Mechanical hand gripper for automated mobile phone frame plug dismounting equipment

Abstract

The utility model relates to manipulator technical field, especially a kind of mechanical hand gripper for automatic mobile phone frame demoulding equipment. Overcome the defects of single function or complex structure, inconvenient adjustment of existing gripper. Including flange cylinder connecting plate, connect with mechanical hand by flange column;Suction cup connecting rod, be set below connecting plate, connect with connecting plate by connecting block;Suction cup mounting plate, connect in suction cup connecting rod lower end;Vacuum chuck, pass in suction cup mounting plate, upper end is connected with external negative pressure source, lower end suction material;Cylinder mounting bracket, set in flange cylinder connecting plate left and right sides, including the transverse plate of being fixed with connecting plate and the vertical plate being connected in the front and back of transverse plate;Clamping cylinder, set on cylinder mounting bracket, and the one end of cylinder towards vacuum chuck is connected with material clamping plate;Sub-plate cylinder, vertically set on cylinder mounting bracket, bottom end is connected with baffle, for resist push and separate stacked material tray. Device integration degree is high, and adaptability is strong.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic gripper for an automated mobile phone frame adhesive plug removal device. Background Technology

[0002] In the field of automated mobile phone frame adhesive plug removal equipment, robotic arms are widely used for automated material handling and loading / unloading operations. In such applications, the performance of the robotic arm's end effector—the gripper assembly—directly determines the efficiency and reliability of the entire production system.

[0003] Currently, the gripper assemblies commonly used in the industry are mainly divided into two categories: single-function and multi-function.

[0004] Single-function grippers, such as stand-alone vacuum chucks or pneumatic grippers, have significant limitations. Vacuum chucks rely on a complete seal with the tray surface, and are prone to insufficient suction or pick-up failures on porous, uneven, or debris-laden trays. While simple pneumatic grippers can provide reliable clamping force, they lack an effective separation mechanism when handling stacked trays, easily leading to the grabbing of multiple trays at once and causing production line interruptions. Furthermore, single-function grippers cannot meet the complex process requirements of "separate first, then pick up, then clamp," limiting their application scenarios.

[0005] To overcome the limitations of single-function grippers, multi-functional grippers have emerged. Some existing technologies have attempted to combine suction and clamping functions. However, these solutions often suffer from the following drawbacks: Poor adaptability: Its fixed structure and lack of effective adjustment mechanisms make it difficult to quickly adapt to material trays of different sizes and stacking methods. Each time a product is changed, a lot of time is required for mechanical adjustments or replacement of the entire set of fixtures, reducing equipment utilization.

[0006] Low functional integration: Most systems only combine suction and clamping. For the crucial step of separating stacked trays, additional, independent equipment or complex mechanical structures are still required, resulting in a bloated system structure and complex control. Utility Model Content

[0007] The purpose of this utility model is to provide a robotic gripper for an automated mobile phone frame adhesive plug removal device. It provides a gripper assembly that can independently, efficiently and reliably complete a series of continuous operations such as separating, picking up and clamping stacked material trays, in order to overcome the shortcomings of existing grippers that have single functions or complex structures and inconvenient adjustments.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is as follows: This utility model provides a robotic gripper for an automated mobile phone frame adhesive plug removal device, including a flange cylinder connecting plate, which is connected to the robotic arm via a flange column; A suction cup connecting rod is disposed below the flange cylinder connecting plate and is connected to the flange cylinder connecting plate via a connecting block; A suction cup mounting plate, which is fixedly connected to the lower end of the suction cup connecting rod; A vacuum suction cup, wherein the vacuum suction cup is inserted into the suction cup mounting plate, the upper end of which is connected to an external negative pressure source, and the lower end is used to pick up materials; A cylinder mounting bracket is provided on the left and right sides of the flange cylinder connecting plate. The cylinder mounting bracket includes a horizontal plate fixed to the flange cylinder connecting plate and a vertical plate connected to the front and rear sides of the horizontal plate. A clamping cylinder is mounted on a cylinder mounting bracket, and two clamping cylinders are symmetrically mounted on each cylinder mounting bracket; a clamping plate is connected to one end of the clamping cylinder facing the vacuum suction cup, and the clamping plate clamps the material tray under the drive of the clamping cylinder; The disc-separating cylinder is vertically mounted on the cylinder mounting bracket. A baffle is connected to the bottom end of the disc-separating cylinder. The baffle is used to push and separate the stacked material discs under the drive of the disc-separating cylinder.

