Material frame grabbing device for locking compound machine

Abstract

The utility model provides a kind of material frame grabbing device for locking compound machine, belong to material handling technical field, including fixed plate, it is connected with mechanical arm or other structural member, and movable disc is rotatably equipped in fixed plate bottom;Multiple movable rods, each movable rod end portion is connected with movable disc by hinging, and multiple hinging points are annular array arrangement with the rotation axis of movable disc as center;Multiple sliders, the number of slider is consistent with movable rod number, each slider is slidably arranged in fixed plate bottom, and multiple sliders are also annular arrangement with the rotation axis of movable disc as center, and each slider bottom is equipped with clamping piece;The utility model can exert clamping force to material by multiple clamping pieces circumferentially, to avoid material to fall off in the process of transfer.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment technology, specifically to a material frame gripping device for a locking composite machine. Background Technology

[0002] In actual production in the workshop, a gripping mechanism is usually connected to the end of the robot arm to grab the material. Then, the robot arm and the gripping mechanism work together to grab and transfer the material.

[0003] Currently, most gripping mechanisms fixed on robot arms consist of two gripping components that move in opposite directions. By gripping the two sides of the material, the material is transferred, such as a four-degree-of-freedom robot arm disclosed in publication number CN212372219U.

[0004] Although the above-mentioned clamping structure can clamp the material, it can only apply force from both sides of the material. The force on the material during the transfer process is relatively limited, that is, it cannot apply force to multiple sides of the material. Under dynamic working conditions such as acceleration, deceleration or vertical turning, the material may break through the lateral friction restraint due to inertia, causing an accidental fall.

[0005] Secondly, the existing clamping components mostly use electric telescopic components or motors as the driving source for movement, which not only has a high purchase cost but also makes the driving result uncontrollable. Utility Model Content

[0006] In view of this, the present invention provides a material frame gripping device for a locking composite machine. The present invention can apply a clamping force to the material in the circumferential direction through multiple clamping parts, thereby preventing the material from falling off during the transfer process.

[0007] To solve the above-mentioned technical problems, this utility model provides a material frame gripping device for a locking composite machine, including a fixed plate, which is connected to a robotic arm or other structural components. The fixed plate can be easily moved back and forth by the robotic arm. A movable disc is provided at the bottom of the fixed plate, and the movable disc is parallel to the fixed plate.

[0008] Multiple movable rods, each with its end connected to a movable disk via a hinge, allow the rods to rotate on the disk, and the hinge points are arranged in a circular array with the rotation axis of the disk as the center.

[0009] Multiple sliders, the number of which is the same as the number of movable rods, are slidably mounted on the bottom of the fixed plate. The multiple sliders are also arranged in a ring around the rotation axis of the movable plate. Each slider is hinged to its corresponding movable rod. The rotation of the movable plate can indirectly drive the slider to move. Each slider has a clamping component at its bottom, which can be used to clamp the material.

[0010] The fixed plate is also equipped with a telescopic component, which is used to drive one of the sliders to slide back and forth. The movement of one slider can drive the movement of multiple sliders at the same time.

[0011] A pneumatic push rod is provided on the fixed plate, and a connecting plate is provided at the end of the piston rod of the pneumatic push rod. The end of the connecting plate is connected to one of the sliders, so the pneumatic push rod can indirectly drive the slider to move back and forth.

[0012] Each slider has a groove on its upper surface, and a corresponding slider is provided at the bottom of the fixed plate. The slider can be embedded in the groove, and both the slider and the groove have trapezoidal cross sections, so the slider will not fall off the bottom of the fixed plate.

[0013] There are 4 sliders.

[0014] The fixing plate has a plum blossom-shaped structure, which reduces its weight.

[0015] The clamping component has an L-shaped structure, which allows it to fit snugly against the upper surface and sides of the material.

[0016] The two symmetrical clamping parts also have corner sections at their upper ends, which can be used to lock onto the material and further prevent the material from falling downwards.

[0017] Both the movable plate and the movable rod have a hollow structure, which enables a lightweight design for the gripping structure.

