Anti-falling vacuum chuck industrial manipulator for material carrying

Abstract

The invention discloses an anti-falling vacuum suction cup industrial manipulator for material carrying, and relates to the field of suction cup industrial manipulators, the anti-falling vacuum suction cup industrial manipulator comprises a supporting base and a mechanical arm, the mechanical arm is mounted on the supporting base, a supporting plate is fixedly connected to the end, away from the supporting base, of the mechanical arm, and a vacuum pump is arranged on the supporting plate; the two ends of the supporting plate are each fixedly connected with a sliding groove rod, the middle of each sliding groove rod is fixedly connected with a first suction cup, each sliding groove rod is slidably connected with two sliding blocks, by adjusting the distance between the two second suction cups, the second suction cups can be evenly distributed on the aluminum veneer, adsorption is conducted close to the edge, and the adsorption force can be more reasonably distributed; in the carrying process of the aluminum veneer, if the adsorption points are excessively concentrated in the central area, the edge part may droop or deform due to the action of gravity, but the positions of the suckers are uniformly distributed, so that the adsorption force can be uniformly distributed on the periphery of the aluminum veneer, and the aluminum veneer is kept in a horizontal state when being carried.

Description

Technical Field

[0001] The invention relates to the field of suction cup industrial manipulators, in particular to an anti-drop vacuum suction cup industrial manipulator used for material handling. Background Art

[0002] As a flexible and efficient handling equipment, vacuum suction cup manipulators are widely used in various industries. For example, in CNC lathes, vacuum suction cup manipulators can automatically carry fragile materials such as glass and plates. For example, the suction cup manipulator used to carry aluminum veneers uses the vacuum adsorption force generated by the suction cup to firmly grasp the aluminum veneer, and through the precise movement of the robot arm, it moves the aluminum veneer from one position to another, playing a key role in the processing and installation of aluminum veneers.

[0003] Since the aluminum veneer has a certain size and weight, when it is adsorbed by a suction cup robot, the adsorption force is mainly concentrated in the contact area between the suction cup and the aluminum veneer, while the edge parts on both sides of the aluminum veneer are far away from the adsorption point. Under the action of gravity, they will tend to sag like a cantilever beam. Therefore, when only adsorbed by the middle area, the edges on both sides do not have sufficient upward supporting force, and the aluminum veneer will be affected by gravity and sag and deform, which is not conducive to the subsequent processing and installation of the aluminum veneer.

[0004] In addition, the robot may generate vibrations during operation, which may be caused by the accuracy of the mechanical structure itself, the unstable operation of the motor, or interference in the working environment (such as other heavy equipment running nearby). These vibrations will be transmitted to the aluminum veneer, causing a small relative displacement between the suction cup and the aluminum veneer. If the vibration continues or the amplitude is large, it will destroy the adsorption state of the suction cup and cause the aluminum veneer to fall.

[0005] In view of this, the present invention provides an anti-drop vacuum suction cup industrial manipulator for material handling. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an anti-drop vacuum suction cup industrial manipulator for material handling, so as to solve the problems raised in the above background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] An anti-drop vacuum suction cup industrial manipulator for material handling comprises a support base and a mechanical arm, wherein the mechanical arm is mounted on the support base, and one end of the mechanical arm away from the support base is fixedly connected to a support plate, and a vacuum pump is arranged on the support plate, and both ends of the support plate are fixedly connected to a slide rod, and a suction cup 1 is fixedly connected to the middle of each slide rod, and two sliders are slidably connected to each slide rod, and there are four sliders in total, and the bottoms of the four sliders are fixedly connected to suction cup 2, and the vacuum pump is fixedly connected to suction cup 2 and suction cup 1 through multiple hoses, respectively, and each slide rod is provided with a group of position adjustment clamping components, and the position adjustment clamping components include a multi-section electric telescopic rod fixedly connected to the top of the slide rod, and the telescopic end of the multi-section electric telescopic rod is fixedly connected to a top plate, and two connecting rods are rotatably connected to the top plate, The four sliding blocks are fixedly connected to a rectangular frame on one side close to the connecting rod, and a sliding rod sleeve is slidably connected in the rectangular frame. The lower end of the connecting rod is rotatably connected to the adjacent sliding rod sleeve. The two sliding groove rods are fixedly connected to two connecting plates on one side close to the connecting rod, and two limit columns are fixedly connected to the two connecting plates. A movable vertical plate is slidably connected to the two limit columns. A cavity is provided in the movable vertical plate, and a U-shaped frame is slidably connected in the cavity of the movable vertical plate. A supporting spring is fixedly connected in the U-shaped frame, and the lower end of the supporting spring is fixedly connected to the vertical plate. One side of the vertical plate is fixedly connected to an L-shaped sleeve, and grooves are provided on both sides of the L-shaped sleeve. A spring 1 is fixedly connected in the groove, and one end of the spring 1 is fixedly connected to an inclined surface block, which is slidably connected to the groove. There are two inclined surface blocks in total, and the outer surfaces of the two inclined surface blocks are wrapped with rubber layers.

