Mud blank robot feeding hand grabbing device

Abstract

The utility model provides a mud blank robot feeding hand grabbing device. The mud blank robot feeding hand grabbing device comprises a flange plate and a supporting part. The flange plate is fixed on a robot cantilever; the supporting part comprises a first supporting plate and a second supporting plate which are arranged in parallel, a reset piece is arranged between the opposite ends of the first supporting plate and the second supporting plate, and a plurality of steel cone pieces are installed on the first supporting plate and the second supporting plate. The top of the first supporting plate and the top of the second supporting plate are connected with an adjusting part, and the adjusting part is fixed to the bottom end face of the flange plate. When the mud blanks are conveyed, the first supporting plate and the second supporting plate rotate under the action of gravity until the two mud blanks inserted and taken on the first supporting plate and the second supporting plate abut against each other, vertical upward component force is increased, friction force between the mud blanks is increased, meanwhile, friction force between the steel cone and the mud blanks is increased, the mud blanks are effectively prevented from falling during lifting, and the mud blank conveying efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of clay blank feeding technology in the electrical porcelain industry, specifically to a clay blank robot feeding hand gripper device. Background Technology

[0002] In the electrical porcelain industry, the raw material is clay blanks, which are generally rectangular in shape. The clay-making equipment extrudes rectangular clay rods from the equipment, and then cuts them into uniform rectangular clay blanks using a cutting device. Robots then stack the clay blanks onto corresponding pallets. Before the product extrusion and molding production line is started, forklifts or conveyor belts are used to transport the clay blanks stacked on the pallets to a designated position next to the line. Then, a feeding robot automatically picks up the clay blanks one by one and puts them into the extrusion equipment, realizing automated material feeding, greatly improving production efficiency, reducing the labor intensity of personnel, and avoiding on-site safety hazards.

[0003] Then, during the process of feeding the mud into the extrusion equipment by the feeding robot, the mud grabber currently used by the feeding robot inserts multiple steel cones vertically into the rectangular mud blank, and then lifts it to the feeding port of the extrusion equipment. During the process of lifting the mud blank, the robot lifts the mud blank by the friction between the steel cone and the mud blank. During the lifting process, as the lifting height increases, the mud blank is more likely to slip off the steel cone, and the mud blank at the bottom of the steel cone falls more frequently, affecting the grabbing of the next batch of mud blanks. Utility Model Content

[0004] To address the problem of clay billets easily falling off during the vertical lifting process of existing feeding robots using steel cones, this invention provides a hand-gripping device for feeding clay billets into a robot.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] This utility model provides a hand gripper for feeding clay bricks into a robot, including a flange and a support.

[0007] The flange is fixed to the robot arm;

[0008] The support portion includes a first support plate and a second support plate arranged parallel to each other. A reset member is provided between the opposite ends of the first support plate and the second support plate. Several steel cone members are installed on the first support plate and the second support plate.

[0009] The top of the first support plate and the second support plate are connected to an adjustment part, which is fixed to the bottom end face of the flange;

[0010] When conveying the mud blank, the steel cone is inserted into the interior of the mud blank. When the robot arm lifts it, the adjustment part causes the first support plate and the second support plate to rotate relative to each other by 0°~5°.

[0011] Preferably, the steel cone includes a connecting rod and a cone, with one end of the cone fixedly connected to one end of the connecting rod;

[0012] The diameter of the connecting rod is smaller than the diameter at the largest end of the tapered rod;

[0013] The first support plate and the second support plate are provided with mounting holes, and one end of the connecting rod away from the tapered rod is installed in the mounting hole.

[0014] Preferably, a threaded post is provided on the end of the connecting rod away from the tapered rod. The threaded post is installed in the mounting hole, and a fixing nut is screwed onto the upper surface of the first support plate or the second support plate on the threaded post. A limiting sleeve is screwed onto the lower surface of the first support plate or the second support plate on the threaded post.

[0015] Preferably, the adjusting part includes a fixed seat, which is fixed to the flange. The fixed seat is provided with a connecting groove. A first reinforcing plate and a second reinforcing plate are rotatably installed in the connecting groove through a rotating adjusting member 6. The first reinforcing plate is fixed to the first support plate, and the second reinforcing plate is fixed to the second support plate. The first reinforcing plate and the second reinforcing plate are arranged in parallel, and a meshing member is provided between the opposite ends of the first reinforcing plate and the second reinforcing plate.

