A semi-layered grabbing clamp

Abstract

This utility model relates to the field of gripping fixture technology, and discloses a half-layer gripping fixture, including a fixture frame. An electromagnetic valve is installed inside the fixture frame to receive control signals and enable the orderly and coordinated operation of the various functional components of the fixture. A clamping mechanism is located outside the fixture frame to clamp and fix the material, ensuring that the material will not fall during transportation. An airbag is located outside and below the clamping mechanism, using its own elastic deformation to flexibly clamp the material. A sponge suction cup is located at the bottom of the fixture frame to pick up half a layer of material, adaptable to materials of different shapes and surface conditions. In this utility model, a dual gripping method of pre-adsorption by the sponge suction cup and secondary fixation by the clamping mechanism achieves stable gripping of the material. When the fixture reaches above the material stack, the sponge suction cup quickly forms a vacuum to adsorb the material. After vertically lifting half a meter, the clamping mechanism, in conjunction with the airbag, flexibly clamps the material.

Description

Technical Field

[0001] This utility model relates to the field of gripping fixture technology, and in particular to a half-layer gripping fixture. Background Technology

[0002] In the fields of modern logistics warehousing and industrial automation, the efficient gripping and handling of multi-layered material stacks is a key aspect of improving production line efficiency. With the rapid development of e-commerce logistics and intelligent manufacturing, goods storage is trending towards high density and multi-layering. Traditional grippers often face problems such as unstable gripping and low efficiency when gripping half-layered materials. Especially for materials with irregular surfaces and uneven weight distribution, a single gripping method is difficult to adapt to complex working conditions.

[0003] Existing half-layer gripping fixtures mostly employ a single gripping mechanism, with mechanical structures primarily consisting of rigid grippers or ordinary vacuum suction cups. Their technical principle is as follows: a cylinder drives the rigid gripper to directly clamp the material edge, or a vacuum pump creates negative pressure on the suction cup to adsorb the material surface, combined with a simple linear motion mechanism to achieve vertical gripping. Structurally, the fixture frame typically has the gripper or suction cup fixedly mounted and bolted to the robot's end effector, lacking adaptive adjustment components. During operation, it can only rely on a single clamping or suction force to hold the material, and the gripping position requires strict alignment, making it difficult to handle uneven material surfaces or positional deviations. The mechanical movements are stiff, making it difficult to achieve stable gripping of half-layer materials.

[0004] The problem with existing grippers is that they use a single gripping method, resulting in insufficient gripping stability. When gripping half a layer of material, if only vacuum suction cups are used for adsorption, air leakage on the material surface can easily weaken the adsorption force, causing the material to fall during the lifting process. If only rigid jaws are used for clamping, the limited exposed area at the edge of the half-layer of material makes it difficult for the jaws to be accurately positioned, and uneven clamping force can easily cause the material to tilt. Therefore, a half-layer gripping fixture is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a half-layer gripping fixture, which aims to improve the problem of insufficient gripping stability caused by the use of a single gripping method.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a half-layer gripping fixture, suitable for gripping half-layer materials, comprising: The fixture frame contains a solenoid valve that receives control signals to enable the orderly and coordinated operation of the various functional components of the fixture. The clamping mechanism, located on the outside of the clamp frame, clamps and secures the material to ensure that it does not fall during handling. The airbag is located on the lower part of the outside of the clamping mechanism and uses its own elastic deformation to flexibly clamp the material. The sponge suction cup, located at the bottom of the clamp frame, is used to pick up half a layer of material and can adapt to materials of different shapes and surface conditions.

[0007] Furthermore, a solenoid valve is fixedly connected inside the clamp frame, a clamping cylinder is installed inside the clamp frame, and a sliding component is installed outside the clamp frame.

[0008] Furthermore, the sliding assembly includes a linear bearing seat, a guide post, and a suction cup mounting plate. The outer wall of the linear bearing seat is fixedly connected to the inner wall of the fixture frame, the outer wall of the guide post is slidably connected to the inner wall of the linear bearing seat, and the upper surface of the suction cup mounting plate is fixedly connected to the lower surface of the linear bearing seat.

[0009] Furthermore, a floating clamping cylinder is provided on the outer wall of the clamping frame, and a floating clamping block is provided below the floating clamping cylinder.

[0010] Furthermore, a robot mounting flange is fixedly connected to the upper surface of the fixture frame, which is the connecting component between the fixture and the robot, realizing the mechanical connection and power transmission between the fixture and the robot.

[0011] Furthermore, the lower surface of the suction cup mounting plate is fixedly connected to the upper surface of the sponge suction cup, and the suction cup mounting plate is used to integrate multiple sponge suction cups together to form a gripping unit.

[0012] Furthermore, the outer wall of the clamping cylinder is fixedly connected to the inner wall of the clamping mechanism. The clamping cylinder is used to assist in fixing the position of the suction cup mounting plate and enhance the stability of the sponge suction cup when gripping materials.