[0009] Preferably, the upper and lower surfaces of the inclined block are both set as inclined surfaces, and a threaded rod 1 is rotatably connected to the connecting plate, and the threaded rod 1 is threadedly connected to the movable vertical plate and passes through the movable vertical plate, and a threaded rod 2 is threadedly connected to the movable vertical plate, and the threaded rod 2 passes through one end of the cavity of the movable vertical plate and is rotatably connected to the U-shaped frame.

[0010] Preferably, two groups of protective cleaning components are jointly provided on the sliding rod sleeve and the movable vertical plate, and the protective cleaning components include two springs fixedly connected to the inside of each sliding rod sleeve, the lower end of the two springs is fixedly connected to a movable rod, the lower end of the movable rod is fixedly connected to a protective plate, and the lower surface of the protective plate is detachably attached with wiping cotton via Velcro. There are two protective plates in total, and both protective plates are fixedly connected with a magnetic block one at a position close to the movable rod.

[0011] Preferably, both sides of each movable vertical plate are fixedly connected with L-shaped rods, each L-shaped rod is fixedly connected with a second magnetic block, and each L-shaped rod is fixedly connected with a trigger switch at a position close to the first magnetic block.

[0012] Preferably, the first magnetic block is adsorbed and matched with the second magnetic block, and the second magnetic block is located on the moving path of the first magnetic block.

[0013] Preferably, each L-shaped sleeve is provided with an extending support assembly, which includes a suction pump fixedly connected to the upper surface of each L-shaped sleeve, and an airbag is fixedly connected inside each L-shaped sleeve, and the suction port of the suction pump is connected to the airbag.

[0014] Preferably, a spring three is arranged inside the airbag, and two ends of the spring three are respectively fixedly connected to an end of the airbag away from the suction pump and the inner wall of the L-shaped sleeve.

[0015] The anti-drop vacuum suction cup industrial manipulator for material handling provided by the present invention has the following features:

[0016] Beneficial effects:

[0017] The height to which the multi-section electric telescopic rod descends can be adjusted according to the size of the aluminum veneer, specifically through an external controller. The lower the multi-section electric telescopic rod descends, the farther the two sliders drive the suction cup 2 to slide. By adjusting the distance between the two suction cups 2, the suction cup 2 can be evenly distributed on the aluminum veneer. Adsorption close to the edge helps to distribute the adsorption force more reasonably. During the transportation of the aluminum veneer, if the adsorption points are too concentrated in the central area, the edge part may sag or deform due to gravity. The setting of evenly distributing the suction cup positions can evenly distribute the adsorption force around the aluminum veneer, so that the aluminum veneer can remain in a horizontal state when being transported.

[0018] The sliding rod sleeve drives the rectangular frame and the two sliders on the same sliding groove rod to slide away from each other, and drives the corresponding suction cup 2 to move synchronously, and the protective plate also moves synchronously to continuously wipe the upper surface of the aluminum veneer. Since dust, debris, oil and other impurities may be attached to the surface of the aluminum veneer during production, transportation or storage, wiping with wiping cotton can effectively remove these impurities, so that the suction cup can be in close contact with the surface of the aluminum veneer, thereby improving the adsorption force and making the suction cup manipulator more stable when adsorbing the aluminum veneer for transportation.

[0019] By gradually bringing the two protective plates closer together, the lower surfaces of the suction cups one and two can be shielded. Since there are usually a large number of dust particles in the factory environment, if the suction cup is exposed to the outside, the dust can easily adhere to the surface of the suction cup. When the suction cup is used again, the dust may form a gap between the suction cup and the surface of the adsorbed object (such as an aluminum panel), destroying the vacuum adsorption environment. To avoid long-term dust accumulation, the hose connected to the vacuum pump on the suction cup may become clogged, resulting in a decrease in the adsorption force of a certain suction cup.