[0009] Furthermore, the flange cylinder connecting plate is provided with a first oblong hole to reduce weight.

[0010] Furthermore, the suction cup mounting plate has second oblong holes at its four corners, and the vacuum suction cup can be movably inserted into the second oblong holes to adjust the position of the vacuum suction cup.

[0011] Furthermore, a third oblong hole is provided on the vertical plate, and the vertical plate is connected to the horizontal plate by a fastener passing through the third oblong hole, so as to adjust the vertical position of the vertical plate on the horizontal plate, thereby adjusting the vertical position of the clamping cylinder and the clamping plate.

[0012] Furthermore, the clamping plate is L-shaped, with its vertical section connected to the clamping cylinder and its horizontal section used to support the edge of the material tray from below.

[0013] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: This invention relates to a robotic gripper for an automated mobile phone frame adhesive plug removal device. It integrates a vacuum suction mechanism, a cylinder clamping mechanism, and a cylinder tray separating mechanism into a single compact gripper assembly. Through the coordinated action of these three mechanisms, it achieves a one-stop operation for separating, suction, clamping, and transporting stacked material trays. This solves the problem of traditional single-function grippers requiring multiple positioning steps or relying on multiple independent devices, significantly improving handling efficiency.

[0014] By setting up cylinder mounting brackets on both the left and right sides, and adopting a frame structure of "horizontal plate + front and rear vertical plates" on each mounting bracket, a stable mounting foundation is provided for the clamping cylinder and the dispensing cylinder. This symmetrical frame design ensures uniform distribution of clamping force, effectively preventing the material tray from tilting or slipping due to uneven force during handling, and greatly enhancing the overall rigidity and operational stability of the component.

[0015] Furthermore, the planar layout of the vacuum suction cup can be flexibly adjusted through the second oblong hole on the suction cup mounting plate to accommodate trays of different sizes.

[0016] Furthermore, the installation height of the entire clamping mechanism can be easily adjusted via the third oblong hole on the vertical plate, thereby precisely matching different stacking thicknesses or different models of material trays. This allows for rapid adaptation to various production materials, reducing the time and cost of tooling changes due to product transformation.

[0017] Furthermore, an L-shaped clamping plate is used, the horizontal section of which can support the edge of the tray from the bottom while clamping. This design combines the lateral clamping force with the vertical supporting force to form a "wrap-like" grip on the tray, preventing the tray from accidentally falling off. Attached Figure Description

[0018] The following sections will describe some specific embodiments of the present invention in a detailed manner by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or components. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the robotic gripper for the automated mobile phone frame adhesive plug removal device provided by this utility model; Figure 2 This is a schematic diagram of the structure of the vacuum suction cup, suction cup mounting plate, and suction cup connecting rod provided by this utility model; Figure 3 This is a schematic diagram of the structure of the clamping plate provided by this utility model; The reference numerals in the attached figures are explained as follows: 1. Flange cylinder connecting plate; 100. First oblong hole; 2. Flange column; 3. Suction cup connecting rod; 4. Connecting block; 5. Suction cup mounting plate; 50. Second oblong hole; 6. Vacuum suction cup; 7. Cylinder mounting bracket; 70. Horizontal plate; 71. Vertical plate; 710. Third oblong hole; 8. Clamping cylinder; 80. Clamping plate; 9. Disc cylinder; 90. Baffle. Detailed Implementation

[0019] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] See Figures 1 to 3 The robotic gripper used in this automated mobile phone frame plug removal device includes a flange cylinder connecting plate 1, a flange column 2, a suction cup connecting rod 3, a connecting block 4, a suction cup mounting plate 5, a vacuum suction cup 6, a cylinder mounting bracket 7, a clamping cylinder 8, and a separating cylinder 9.