[0013] Furthermore, the outer wall of the floating clamping block is positioned above the sponge suction cup. The floating clamping block is used to fix or release the suction cup mounting plate, and works in conjunction with the floating clamping cylinder to control the position of the sponge suction cup.

[0014] This utility model has the following beneficial effects: 1. In this utility model, a dual gripping method of pre-adsorption by sponge suction cup and secondary fixation by clamping mechanism is used to achieve stable gripping of materials. When the clamp reaches above the material stack, the sponge suction cup quickly forms a vacuum to adsorb the materials. After vertically lifting half a meter, the clamping mechanism, together with the airbag, flexibly clamps the materials, avoiding the risk of falling due to unstable gripping in a single gripping. Compared with the traditional single gripping method, the success rate of gripping can be greatly improved, achieving the effect of not needing to adjust the gripping action multiple times, thereby improving the practicality of the device.

[0015] 2. In this utility model, the clamp uses an airbag to contact the material surface to achieve flexible clamping. Combined with the independent floating structure of the suction cup mounting plate, it can adapt to the unevenness of the material surface and distribute the clamping pressure evenly on the material surface. When gripping fragile or smooth materials, compared with rigid grippers, it can reduce surface indentations and damage. At the same time, the spring-assisted centering design further reduces the risk of collision during the gripping process, greatly improving the safety and integrity of material handling, and thus improving the practicality of the device. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of a semi-layer gripping fixture proposed in this utility model; Figure 2 This is a schematic diagram of the solenoid valve part of a semi-layer gripping fixture proposed in this utility model. Figure 3 This is a schematic diagram of the robot mounting flange portion of a semi-layer gripping fixture proposed in this utility model. Figure 4 This is a schematic diagram of the clamping cylinder part of a semi-layer gripping fixture proposed in this utility model. Figure 5 This is a schematic diagram of the clamping frame structure of a semi-layer gripping fixture proposed in this utility model.

[0017] Legend: 1. Fixture frame; 2. Linear bearing seat; 3. Guide column; 4. Suction cup mounting plate; 5. Robot mounting flange; 6. Floating clamping cylinder; 7. Floating clamping block; 8. Solenoid valve; 9. Clamping cylinder; 10. Airbag; 11. Sponge suction cup; 12. Clamping mechanism. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Reference Figures 1-3This utility model provides an embodiment of a half-layer gripping fixture, suitable for gripping half-layer materials, comprising: a fixture frame 1, which serves as the basic support structure of the entire fixture, providing an installation carrier for other components and ensuring the relative position stability of each component in space; an electromagnetic valve 8 installed inside the fixture frame 1 to receive control signals and realize the orderly collaborative work of each functional component of the fixture; a clamping mechanism 12, located outside the fixture frame 1, to clamp and fix the material, ensuring that the material will not fall during transportation; an airbag 10, located outside and below the clamping mechanism 12, which uses its own elastic deformation to flexibly clamp the material; and a sponge suction cup 11, located at the bottom of the fixture frame 1, for absorbing half-layer materials, adaptable to materials of different shapes and surface conditions; an electromagnetic valve 8 fixedly connected inside the fixture frame 1; a clamping cylinder 9 installed inside the fixture frame 1; and a sliding component installed outside the fixture frame 1.

[0020] Reference Figures 1-5 The sliding assembly includes a linear bearing seat 2, a guide post 3, and a suction cup mounting plate 4. The outer wall of the linear bearing seat 2 is fixedly connected to the inner wall of the clamp frame 1. The outer wall of the guide post 3 is slidably connected to the inner wall of the linear bearing seat 2. The upper surface of the suction cup mounting plate 4 is fixedly connected to the lower surface of the linear bearing seat 2. The suction cup mounting plate 4 is connected to the linear bearing seat 2. Through the cooperation of the linear bearing seat 2 and the guide post 3, the sponge suction cup 11 can slide up and down and float independently, achieving the effect of adapting to the changes in the surface height of different materials. A floating clamping cylinder 6 is provided on the outer wall of the clamp frame 1. A floating clamping block 7 is provided below the floating clamping cylinder 6. The floating clamping cylinder 6 locks or releases the position of the suction cup mounting plate 4 and clamps the floating clamping block 7 to fix the position of the sponge suction cup 11, preventing it from clamping materials and moving it in the future. During operation, the sponge suction cup 11 shifts. The upper surface of the clamp frame 1 is fixedly connected to the robot mounting flange 5, which is the connecting component between the clamp and the robot, realizing the mechanical connection and power transmission between the clamp and the robot. The lower surface of the suction cup mounting plate 4 is fixedly connected to the upper surface of the sponge suction cup 11. The suction cup mounting plate 4 is used to integrate multiple sponge suction cups 11 together to form a gripping unit. The outer wall of the clamping cylinder 9 is fixedly connected to the inner wall of the clamping mechanism 12. The clamping cylinder 9 is used to assist in fixing the position of the suction cup mounting plate 4 and enhance the stability of the sponge suction cup 11 when gripping materials. The outer wall of the floating clamping block 7 is set above the sponge suction cup 11. The floating clamping block 7 is used to fix or release the suction cup mounting plate 4 and, together with the floating clamping cylinder 6, completes the control of the position of the sponge suction cup 11.