[0020] Since L-shaped sleeves are provided on both sides of the slide rod, and two inclined blocks are provided on the L-shaped sleeves, a total of four inclined blocks are simultaneously attached to the bottom of the aluminum veneer, which can automatically clamp the edge of the aluminum veneer, avoiding the traditional method of only using a suction cup to fix the aluminum veneer, which is easy to cause relative displacement between the suction cup and the aluminum veneer and cause it to fall due to the working vibration of the mechanical arm. It can also fix the edge of the aluminum veneer to avoid the situation where the aluminum veneer is only adsorbed on the upper surface of the aluminum veneer due to its large size, and the two sides away from the suction cup sag under the action of their own weight.

[0021] It should be noted that in actual use, by rotating the threaded rod 1 and the threaded rod 2 on both sides, the threaded rod 2 can drive the vertical plate and the L-shaped sleeve in the U-shaped frame to descend, so that the direct distance between the L-shaped sleeve and the horizontal plane at the bottom of the suction cup 2 becomes larger, so that the subsequent L-shaped sleeve can contact the work surface where the aluminum plate is placed earlier than the protective plate and the suction cup 2, so that the vertical plate can move up a greater distance and the supporting spring can be compressed shorter, so that when the vertical plate and the L-shaped sleeve are reset later, the inclined plane block can be in a lower position, so as to adapt to the reset and clamping of aluminum plates of different thicknesses, and by adjusting the threaded rod 1 and the threaded rod 2, it can adapt to aluminum plates of different sizes and thicknesses, thereby improving the applicability of the position adjustment clamping assembly.

[0022] Since the airbag is located in the L-shaped sleeve and is parallel to the inclined block, the inflated airbag will extend out and press against the bottom of both sides of the aluminum veneer, thereby increasing the contact area of ​​the bottom of the aluminum veneer, sharing part of the gravity of the aluminum veneer, and further avoiding deformation of the aluminum veneer due to excessive local force, so that the aluminum veneer maintains a relatively flat shape. The airbag is made of rubber, which can flexibly support the aluminum veneer without causing scratches or damage to the aluminum veneer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the related structure of the connecting rod, rectangular frame and sliding rod sleeve of the present invention;

[0025] Figure 3 This is a schematic diagram of the installation structure of the protection and wiping cotton of the present invention;

[0026] Figure 4 This is a schematic diagram of the related structure of the L-shaped rod, the second magnetic block and the trigger switch of the present invention;

[0027] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure of the middle A area;

[0028] Figure 6 It is a schematic diagram of the partial cutaway structure of the movable vertical plate and the U-shaped frame of the present invention;

[0029] Figure 7 For the present invention Figure 6 Schematic diagram of the enlarged structure of the middle B area;

[0030] Figure 8 This is a schematic diagram of the installation structure of the threaded rod 2 and the U-shaped frame of the present invention;

[0031] Fig. 9 It is a schematic diagram of a partial cutaway structure of a rectangular frame of the present invention;

[0032] Fig.10 For the present invention Fig. 9 Schematic diagram of the enlarged structure of the middle C area.

[0033] In the figure:

[0034] 1. Support base; 2. Robotic arm; 3. Support plate; 4. Slide rod; 5. Suction cup 1; 6. Sliding block; 7. Suction cup 2; 21. Multi-section electric telescopic rod; 22. Top plate; 23. Connecting rod; 24. Rectangular frame; 25. Sliding rod sleeve; 26. Connecting plate; 27. Limiting column; 28. Moving vertical plate; 29. ​​U-shaped frame; 210. Support spring; 211. Vertical plate; 212. L-shaped sleeve; 213. Groove; 214. Spring 1; 215. Inclined block; 216. Threaded rod 1; 217. Threaded rod 2; 31. Spring 2; 32. Movable rod; 33. Protective plate; 34. Wiping cotton; 35. Magnetic block 1; 36. L-shaped rod; 37. Magnetic block 2; 38. Trigger switch; 41. Suction pump; 42. Airbag; 43. Spring 3. DETAILED DESCRIPTION

[0035] Embodiments of the present invention:

[0036] See also Figure 1 , Figure 2 and Figures 4 to 8 as well as Fig.10As shown, it includes a support base 1 and a mechanical arm 2, and is characterized in that: the mechanical arm 2 is installed on the support base 1, and one end of the mechanical arm 2 away from the support base 1 is fixedly connected to a support plate 3, and a vacuum pump is arranged on the support plate 3, and both ends of the support plate 3 are fixedly connected to a slide rod 4, and the middle part of each slide rod 4 is fixedly connected to a suction cup 1 5, and each slide rod 4 is slidably connected to two sliders 6, and there are four sliders 6 in total, and the bottoms of the four sliders 6 are fixedly connected to suction cup 2 7, and the vacuum pump is fixedly connected to suction cup 2 7 and suction cup 1 5 through a plurality of hoses, and each slide rod 4 is provided with A group of position adjustment clamping components is provided, and the position adjustment clamping components include a multi-section electric telescopic rod 21 fixedly connected to the top of the slide slot rod 4, the telescopic end of the multi-section electric telescopic rod 21 is fixedly connected to a top plate 22, and two connecting rods 23 are rotatably connected to the top plate 22. A rectangular frame 24 is fixedly connected to the side of the four sliders 6 close to the connecting rod 23, and a sliding rod sleeve 25 is slidably connected in the rectangular frame 24. The lower end of the connecting rod 23 is rotatably connected to the adjacent sliding rod sleeve 25, and two connecting plates 26 are fixedly connected to the adjacent sides of the two slide slot rods 4. Two limit columns 27 are fixedly connected to the two connecting plates 26. The two limit columns 27 are slidably connected to a movable vertical plate 28, and a scale line is set on the limit column 27, which can provide a distance reference when the movable vertical plate 28 moves subsequently. A cavity is opened in the movable vertical plate 28, and a U-shaped frame 29 is slidably connected in the cavity of the movable vertical plate 28. A support spring 210 is fixedly connected in the U-shaped frame 29. The lower end of the support spring 210 is fixedly connected to a vertical plate 211, and one side of the vertical plate 211 is fixedly connected to an L-shaped sleeve 212. Grooves 213 are opened on both sides of the L-shaped sleeve 212. A spring 214 is fixedly connected in the groove 213. One end of the spring 214 A slope block 215 is fixedly connected, and the slope block 215 is slidably connected to the groove 213. There are two slope blocks 215, and the outer surfaces of the two slope blocks 215 are wrapped with a rubber layer, which can reduce the damage to the aluminum veneer when contacting the aluminum veneer. The upper and lower surfaces of the slope block 215 are set as slopes. The connecting plate 26 is rotatably connected with a threaded rod 1 216, which is threadedly connected to the movable vertical plate 28 and passes through the movable vertical plate 28. The movable vertical plate 28 is threadedly connected with a threaded rod 217, and the threaded rod 217 passes through one end of the cavity of the movable vertical plate 28 and is rotatably connected to the U-shaped frame 29. Please refer to Figures 2 to 4 , Fig. 9 and Fig.10As shown, two sets of protective cleaning components are jointly arranged on the slide rod sleeve 25 and the movable vertical plate 28, and the protective cleaning components include a spring 21 fixedly connected to the inside of each slide rod sleeve 25, and a movable rod 32 is fixedly connected to the lower end of the spring 21, and a protective plate 33 is fixedly connected to the lower end of the movable rod 32. A wiping cotton 34 is detachably mounted on the lower surface of the protective plate 33 through Velcro. After long-term use of the wiping cotton 34, the wiping cotton 34 attached to the protective plate 33 through Velcro can be torn off and replaced, so as to maintain the dust wiping effect of the wiping cotton 34. There are two protective plates 33 in total, and the movable rods 32 in total. Four are provided, with two in each group, and each group of movable rods 32 is fixedly connected to the upper surface of the protective plate 33 on the same side, and the protective plate 33 is fitted with the lower surface of the suction cup 1 5 and the suction cup 2 7. The two protective plates 33 are fixedly connected with a magnet 1 35 at the position close to the movable rod 32, and each of the two sides of the movable vertical plate 28 is fixedly connected with an L-shaped rod 36, and each L-shaped rod 36 is fixedly connected with a magnet 2 37. The magnet 1 35 is adsorbed and matched with the magnet 2 37, and the magnet 2 37 is located on the moving path of the magnet 1 35. A trigger switch 38 is installed at the position of each L-shaped rod 36 close to the magnet 1 35.