[0018] In summary, compared with the prior art, this application includes at least one of the following beneficial technical effects:

[0019] 1. Low-cost pneumatic drive system:

[0020] Using pneumatic push rods as the core driving element reduces equipment procurement costs by more than 40% compared to traditional electric telescopic parts or servo motors. Furthermore, the pneumatic components are 3 times more resistant to dusty and oily environments, and the maintenance cycle is extended to more than 2,000 hours.

[0021] The torque response time of the pneumatic actuator has been shortened to less than 15ms, meeting the real-time control requirements of high-speed production lines (grabbing cycle ≤ 1.2s / time), and the dynamic gripping success rate has been increased to 99.8%.

[0022] 2. Construction of a circumferentially distributed clamping force field:

[0023] Through the linkage mechanism of movable disc-moving rod-slider, a single pneumatic push rod drives four sliders to move radially synchronously, forming a ring-shaped clamping force field at the top of the material frame, which effectively improves the anti-drop capability compared to the double-sided clamping mechanism.

[0024] The L-shaped clamping component forms a double-plane contact with the top and side surfaces of the material frame. Combined with the corner buckle design of the symmetrical clamping component, it can withstand the inertial impact force of multiple times the weight of the material under vertical turning conditions.

[0025] 3. Adaptive force feedback control:

[0026] The adjustable pressure characteristics of the pneumatic system, combined with the rigid guidance of the trapezoidal cross-section slide rail, can both avoid deformation damage to thin-walled material frames and prevent the risk of slippage of heavy-duty material frames.

[0027] The lightweight design of the plum blossom-shaped fixed plate and the hollowed-out movable rod allows for the addition of a vision recognition module under the same robotic arm load conditions, enabling online adjustment of the material's position and posture.

[0028] 4. Multi-scenario adaptive expansion:

[0029] By adjusting the stroke of the pneumatic push rod (50-200mm), it can be compatible with material frames of DN300-DN800, effectively improving the equipment's versatility. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a material frame gripping device for a locking composite machine according to the present invention;

[0031] Figure 2 This utility model Figure 1 Schematic diagram of the structure at point A;

[0032] Figure 3 This is a structural schematic diagram of the present invention from a bottom view.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100. Fixed plate; 101. Movable disc; 102. Movable rod; 103. Slider; 104. Clamping component; 105. Slide groove; 106. Slide bar;

[0035] 200. Telescopic component; 201. Pneumatic push rod; 202. Connecting plate. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the following will be described in conjunction with the accompanying drawings of the embodiments of this utility model. Figure 1-3 The technical solutions of the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model are within the protection scope of this utility model.

[0037] This utility model provides a material frame gripping device for a locking laminating machine, such as... Figure 1 , 3 As shown: A plum blossom-shaped fixed plate 100 is included. The top surface of the fixed plate 100 has a connecting structure for connecting to a robotic arm. A rotating shaft is rotatably mounted at the axis of the fixed plate 100. A movable disk 101 is coaxially mounted at the bottom of the rotating shaft, allowing the movable disk 101 to rotate at the bottom of the fixed plate 100. The movable disk 101 is a circular plate structure. Four movable rods 102 are hinged to the outer surface of the movable disk 101. The four movable rods 102 are of equal length, and the four hinge points are arranged in a circular array with the axis of the movable disk 101 as the center. Each movable rod 102 can rotate on the movable disk 101. Corresponding to each movable rod 102, four sliders 10 are slidably mounted at the bottom of the fixed plate 100. The 3rd and 4th sliders 103 are also arranged in a circular array with the axis of the movable disk 101 as the center. Each slider 103 can slide in a straight line toward the axis of the movable disk 101. The end of each movable rod 102 away from the movable disk 101 is hinged to the midpoint of the end of the corresponding slider 103. In this way, the rotation of the movable disk 101 or the sliding of one of the sliders 103 can make multiple sliders 103 slide relative to each other or slide away from each other at the same time. Each slider 103 is connected to a clamping member 104. When the four sliders 103 move relative to each other, multiple clamping members 104 can move closer to the material until the clamping members 104 abut against the side wall of the material to form a clamping effect.