[0021] Working Principle: When the gripper needs to pick up materials, the robot moves the gripper to the gripping position directly above the material stack. The solenoid valve 8 opens the vacuum of the sponge suction cup 11, allowing the gripper to pick up half a layer of material. The gripper is then lifted vertically by half a meter. The solenoid valve 8 opens the floating clamping cylinder 6 to release the floating clamping block 7. The solenoid valve 8 then opens the clamping mechanism 12, allowing the airbag 10 to contact the material surface and clamp the material. When the material reaches the designated placement position, the solenoid valve 8 controls the clamping mechanism 12 to release the material and closes the sponge suction cup 11, allowing the material to be lowered. The solenoid valve 8 then closes the floating clamping cylinder 6 to clamp the floating clamping block 7. The gripper is mounted on the end of the robot. The flange 5 is installed. Two guide pillars 3 are fixed at both ends to the clamp frame 1. Each guide pillar 3 is equipped with two linear bearing seats 2. Springs are placed at both ends of the guide pillars 3 of the linear bearing seats 2 to assist in centering. Four linear bearing seats 2 are connected to a suction cup mounting plate 4. A sponge suction cup 11 is connected through the suction cup mounting plate 4. There are a total of five sets of this mechanism, with one set for each suction cup. They can float independently. A clamping cylinder 9 is installed on the clamp frame 1. A floating clamping block 7 is installed on the suction cup mounting plate 4. The clamping cylinder 9 clamps the floating clamping block 7 to lock the position of the sponge suction cup 11. By installing an airbag 10 at the end of the clamping mechanism 12, flexible clamping of materials can be achieved, reducing surface damage to the materials.

[0022] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A semi-layer gripping fixture, characterized in that: This gripping fixture is suitable for gripping half-layer materials, including: The fixture frame (1) is equipped with a solenoid valve (8) inside the fixture frame (1) to receive control signals and realize the orderly coordinated operation of the various functional components of the fixture. The clamping mechanism (12) is set outside the clamp frame (1) to clamp and fix the material to ensure that the material will not fall during the handling process; The airbag (10) is located on the lower part of the outside of the clamping mechanism (12) and uses its own elastic deformation to achieve flexible clamping of materials; A sponge suction cup (11) is set at the bottom of the clamp frame (1) to pick up half a layer of material and can adapt to materials with different shapes and surface conditions.

2. The semi-layer gripping fixture according to claim 1, characterized in that: The clamp frame (1) is fixedly connected to a solenoid valve (8), the clamp frame (1) is provided with a clamping cylinder (9), and the clamp frame (1) is provided with a sliding component on the outside.

3. A semi-layer gripping fixture according to claim 2, characterized in that: The sliding assembly includes a linear bearing seat (2), a guide post (3), and a suction cup mounting plate (4). The outer wall of the linear bearing seat (2) is fixedly connected to the inner wall of the clamp frame (1). The outer wall of the guide post (3) is slidably connected to the inner wall of the linear bearing seat (2). The upper surface of the suction cup mounting plate (4) is fixedly connected to the lower surface of the linear bearing seat (2).

4. A semi-layer gripping fixture according to claim 3, characterized in that: The outer wall of the clamp frame (1) is provided with a floating clamping cylinder (6), and a floating clamping block (7) is provided below the floating clamping cylinder (6).

5. A semi-layer gripping fixture according to claim 4, characterized in that: The upper surface of the fixture frame (1) is fixedly connected to a robot mounting flange (5), which is the connecting component between the fixture and the robot, realizing the mechanical connection and power transmission between the fixture and the robot.

6. A semi-layer gripping fixture according to claim 3, characterized in that: The lower surface of the suction cup mounting plate (4) is fixedly connected to the upper surface of the sponge suction cup (11). The suction cup mounting plate (4) is used to integrate multiple sponge suction cups (11) together to form a gripping unit.

7. A semi-layer gripping fixture according to claim 2, characterized in that: The outer wall of the clamping cylinder (9) is fixedly connected to the inner wall of the clamping mechanism (12). The clamping cylinder (9) is used to assist in fixing the position of the suction cup mounting plate (4) and enhance the stability of the sponge suction cup (11) when gripping materials.

8. A semi-layer gripping fixture according to claim 4, characterized in that: The outer wall of the floating clamping block (7) is set above the sponge suction cup (11). The floating clamping block (7) is used to fix or release the suction cup mounting plate (4) and, together with the floating clamping cylinder (6), controls the position of the sponge suction cup (11).

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