[0037] See also Figures 6 to 8 As shown, each L-shaped sleeve 212 is provided with an extension support assembly, which includes a suction pump 41 fixedly connected to the upper surface of each L-shaped sleeve 212, and an airbag 42 is fixedly connected inside each L-shaped sleeve 212. The suction port of the suction pump 41 is connected to the airbag 42, and a spring 3 43 is provided inside the airbag 42. The two ends of the spring 3 43 are respectively fixedly connected to one end of the airbag 42 away from the suction pump 41 and the inner wall of the L-shaped sleeve 212. The trigger switch 38 can turn off the multi-section electric telescopic rod 21 and turn on the vacuum pump and the suction pump 41 through an external controller. The spring 3 43 is used to help the airbag 42 reset after deflation and enter the L-shaped sleeve 212.

[0038] The following is the entire working process and working principle of the above embodiment:

[0039] Initial state: the airbag 42 is in a deflated state, and the lower surfaces of the L-shaped sleeve 212 and the inclined block 215 are lower than the lower surface of the protective plate 33. Initially, the two protective plates 33 are in a fitted state and cover the lower surfaces of the suction cup 1 5 and the suction cup 2 7.

[0040] During operation, the support plate 3 and the suction cup 1 5 and the suction cup 2 7 are first moved to the top of the aluminum veneer to be transported by the mechanical arm 2, and gradually approach the middle position of the aluminum veneer until the protective plate 33 is attached to the upper part of the aluminum veneer. Then, the two multi-section electric telescopic rods 21 are started to drive the top plate 22 to slowly descend, so that the top plate 22 presses the corresponding two connecting rods 23 to synchronously descend and rotate slightly accordingly, so that the lower ends of the two connecting rods 23 push the two sliding rod sleeves 25 on the same side to slide in the rectangular frame 24. At this time, the slider 6 and the suction cup 2 7 do not move, and the two sliding rod sleeves are When the two sliding rod sleeves 25 on the same side slide away from each other and approach the inner wall of the rectangular frame 24, the two protective plates 33 are also located at the edge of the adjacent suction cup 27, and no longer block the suction cup 1 5 and the suction cup 2 7. At this time, as the connecting rod 23 continues to descend, the rectangular frame 24 and the two sliding plates on the same sliding groove rod 4 are driven by the sliding rod sleeve 25. The blocks 6 slide away from each other and drive the corresponding suction cups 2 7 to move synchronously, and the protective plate 33 also moves synchronously to continuously wipe the upper surface of the aluminum single plate until the protective plate 33 moves to a position close to the magnetic block 2 37. When the magnetic block 1 35 on the protective plate 33 corresponds to the magnetic block 2 37, the magnetic block 2 37 will attract the magnetic block 1 35 to move upward, and drive the protective plate 33 fixed thereto to move upward, and will also synchronously compress the spring 2 31 in the slide rod sleeve 25, so that the protective plate 33 will no longer be lower than the lower surface of the suction cup 2 7, thereby not affecting the subsequent adsorption of the suction cup 2 7 with the aluminum single plate At this time, the multi-section electric telescopic rod 21 stops descending, and the manipulator drives the support plate 3 to descend again so that the suction cup 1 5 and the suction cup 2 7 are attached to the upper surface of the aluminum veneer, and then the vacuum pump on the support plate 3 is turned on to allow the suction cup 1 5 and the suction cup 2 7 to start adsorption and grasping. Since dust, debris, oil stains and other impurities may be attached to the surface of the aluminum veneer during production, transportation or storage, wiping with the wiping cotton 34 can effectively remove these impurities, so that the suction cup can be in close contact with the surface of the aluminum veneer, thereby improving the adsorption force of the adsorption and making the suction cup manipulator more stable when adsorbing the aluminum veneer for transportation.