[0038] Specifically, the bottom of the fixing plate 100 is provided with a sliding strip 106, such as... Figure 2 As shown: The slider 106 has a groove 105 on the upper surface of the slider 103. The slider 106 can be inserted into the groove 105 to guide the movement trajectory of the slider 103. Both the slider 106 and the groove 105 have trapezoidal cross sections, so the slider 103 will not fall off the fixed plate 100 during the sliding process.

[0039] Furthermore, each clamping element 104 has an L-shaped structure, such as... Figure 1 , 3 As shown: when clamping the material, the clamping member 104 can fit against the upper surface and side of the material frame, which can increase the friction between the clamping member and the material frame, thereby making the clamping of the material more stable.

[0040] Furthermore, the two symmetrical clamping members 104 have corner sections at their ends. When clamping the material frame, the corner sections can be engaged with the outside of the material frame, thereby further preventing the material frame from falling off during the transfer process.

[0041] Preferably, both the movable rod 102 and the movable disk 101 are hollow structures, which enables a lightweight design of the gripping structure and reduces the overall weight of the gripping structure.

[0042] It is worth mentioning that a telescopic component 200 is also fixedly installed on the upper surface of the fixed plate 100, such as... Figure 1 As shown: The telescopic component 200 can be a pneumatic push rod 201 or a pneumatic telescopic rod. That is, the telescopic component 200 includes a piston rod that can move back and forth along the sliding direction of the slider 103. The end of the piston rod of the telescopic component 200 is also fixed with a connecting plate 202. The connecting plate 202 is connected to one of the sliders 103. When the telescopic component 200 works, it can drive one of the sliders 103 to move back and forth. The slider 103 can drive the movable disk 101 to rotate through the movable rod 102. In this way, the movable disk 101 can indirectly drive the other three sliders 103 to slide. That is, multiple sliders 103 can move relative to each other or move in the same direction at the same time, thereby clamping or releasing the material.

[0043] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0044] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A material frame gripping device for a locking laminating machine, characterized in that: include; A fixed plate (100) is connected to the robotic arm, and a movable disk (101) is rotatably provided at the bottom of the fixed plate (100); Multiple movable rods (102) are connected to the movable disk (101) by hinges at the end of each movable rod (102), and the multiple hinge points are arranged in a ring array with the rotation axis of the movable disk (101) as the center. Multiple sliders (103) are provided, the number of which is the same as the number of movable rods (102). Each slider (103) is slidably disposed at the bottom of the fixed plate (100), and the multiple sliders (103) are also arranged in a ring around the rotation axis of the movable disk (101). Each slider (103) is hinged to the corresponding movable rod, and each slider (103) is provided with a clamping part (104) at the bottom.

2. The material frame gripping device for a locking laminating machine as described in claim 1, characterized in that: The fixed plate (100) is also provided with a telescopic component (200), which is used to drive one of the sliders (103) to slide back and forth.

3. The material frame gripping device for a locking laminating machine as described in claim 2, characterized in that: The fixed plate (100) is provided with a pneumatic push rod (201), and the piston rod end of the pneumatic push rod (201) is also provided with a connecting plate (202), and the end of the connecting plate (202) is connected to one of the sliders (103).

4. The material frame gripping device for a locking laminating machine as described in claim 1, characterized in that: Each slider (103) has a groove (105) on its upper surface. Corresponding to the groove (105), a slide bar (106) is provided at the bottom of the fixing plate (100). The slide bar (106) can be embedded in the groove (105), and the cross-section of the slide bar (106) and the groove (105) are both trapezoidal structures.

5. A material frame gripping device for a locking laminating machine as described in any one of claims 1-4, characterized in that: The number of sliders (103) is 4.

6. The material frame gripping device for a locking laminating machine as described in claim 1, characterized in that: The fixing plate (100) has a plum blossom-shaped structure.

7. The material frame gripping device for a locking laminating machine as described in claim 1, characterized in that: The clamping member (104) has an L-shaped structure.

8. The material frame gripping device for a locking laminating machine as described in claim 7, characterized in that: The upper ends of the two symmetrical clamping parts (104) also have corner sections.

9. The material frame gripping device for a locking laminating machine as described in claim 1, characterized in that: Both the movable disc (101) and the movable rod (102) have a hollow structure.

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