[0016] Preferably, the meshing element includes a first meshing tooth and a second meshing tooth, the first meshing tooth being disposed on the first reinforcing plate and the second meshing tooth being disposed on the second reinforcing plate.

[0017] Preferably, the rotating adjustment component 6 includes a first support platform and a second support platform, and a rotating shaft is rotatably connected to the first support platform and the second support platform respectively;

[0018] The first support platform is mounted on the first reinforcing plate, and the second support platform is mounted on the second reinforcing plate;

[0019] The first reinforcing plate and the second reinforcing plate are provided with a first connecting hole, the fixed base is provided with a second connecting hole, and the rotating shaft passes through the first connecting hole and the second connecting hole;

[0020] A locking element is provided on the rotating shaft at a position corresponding to the outer end face of the second support platform or the first support platform.

[0021] Preferably, the locking element is a retaining spring.

[0022] Preferably, the height of the fixing base is 140mm.

[0023] Preferably, a support pad is installed on the connecting groove, and the bottom of the support pad is attached to the top of the first reinforcing plate or the second reinforcing plate.

[0024] Preferably, the reset element is a spring.

[0025] Compared with the prior art, the present invention has the following beneficial technical effects:

[0026] This utility model proposes a hand-gripping device for a mud blank robot. In this device, the first support plate and the second support plate rotate under the action of gravity, so that the contact surface between the steel cone and the mud blank hole wall changes from a vertical surface to an inclined surface. The frictional force increases significantly with the increase of the contact area, thereby increasing the frictional force between the steel cone and the mud blank, effectively preventing the mud blank from falling during the lifting process, and improving the mud blank conveying efficiency.

[0027] Furthermore, when conveying the mud blank, the device inserts a steel cone into the interior of the mud blank. When the robot cantilever lifts it, the adjustment unit rotates the first support plate and the second support plate relative to each other by 0°~5°, so that the direction of gravity of the mud blank forms an angle with the direction of the support force. This causes the wall of the mud blank to exert a lateral squeezing effect on the steel cone, forming a self-locking effect and improving the stability of the mud blank conveying.

[0028] Furthermore, the rotation of the support plate in this device causes the clay blank to twist slightly, eliminating the gap between the clay blank and the steel cone. This significantly enhances the gripping reliability, especially considering the plastic deformation characteristics of wet and soft clay blanks.

[0029] Furthermore, the device incorporates a reset mechanism that allows the first and second support plates to return to their initial positions after the clay blanks have been transported, preparing them for the next clay blank grabbing operation. This significantly improves the continuous operation efficiency and the integrity of the ceramic production line. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a mud-brick robot feeding hand gripper proposed in this utility model;

[0031] Figure 2 This is a partial cross-sectional view of a mud-brick robot feeding gripper proposed in this utility model;

[0032] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0033] Figure 4This is a top view of the hand gripper device for feeding clay bricks into a robot, as proposed in this utility model.

[0034] Figure 5 This is a side view of the hand gripper device for feeding clay bricks into a robot, as proposed in this utility model.

[0035] In the attached diagram: 1. Support part; 100. First support plate; 101. Second support plate; 102. Connecting screw; 2. Fixing nut; 3. Steel cone; 30. Limiting sleeve; 31. Connecting rod; 32. Conical rod; 4. Reinforcing part; 40. First reinforcing plate; 41. Second reinforcing plate; 5. Flange; 6. Rotation adjustment part; 60. First support platform; 61. Second support platform; 62. Rotating shaft; 7. Connecting screw; 8. Fixing bolt; 9. Spring; 10. Support pad; 11. Fixing seat. Detailed Implementation

[0036] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0037] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 of this utility model.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0042] The raw material for the electrical porcelain industry is clay blank, which is generally rectangular in shape. Specifically, the length of the clay blank is 320mm, the width is 210mm, the height is 240mm, and the weight is 32kg. In the actual feeding process, the existing feeding device lifts the clay blank by vertically inserting a steel cone into it and using the friction between the outer wall of the steel cone and the clay blank. The cone is then quickly rotated 90°. During this process, because the weight of the clay blank and the steel cone is less than the weight of the clay blank when it is lifted, the clay blank is easy to fall off the steel cone, which affects the conveying efficiency of the clay blank.