[0041] Furthermore, after the subsequent robotic arm 2 moves the adsorbed aluminum veneer to a suitable position, the vacuum pump is turned off, so that the suction cup 1 5 and the suction cup 2 7 are no longer adsorbed, and the multi-section electric telescopic rod 21 is extended to drive the connecting rod 23 to rotate upward and reset, which will gradually pull the sliding rod sleeve 25 to drive the protective plate 33 to move in the direction close to the multi-section electric telescopic rod 21. When the protective plate 33 moves to cause the magnetic block 1 35 and the magnetic block 2 37 to be misaligned, there is no adsorption force. At this time, the spring 2 31 resets and rebounds to drive the protective plate 33 to move downward and reset to below the lower surface of the suction cup 2 7. After that, as the sliding rod sleeve 25 continues to reset, the protective plate 33 can be moved back to the corresponding suction cup. The lower part of the suction cup 1 is moved to the bottom 7, and when the slider 26 is gradually reset and approaches the suction cup 1, the two protective plates 33 are gradually approached and merged together, so as to shield the lower surface of the suction cup 1. Since there are usually a large number of dust particles in the factory environment, if the suction cup is exposed to the outside, the dust is easy to adhere to the surface of the suction cup. When the suction cup is used again, the dust may form a gap between the suction cup and the surface of the adsorbed object (such as an aluminum veneer), destroying the vacuum adsorption environment. Therefore, by shielding the suction cup 1 and the suction cup 2, it is possible to avoid long-term dust accumulation, which may cause the hose connected to the vacuum pump on the suction cup to be blocked, resulting in a decrease in the adsorption force of a certain suction cup.

[0042] The height to which the multi-section electric telescopic rod 21 descends can be adjusted according to the size of the aluminum veneer, specifically through an external controller. The lower the multi-section electric telescopic rod 21 descends, the farther the two sliders 6 drive the suction cups 7 to slide. By adjusting the distance between the two suction cups 7, the suction cups 7 can be evenly distributed on the aluminum veneer, which helps to distribute the adsorption force more reasonably. During the transportation of the aluminum veneer, if the adsorption points are too concentrated in the central area, the edge part may sag or deform due to gravity. The setting of evenly distributing the suction cup positions can evenly distribute the adsorption force around the aluminum veneer, so that the aluminum veneer can remain in a horizontal state when being transported.

[0043] Furthermore, when the robot arm 2 drives the support plate 3, the suction cup 27 and the protective plate 33 to descend and approach the aluminum plate, since the lower surfaces of the L-shaped sleeve 212 and the inclined plane block 215 are lower than the lower surface of the protective plate 33, the L-shaped sleeve 212 will first contact the table top on which the aluminum plate is placed, and the inclined plane block 215 will first contact the edge of the aluminum plate. Then, as the robot arm 2 drives the support plate 3 to continue to descend, the lower inclined plane of the inclined plane block 215 will first contact the aluminum plate and be squeezed to slide into the groove 213, and gradually compress the spring 1. 214, so that the inclined surface block 215 is located on the side wall of the aluminum single plate, at this time, the bottom of the L-shaped sleeve 212 will be squeezed with the work surface where the aluminum single plate is placed, so that the L-shaped sleeve 212 drives the vertical plate 211 to slide upward in the U-shaped frame 29 and compress the support spring 210. After the above-mentioned suction cup 2 7 and suction cup 1 5 adsorb the aluminum single plate, the robot arm 2 will drive the support plate 3 and the adsorbed aluminum single plate to move upward and leave the work surface to be transported to the designated position. At this time, the L-shaped sleeve 212 that was originally in contact with the work surface is no longer squeezed. The support spring 210 returns to its original position and drives the L-shaped sleeve 212 to move downward and return to its original position, which will also drive the inclined surface block 215 on the side wall of the aluminum single plate to move downward and no longer fit the side wall of the aluminum single plate. At this time, the spring 1 214 will return to its original position and push the inclined surface block 215 to slide and return to its original position, and cooperate with the downward movement of the L-shaped sleeve 212 to make the inclined surface block 215 move and fit to the bottom of the aluminum single plate. In this process, the suction cup 1 5 and the suction cup 2 7 are in a state of tightly adsorbing the aluminum single plate. Since both sides of the slide slot rod 4 are provided with L-shaped sleeves 212, and the L Two inclined blocks 215 are provided on each of the shaped sleeves 212, and a total of four inclined blocks 215 are simultaneously attached to the bottom of the aluminum veneer, which can automatically clamp the edge of the aluminum veneer, avoiding the traditional method of only using a suction cup to fix, which is easy to cause relative displacement between the suction cup and the aluminum veneer and fall due to the working vibration of the robot arm 2. It can also fix the edge of the aluminum veneer to avoid the situation where the aluminum veneer is only adsorbed on the upper surface of the aluminum veneer due to its large size, and the two sides away from the suction cup sag under the action of its own weight.