[0021] Specifically, the flange cylinder connecting plate 1 serves as the mounting base for the entire gripper assembly. It is connected to the robot arm via the flange column 2 and receives the motion and load from the robot arm.

[0022] Below the flange cylinder connecting plate 1, a suction cup connecting rod 3 is connected via a connecting block 4. The lower end of the suction cup connecting rod 3 is fixedly connected to a suction cup mounting plate 5, thus forming the central suction module of the assembly. To optimize the structure, a first oblong hole 100 is provided on the flange cylinder connecting plate 1. This design effectively reduces the overall weight of the assembly while ensuring structural rigidity.

[0023] The suction cup mounting plate 5 is used to mount the vacuum suction cup 6. In this example, the suction cup mounting plate 5 has second oblong holes 50 at its four corners. The neck of the vacuum suction cup 6 is movably inserted into the second oblong holes 50 and locked in place by fasteners such as nuts. This structure allows the operator to flexibly adjust the layout of multiple vacuum suction cups 6 in a plane according to the actual size and center of gravity of the material tray to be suctioned, ensuring the balance and stability of the suction force. The upper end of the vacuum suction cup 6 is connected to an external negative pressure source (such as a vacuum generator) via a pipe, while the lower end is responsible for performing the suction action.

[0024] Two sets of cylinder mounting brackets 7 are symmetrically arranged on the left and right sides of the flange cylinder connecting plate 1. Each cylinder mounting bracket 7 consists of a horizontal plate 70 and vertical plates 71 connected vertically to its front and rear sides. The horizontal plate 70 is fixedly connected to the flange cylinder connecting plate 1 to form a stable support. At the same time, each vertical plate 71 has a third oblong hole 710. The vertical plate 71 is connected to the horizontal plate 70 by bolts passing through the third oblong hole 710. By loosening the bolts, the vertical plate 71 and the components on it can slide up and down along the oblong hole, thereby precisely adjusting the height of the clamping plane to adapt to different stacking thicknesses or types of trays. After adjustment, the bolts can be tightened again.

[0025] The clamping function is achieved by clamping cylinders 8. One clamping cylinder 8 is installed on each vertical plate 71, meaning two clamping cylinders 8 are symmetrically arranged on each side of the cylinder mounting bracket 7. The piston rod of the clamping cylinder 8 faces the vacuum suction cup 6 at the center of the assembly, and its end is connected to a clamping plate 80. The clamping plate 80 is L-shaped, with its vertical section connected to the piston rod of the clamping cylinder 8, and its horizontal section extending inwards. When the clamping cylinder 8 drives the clamping plate 80 to extend, this horizontal section can support the edge of the material tray from below, forming a dual guarantee of "clamping and lifting," greatly improving the reliability of the handling process.

[0026] The tray separation function is implemented by the tray separation cylinder 9. The tray separation cylinder 9 is vertically mounted on the horizontal plate 70 of the cylinder mounting bracket 7, with its piston rod extending downwards and connected to a baffle 90 at the end. When it is necessary to grab the topmost of the stacked trays, the tray separation cylinder 9 drives the baffle 90 to move downwards, inserting into the gap of the stacked trays or abutting the edge of the second tray below. Thus, after the vacuum suction cup 6 has completely sucked up the stacked material in the top tray (in this example, it sucks up the mobile phone frame), and the clamping cylinder 8 starts its operation to remove the empty top tray, the tray separation cylinder 9 reliably separates it from the trays below, effectively preventing the grabbing of multiple layers at once.

[0027] Workflow summary: 1. Initial positioning and material grabbing stage: The robotic arm drives this gripper assembly to move directly above the stacked, fully loaded material trays. During this stage, both the gripping cylinder 8 and the tray-separating cylinder 9 are in the retracted state and do not perform any actions.

[0028] Subsequently, the vacuum suction cup 6 is activated, connected to an external negative pressure source, and sucks up the material in the tray (in this example, the mobile phone frame) and transfers it to the corresponding workstation.