[0043] To address the aforementioned problems, this utility model proposes a hand-gripping device for feeding clay bricks into a robot, see [link to relevant documentation]. Figures 1-5This device includes a flange 5 and a support part 1. The flange 5 has a diameter of 200mm. A connecting screw 7 is provided on the top end face of the flange 5. The connecting screw 7 is used to connect to the robot arm and fix the flange 5 to the robot arm. An adjustment part is movably arranged between the support part 1 and the flange 5. A steel cone 3 is connected to the support part 1. During the process of conveying the mud blank to the mud extrusion equipment, the steel cone 3 is inserted into the mud blank. Then, the robot arm raises the height of this device to increase the height of the mud blank. During this process, the adjustment part allows the support part 1 to rotate 0°~5° at the bottom of the flange 5, so that one end of the mud blank inserted on the steel cone 3 is pressed against the steel cone 3, which increases the friction between the steel cone 3 and the mud blank, effectively preventing the mud blank from falling into the mud extrusion equipment and improving the mud blank conveying efficiency.

[0044] See Figures 1-5 The support part 1 includes a first support plate 100 and a second support plate 101 arranged parallel to each other. In the initial state, the first support plate 100 and the second support plate 101 are parallel to the bottom end face of the flange 5. The opposite ends of the first support plate 100 and the second support plate 101 are located near the center of the bottom of the flange 5. During the extraction of the mud blank, under the action of the gravity of the mud blank, the first support plate 100 and the second support plate 101 will rotate 0°~5° on the flange 5, thereby increasing the friction between the device and the mud blank and improving the stability of the device in conveying the mud blank. A first mounting groove is provided on one end face of a support plate 100 opposite to that of a second support plate 101, and a second mounting groove is provided on one end face of the second support plate 101 opposite to that of the first support plate 100. A reset element, which is a spring 9, is installed in both the first and second mounting grooves. The adjustment part allows the support part 1 to rotate 0° to 5° at the bottom of the flange 5, and then the spring 9 restores the first support plate 100 and the second support plate 101 to their initial state, that is, the first support plate 100 and the second support plate 101 are parallel to the bottom end face of the flange 5, which facilitates the insertion and removal of the clay blank.

[0045] See Figures 1-4 A plurality of steel cones 3 are installed on the first support plate 100 and the second support plate 101. These steel cones 3 allow the first support plate 100 and the second support plate 101 to each pick up one mud blank during the mud blank conveying process, thus enabling the device to convey two mud blanks at a time. In this embodiment, the first support plate 100 and the second support plate 101 are each equipped with five steel cones 3.

[0046] Each steel cone 3 includes a connecting rod 31 and a cone 32. One end of the cone 32 is fixedly connected to one end of the connecting rod 31, and the cone 32 and the connecting rod 31 are coaxially arranged. The first support plate 100 and the second support plate 101 are provided with mounting holes. A threaded post is provided on the end of the connecting rod 31 away from the cone 32. The threaded post is coaxially arranged with the connecting rod 31 and is installed in the mounting hole. The connecting rod 31 and the cone 32 are located at the bottom of the first support plate 100 or the second support plate 101, and the threaded post is attached to the first support plate 31. A fixing nut 2 is screwed onto the upper end face of a support plate 100 or a second support plate 101, and a limiting sleeve 30 is screwed onto the threaded post at a position that fits against the lower end face of the first support plate 100 or the second support plate 101. The connecting rod 31 is stably fixed onto the first support plate 100 or the second support plate 101 by the fixing nut 2 and the fiber limiting sleeve 30. In actual use, if it is necessary to adjust the length of the connecting rod 31 inserted into the mud blank, the adjustment can be achieved by adjusting the fixing nut 2 and the fiber limiting sleeve 30, which increases the practicality of this device.

[0047] See Figures 1-4 The top end faces of the first support plate 100 and the second support plate 101 are connected to an adjustment part, which is fixed to the bottom end face of the flange 5.

[0048] The adjustment part includes a fixed seat 11, which has a height of 140mm and is made of aluminum alloy, which ensures the strength of the fixed seat 11 and reduces its weight. The fixed seat 11 is fixed to the bottom end face of the flange 5 by fixing bolts 8, which are M10 socket head cap bolts.