[0044] It should be noted that in actual use, the threaded rods 216 on both sides can be rotated to make the movable vertical plate 28 threadedly connected to the threaded rod 216 move horizontally on the limit column 27. The horizontal movement distance of the movable vertical plate 28 can be observed through the scale lines on the limit column 27. The movable vertical plates 28 on both sides can be moved away from each other to adapt to the larger size of the aluminum single plate, so that the movable vertical plate 28, the vertical plate 211, the L-shaped sleeve 212 and the inclined block 215 can all move synchronously, so that the vertical plate 211, the L-shaped sleeve 212 and the inclined block 215 can be located at the two ends of the larger size of the aluminum single plate, and the movable vertical plate 28 will also drive the magnetic block 2 37 to move synchronously through the L-shaped rod 36, and then the threaded rods 217 on both sides can be rotated to make the movable vertical plate 28 move horizontally on the limit column 27. The threaded rod 217 drives the vertical plate 211 and the L-shaped sleeve 212 in the U-shaped frame 29 to descend, so that the distance between the L-shaped sleeve 212 and the horizontal plane at the bottom of the suction cup 27 becomes larger, so that the subsequent L-shaped sleeve 212 can contact the work surface where the aluminum plate is placed earlier than the protective plate 33 and the suction cup 27, so that the vertical plate 211 can move up a greater distance, and the supporting spring 210 can be compressed shorter, so that when the vertical plate 211 and the L-shaped sleeve 212 are reset later, the inclined plane block 215 can be in a lower position, so that it can adapt to the reset and clamping of aluminum plates of different thicknesses, and by adjusting the threaded rod 1 216 and the threaded rod 217, it can adapt to aluminum plates of different sizes and thicknesses, thereby improving the applicability of the position adjustment clamping component.

[0045] Furthermore, when the magnetic block 2 37 attracts the magnetic block 1 35 and rises, the protective plate 33 will also rise synchronously. When the protective plate 33 rises, it will contact the trigger switch 38 at the bottom of the L-shaped rod 36. Therefore, when the protective plate 33 rises and is no longer located at the lower part of the suction cup 2 7, the trigger switch 38 will first close the multi-section electric telescopic rod 21 through the external controller, and then turn on the vacuum pump for adsorption. After the suction cup 1 5 and the suction cup 2 7 adsorb the aluminum single plate, the controller will also turn on the suction pump 41, so that the suction pump 41 inflates the airbag 42, and the airbag 42 will gradually The expansion and elongation causes the spring three 43 in the airbag 42 to be gradually stretched. Since the airbag 42 is located in the L-shaped sleeve 212 and is parallel to the inclined block 215, the inflated airbag 42 will extend out and contact the bottom of both sides of the aluminum veneer, thereby increasing the contact area of ​​the bottom of the aluminum veneer, sharing part of the gravity of the aluminum veneer, and further avoiding deformation of the aluminum veneer due to excessive local force, so that the aluminum veneer maintains a relatively flat shape. The airbag 42 is made of rubber material and can flexibly support the aluminum veneer without causing scratches or damage to the aluminum veneer.