[0029] 2. Empty material tray stabilization and gripping stage: After the material is absorbed, the top tray is empty. The clamping cylinder 8 will then activate, driving the L-shaped clamping plate 80 to close inward, firmly clamping and supporting the edge of the empty tray from both sides.

[0030] 3. Reliable separation stage of the material tray: When the empty tray is reliably clamped, the tray-separating cylinder 9 is activated, and its piston rod extends downward, driving the baffle 90 to move downward until it abuts the edge of the first full tray below or in the gap between the current uppermost empty tray and the lower full tray.

[0031] 4. Empty material tray transfer and repositioning stage: After confirming that the empty tray has been reliably clamped, the robot lifts the component and removes the empty tray from the tray stack, while the full tray below remains in place due to being blocked by the baffle 90.

[0032] After the robotic arm moves the empty material tray to the recycling station, the clamping cylinder 8 releases first, releasing the empty material tray. Then, the tray-separating cylinder 9 retracts and resets, preparing for the next work cycle.

[0033] 5. The next cycle begins: After all cylinders have reset, the topmost tray is now full. Vacuum suction cup 6 restarts its operation, entering a new round of the "material gripping" process.

[0034] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic gripper for an automated mobile phone frame adhesive plug removal device, characterized in that, include: Flange cylinder connecting plate (1), the flange cylinder connecting plate (1) is connected to the robot arm through flange column (2); The suction cup connecting rod (3) is located below the flange cylinder connecting plate (1) and is connected to the flange cylinder connecting plate (1) via a connecting block (4); The suction cup mounting plate (5) is fixedly connected to the lower end of the suction cup connecting rod (3); Vacuum suction cup (6), the vacuum suction cup (6) is inserted into the suction cup mounting plate (5), its upper end is connected to an external negative pressure source, and its lower end is used to pick up materials; Cylinder mounting bracket (7) is arranged opposite to each other on the left and right sides of the flange cylinder connecting plate (1). The cylinder mounting bracket (7) includes a horizontal plate (70) fixed to the flange cylinder connecting plate (1) and a vertical plate (71) connected to the front and rear sides of the horizontal plate (70). Clamping cylinder (8), the clamping cylinder (8) is mounted on the cylinder mounting bracket (7), and two clamping cylinders (8) are symmetrically mounted on each cylinder mounting bracket (7); one end of the clamping cylinder (8) facing the vacuum suction cup (6) is connected to a clamping plate (80), and the clamping plate (80) clamps the material tray under the drive of the clamping cylinder (8); The dividing cylinder (9) is vertically mounted on the cylinder mounting bracket (7). The bottom end of the dividing cylinder (9) is connected to a baffle (90). The baffle (90) is used to push and separate the stacked material trays under the drive of the dividing cylinder (9).

2. The robotic gripper for the automated mobile phone frame adhesive plug removal device according to claim 1, characterized in that, The flange cylinder connecting plate (1) has a first waist-shaped hole (100) to reduce weight.

3. The robotic gripper for the automated mobile phone frame adhesive plug removal device according to claim 1, characterized in that, The suction cup mounting plate (5) has a second waist-shaped hole (50) at each of its four corners. The vacuum suction cup (6) can be moved through the second waist-shaped hole (50) to adjust the position of the vacuum suction cup (6).

4. The robotic gripper for the automated mobile phone frame adhesive plug removal device according to claim 1, characterized in that, The vertical plate (71) has a third waist-shaped hole (710). The vertical plate (71) is connected to the horizontal plate (70) by a fastener passing through the third waist-shaped hole (710) to adjust the vertical position of the vertical plate (71) on the horizontal plate (70), thereby adjusting the vertical position of the clamping cylinder (8) and the clamping plate (80).

5. The robotic gripper for the automated mobile phone frame adhesive plug removal device according to claim 1, characterized in that, The clamping plate (80) is L-shaped, with its vertical section connected to the clamping cylinder (8) and its horizontal section used to support the edge of the material tray from below.

Images