[0049] A connecting groove is provided on the bottom end face of the fixing base 11. The two end faces of the connecting groove respectively penetrate the outer wall of the fixing base 11. A reinforcing member 4 is rotatably installed in the connecting groove through the rotating adjustment member 6. The reinforcing member 4 includes a first reinforcing plate 40 and a second reinforcing plate 41. The first reinforcing plate 40 and the second reinforcing plate 41 are symmetrically arranged about the vertical center line of the fixing base 11. The first reinforcing plate 40 is fixed to the top end face of the first support plate 100 by connecting screws 102, and the second reinforcing plate 41 is fixed by connecting screws 102. On the top end face of the second support plate 101, the connecting screw 102 is an M10 hexagon socket head cap bolt. The first reinforcing plate 40 and the second reinforcing plate 41 are arranged in parallel and perpendicular to the flange 5. A meshing element is provided between the opposite ends of the first reinforcing plate 40 and the second reinforcing plate 41. The meshing element enables the first reinforcing plate 40 and the second reinforcing plate 41 to move synchronously, thereby enabling the first support plate 100 and the second support plate 101 to move synchronously.

[0050] See Figure 1The meshing components include a first meshing tooth and a second meshing tooth. The first meshing tooth is disposed on the first reinforcing plate 40, and the second meshing tooth is disposed on the second reinforcing plate 41. The first meshing tooth and the second meshing tooth mesh with each other. However, when the first support plate 100 rotates, the second support plate 101 rotates synchronously through the meshing of the first meshing tooth and the second meshing tooth. As a result, the first support plate 100 and the second support plate 101 rotate by the same angle, which avoids the first support plate 100 or the second support plate 101 rotating by a large angle, affecting the extraction of the mud blank and subsequent rotation, and improving the stability of the operation of this device.

[0051] See Figure 1 and Figure 2 The rotating adjustment component 6 includes a first support platform 60 and a second support platform 61, both made of aluminum alloy. The first support platform 60 is fixedly installed on the upper surface of the first reinforcing plate 40 near the end of the second reinforcing plate 41 by bolts. The bolts are M10 hexagon socket head cap screws. There are two symmetrically arranged first support platforms 60. A fixing seat 11 is located between the two first support platforms 60, and a nylon bushing is provided between the fixing seat 11 and the first support platform 60. A rotating shaft 62 is rotatably connected between the two first support platforms 60. A connecting hole is provided on the front end face of the first reinforcing plate 40 at the height of the rotating shaft 62. A second connecting hole is provided on the fixing seat 11. The rotating shaft 62 passes through the first connecting hole and the second connecting hole. Through the cooperation of the rotating shaft 62 and the first support platform 60, the first reinforcing plate 40 can rotate in the connecting groove, thereby allowing the first support plate 100 to rotate 0°~5° at the bottom of the fixing seat 11.

[0052] The second support platform 61 is fixedly installed on the upper surface of the second reinforcing plate 41 near the end of the first reinforcing plate 40 by bolts. The bolts are M10 hexagon socket head cap bolts. There are two symmetrical second support platforms 61. The fixing seat 11 is located between the two second support platforms 61, and a nylon bushing is provided between the fixing seat 11 and the second support platform 61. A rotating shaft 62 is also rotatably connected between the two second support platforms 61. A connecting hole is provided on the front end surface of the second reinforcing plate 41 at the height of the rotating shaft 62. The fixing seat 11 is also provided with a second connecting hole. The rotating shaft 62 passes through the first connecting hole and the second connecting hole. Through the cooperation of the rotating shaft 62 and the second support platform 61, the second reinforcing plate 41 can rotate in the connecting groove, thereby allowing the second support plate 101 to rotate 0°~5° at the bottom of the fixing seat 11.

[0053] Preferably, a bushing is installed in the second connecting hole, the bushing is fitted onto the rotating shaft 62, and the bushing and the rotating shaft 62 are filled with lubricant.

[0054] A slot is provided on the outer wall of the rotating shaft 62 near its two ends. A locking element, which is a snap ring, is installed in the slot. The opposite end faces of the two snap rings on the same rotating shaft 62 are attached to the outer end face of the second support platform 61 or the first support platform 60. The rotating shaft 62 is fixed by the snap rings, so that the rotating shaft 62 can rotate without large displacement along its axial direction.