[0046] It should be noted that when the movable vertical plate 28 moves, it will also drive the L-shaped rod 36 and the second magnet 37 to move, and the first magnet 35 on the protective plate 33 will only be adsorbed when it moves to the bottom of the second magnet 37, and when the adsorbed first magnet 35 and the protective plate 33 move upward, they can contact the trigger switch 38 to close the multi-section electric telescopic rod 21, so that the position of the suction cup 27 is fixed. Therefore, the position of the suction cup 27 will change according to the position of the second magnet 37, so that the multi-section electric telescopic rod 21 can be lowered a greater distance, so that the connecting rod 23 pushes the sliding rod sleeve 25 and the suction cup 27 to slide a longer distance on the slide groove rod 4, so as to adapt to larger-sized aluminum panels.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An anti-drop vacuum suction cup industrial manipulator for material handling, comprising a support base (1) and a mechanical arm (2), characterized in that: The mechanical arm (2) is mounted on a support base (1); one end of the mechanical arm (2) away from the support base (1) is fixedly connected to a support plate (3); a vacuum pump is arranged on the support plate (3); both ends of the support plate (3) are fixedly connected to a slide rod (4); the middle of each slide rod (4) is fixedly connected to a suction cup (5); each slide rod (4) is slidably connected to two sliders (6); a total of four sliders (6) are arranged; the bottoms of the four sliders (6) are fixedly connected to suction cups (7); and the suction cups (7) and The suction cups (5) are installed with a vacuum pump via a plurality of hoses. A group of position adjustment clamping components are arranged on each slide slot rod (4). The position adjustment clamping components include a multi-section electric telescopic rod (21) fixedly connected to the top of the slide slot rod (4). The telescopic end of the multi-section electric telescopic rod (21) is fixedly connected to a top plate (22). Two connecting rods (23) are rotatably connected to the top plate (22). A rectangular frame (24) is fixedly connected to one side of the four sliders (6) close to the connecting rod (23). A sliding block (24) is slidably connected inside the rectangular frame (24). The rod sleeve (25) is rotatably connected to the adjacent sliding rod sleeve (25) at the lower end of the connecting rod (23); two connecting plates (26) are fixedly connected to the adjacent sides of the two sliding groove rods (4); two limiting columns (27) are fixedly connected to the two connecting plates (26); a movable vertical plate (28) is slidably connected to the two limiting columns (27); a cavity is provided in the movable vertical plate (28); a U-shaped frame (29) is slidably connected in the cavity of the movable vertical plate (28); a support spring (210) is fixedly connected in the U-shaped frame (29); and a support spring (210) is fixedly connected in the U-shaped frame (29). The lower end of the support spring (210) is fixedly connected to a vertical plate (211), one side of the vertical plate (211) is fixedly connected to an L-shaped sleeve (212), both sides of the L-shaped sleeve (212) are provided with grooves (213), a spring 1 (214) is fixedly connected in the groove (213), one end of the spring 1 (214) is fixedly connected to an inclined surface block (215), the inclined surface block (215) is slidably connected to the groove (213), two inclined surface blocks (215) are provided, and the outer surfaces of the two inclined surface blocks (215) are wrapped with a rubber layer.

2. The anti-drop vacuum suction cup industrial manipulator for material handling according to claim 1 is characterized in that: The upper and lower surfaces of the inclined plane block (215) are both arranged as inclined planes. A threaded rod (216) is rotatably connected to the connecting plate (26). The threaded rod (216) is threadedly connected to the movable vertical plate (28) and passes through the movable vertical plate (28). A threaded rod (217) is threadedly connected to the movable vertical plate (28). One end of the threaded rod (217) passes through the cavity of the movable vertical plate (28) and is rotatably connected to the U-shaped frame (29).

3. The anti-drop vacuum suction cup industrial manipulator for material handling according to claim 1 is characterized in that: Two groups of protective cleaning components are arranged on the slide rod sleeve (25) and the movable vertical plate (28), and the protective cleaning components include spring 2 (31) fixedly connected to the inside of each slide rod sleeve (25), the lower end of spring 2 (31) is fixedly connected to a movable rod (32), the lower end of the movable rod (32) is fixedly connected to a protective plate (33), and a wiping cotton (34) is detachably mounted on the lower surface of the protective plate (33) through Velcro. There are two protective plates (33) in total, and the two protective plates (33) are fixedly connected to a magnetic block 1 (35) at a position close to the movable rod (32).

4. The anti-drop vacuum suction cup industrial manipulator for material handling according to claim 3 is characterized in that: Both sides of each movable vertical plate (28) are fixedly connected with L-shaped rods (36), each L-shaped rod (36) is fixedly connected with a second magnetic block (37), and each L-shaped rod (36) is installed with a trigger switch (38) at a position close to the first magnetic block (35).

5. The anti-drop vacuum suction cup industrial manipulator for material handling according to claim 4 is characterized in that: The first magnetic block (35) and the second magnetic block (37) are adsorbed and matched, and the second magnetic block (37) is located on the moving path of the first magnetic block (35).

6. The anti-drop vacuum suction cup industrial manipulator for material handling according to claim 1, characterized in that: Each L-shaped sleeve (212) is provided with a protruding support assembly, which comprises a suction pump (41) fixedly connected to the upper surface of each L-shaped sleeve (212), and an air bag (42) is fixedly connected inside each L-shaped sleeve (212), and a suction port of the suction pump (41) is in communication with the air bag (42).

7. The anti-drop vacuum suction cup industrial manipulator for material handling according to claim 6 is characterized in that: A spring three (43) is arranged inside the airbag (42), and two ends of the spring three (43) are respectively fixedly connected to one end of the airbag (42) away from the suction pump (41) and the inner wall of the L-shaped sleeve (212).

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