear 41 and the driven gear 42 form a gear meshing transmission. The driven gear 42 is welded to the rotating rod 43, and the rotating rod 43 is welded to the second connecting plate 44. The cylinder 14 is connected to the second connecting plate 44 by bolts. When the driven gear 42 drives the rotating rod 43 to rotate, the cylinder 14 and the second connecting plate 44 can rotate about the rotating rod 43 as the axis of rotation.

[0045] Reference Figure 4A reinforcing plate 45 is symmetrically arranged between the first connecting plate 12 and the rotating rod 43. One end of any reinforcing plate 45 is welded to the first connecting plate 12, and the other end of any reinforcing plate 45 is rotatably connected to the rotating rod 43. The reinforcing plate 45 makes the connection between the rotating rod 43 and the driven tooth 42 more stable and reliable. The first connecting plate 12 is provided with a clearance hole 441 for avoiding the driven tooth 42, so as to prevent the driven tooth 42 from being damaged by collision during rotation.

[0046] Reference Figure 4 A gas spring 46 is provided between the first connecting plate 12 and the second connecting plate 44. The gas spring 46 can effectively reduce the impact force on the cylinder 14 during rotation. At the same time, the gas spring 46 can be easily adjusted in height and angle as needed to meet the usage requirements of different angles.

[0047] The implementation principle of this application embodiment is as follows: In actual operation, the drive motor 5 drives the active gear 41 to rotate, thereby the active gear 41 drives the driven gear 42 to mesh and transmit. At this time, the rotating rod 43 connected to the driven gear 42 will drive the second connecting plate 44 and the cylinder 14 connected thereto to rotate. The cylinder 14 can drive the clamping frame 2 connected thereto to rotate. At the same time, by utilizing the telescopic setting between the cylinder 14 and the clamping frame 2, the size of the clamping space 3 between the two clamping frames 2 can be flexibly adjusted as needed, thereby enabling the clamping frame 2 to clamp air conditioning filter elements of different specifications, improving the practicality of the clamping frame 2.

[0048] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mechanical arm gripper for automatically grabbing an air conditioner filter cartridge, characterized by: Including the connecting frame (1) connected on the mechanical arm, both sides of the connecting frame (1) are provided with clamping frame (2) for clamping air conditioner filter element, the clamping space (3) is formed between the clamping frame (2);The connecting frame (1) is provided with infrared sensor (123) for detecting the position of air conditioner filter element;The support plate (11) is provided with positioning needle (113) for transmitting position signal.

2. The mechanical arm gripper for automatically grabbing an air conditioner filter cartridge according to claim 1, wherein: The connecting frame (1) comprises a support plate (11), a first connecting plate (12) and a reinforcing rib (13), and the support plate (11) and the first connecting plate (12) are fixedly connected with the reinforcing rib (13) respectively.

3. The mechanical arm gripper for automatically grabbing an air conditioner filter cartridge according to claim 2, wherein: The first connecting plate (12) is provided with a pneumatic cylinder (14), and the piston rod of the pneumatic cylinder (14) is fixedly connected with the clamping frame (2).

4. The mechanical arm gripper for automatically grabbing an air conditioner filter cartridge according to claim 3, wherein: The clamping frame (2) is connected with a rubber part (21) for clamping and buffering the air conditioner filter element.

5. The mechanical arm gripper for automatically grabbing an air conditioner filter cartridge according to claim 2, wherein: The support plate (11) is provided with a first weight reduction groove (111), and the first connecting plate (12) is provided with a second weight reduction groove (121).

6. The mechanical arm gripper for automatically grabbing an air conditioner filter cartridge according to claim 3, wherein: The connecting frame (1) is provided with a rotating connection structure (4) for driving the pneumatic cylinder (14) to rotate and a driving motor (5) for driving the rotating connection structure (4) to drive the pneumatic cylinder (14) to rotate, and the rotating connection structure (4) is coaxially fixed with the output shaft of the driving motor (5).

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