[0055] Preferably, a support pad 10 is installed on the connecting groove at a position on the outer wall of the fixing seat 11 by screws, and the bottom of the support pad 10 is attached to the top of the first reinforcing plate 40 or the second reinforcing plate 41.

[0056] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0057] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of this utility model and should not be used to limit the scope of protection of this utility model. Any modifications made to the technical solutions based on the technical concept proposed by this utility model shall fall within the scope of protection of the claims of this utility model.

Claims

1. A greenware robot loading hand gripping device, characterized in that, It comprises a flange (5) and a support part (1); The flange (5) is fixed on a robot cantilever; The support part (1) comprises a first support plate (100) and a second support plate (101) arranged in parallel with each other, reset members are arranged between opposite ends of the first support plate (100) and the second support plate (101), and a plurality of steel cone members (3) are installed on the first support plate (100) and the second support plate (101); The top of the first support plate (100) and the second support plate (101) is connected with an adjusting part, and the adjusting part is fixed on the bottom end face of the flange (5); When conveying the green body, the steel cone member (3) is inserted into the inside of the green body, and when the robot cantilever is lifted, the adjusting part is rotated to rotate the first support plate (100) and the second support plate (101) by 0°-5°.

2. A greenware robot loading hand gripping device according to claim 1, wherein, The steel cone member (3) comprises a connecting rod (31) and a cone rod (32), one end of the cone rod (32) is fixedly connected with one end of the connecting rod (31); The diameter of the connecting rod (31) is smaller than the diameter of the largest end of the cone rod (32); The first support plate (100) and the second support plate (101) are provided with mounting holes, and one end of the connecting rod (31) away from the cone rod (32) is installed in the mounting hole.

3. A greenware robot loading hand gripping device according to claim 2, wherein, A threaded column is arranged on the end of one end of the connecting rod (31) away from the cone rod (32), the threaded column is installed in the mounting hole, and a fixed nut (2) is screwed on the position where the threaded column is attached to the upper end face of the first support plate (100) or the second support plate (101), and a limiting sleeve (30) is screwed on the position where the threaded column is attached to the lower end face of the first support plate (100) or the second support plate (101).

4. The greenware robot loading hand grab device of claim 1, wherein, The adjusting part comprises a fixed seat (11), the fixed seat (11) is fixed on the flange (5), a connecting groove is arranged on the fixed seat (11), a first reinforcing plate (40) and a second reinforcing plate (41) are rotatably installed in the connecting groove through a rotating adjusting member (6), the first reinforcing plate (40) is fixed on the first support plate (100), the second reinforcing plate (41) is fixed on the second support plate (101), the first reinforcing plate (40) and the second reinforcing plate (41) are arranged in parallel, and engaging members are arranged between opposite ends of the first reinforcing plate (40) and the second reinforcing plate (41).

5. A greenware robot loading hand gripping device according to claim 4, wherein, The engaging members comprise first engaging teeth and second engaging teeth, the first engaging teeth are arranged on the first reinforcing plate (40), and the second engaging teeth are arranged on the second reinforcing plate (41).

6. A greenware robot loading hand gripping device according to claim 4, wherein, The rotating adjusting member (6) comprises a first support table (60) and a second support table (61), and rotating shafts (62) are rotatably connected to the first support table (60) and the second support table (61) respectively; The first support table (60) is installed on the first reinforcing plate (40), and the second support table (61) is installed on the second reinforcing plate (41); The first reinforcing plate (40) and the second reinforcing plate (41) are provided with first connecting holes, the fixing seat (11) is provided with second connecting holes, and the rotating shaft (62) penetrates through the first connecting holes and the second connecting holes; The rotating shaft (62) is provided with a clamping piece at a position corresponding to an outer side end surface of the second supporting table (61) or the first supporting table (60).

7. A greenware robot loading hand gripping device according to claim 6, wherein, The clamping piece is a clamping spring.

8. The greenware robot loading hand grab device of claim 4, wherein, The height of the fixing seat (11) is 140 mm.

9. The greenware robot loading hand grab device of claim 4, wherein, A supporting pad (10) is mounted on the connecting groove, and the bottom of the supporting pad (10) is attached to the top of the first reinforcing plate (40) or the second reinforcing plate (41).

10. The greenware robot loading hand grab device of claim 1, wherein, The reset piece is a spring (9).

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