Production conveying line grabbing manipulator and grabbing method thereof

Abstract

The invention belongs to the field of mechanical arms, and particularly relates to a production conveying line grabbing mechanical arm and a grabbing method thereof.The production conveying line grabbing mechanical arm comprises a main connecting arm, the main connecting arm is provided with three connecting pieces capable of being disassembled and assembled to change positions, the connecting piece located in the middle is provided with a T-shaped limiting plate, and the other two connecting pieces are each provided with an adsorption mechanism. The adsorption mechanism comprises a first rotating assembly connected with the connecting piece, a second rotating assembly is arranged on the first rotating assembly, two telescopic plates are arranged on the second rotating assembly, suction cup assemblies are arranged at the positions, away from the first rotating assembly, of the two telescopic plates, and a limiting piece is arranged between the two telescopic plates. The suction cup assembly comprises a negative pressure pipe connected with the telescopic plate. The suction position of the suction cup assembly can be changed according to the shape of the material piece, the material piece grabbing applicability is improved, and the problem that when the material piece is shaken and bent, air leakage occurs to the suction cup, and consequently the material piece falls can be effectively solved.

Description

Technical Field

[0001] The present invention belongs to the field of manipulators, and particularly relates to a grasping manipulator for a production conveyor line and a grasping method thereof. Background Art

[0002] The main structure of a manipulator consists of a drive system, a control system and an actuator. According to the grasping method, it is usually divided into a suction cup type manipulator and a clamping type manipulator, and a reasonable selection is made according to different working objects.

[0003] In existing automated production lines, such as stamping production lines, suction cup type manipulators are usually equipped to grasp sheet materials and send them to a designated position for stamping. When the sheet materials are stacked together and adsorbed by the manipulator, if the surface of the sheet materials is very smooth (such as metal plates), it is easy for multiple sheet materials to stick together due to static electricity or vacuum adsorption force during stacking. When the suction cup adsorbs the uppermost sheet material, the situation of grasping multiple sheet materials at the same time will occur.

[0004] In the prior art, in order to prevent this situation, after the manipulator grasps the sheet material, a limiting plate is arranged at the middle position on the upper side of the sheet material. At the same time, the suction cups on both sides of the sheet material will continuously move up and down (the limiting plate remains stationary). While driving the sheet material to move up, the middle part of the sheet material plate will contact the limiting plate, so that the two sides of the sheet material are bent, achieving the effect of shaking the sheet material, and further causing the redundant sheet materials adsorbed on the lower side of the sheet material to fall off. This kind of manipulator has the following problems during operation: 1. Since the upper side of the sheet material is mainly adsorbed by the suction cups, the adsorption of the suction cups requires the adsorption position of the sheet material to be flat. When the sheet material shakes, a curved surface may appear at the adsorption position, resulting in air leakage of the suction cups and the risk of the sheet material detaching.

[0005] 2. Existing manipulators usually customize corresponding suction cups according to the grasped materials, and the distribution of the suction cups corresponds to the shape of the materials. A manipulator can usually only grasp one kind of material or materials of the same type but with little difference in shape, which has great limitations in use. Summary of the Invention

[0006] In view of the above problems, a grasping manipulator for a production conveyor line and a grasping method thereof provided by an embodiment of the present application can change the adsorption position of the suction cup assembly according to the shape of the sheet material, improve the applicability of sheet material grasping, and can effectively prevent the problem that the suction cup leaks air and causes the sheet material to fall off when the sheet material shakes and bends.

[0007] To achieve the above object, the embodiments of the present application provide the following technical solutions: The present invention provides a grasping manipulator for a production conveyor line, including a main connecting arm, on which there are three detachable and position-changeable connecting pieces. A T-shaped limiting plate is arranged on the connecting piece in the middle, and adsorption mechanisms are arranged on the other two connecting pieces. The adsorption mechanism includes a first rotating assembly connected to the connecting piece. A second rotating assembly is arranged on the first rotating assembly. Two telescopic plates are arranged on the second rotating assembly. Suction cup assemblies are arranged at positions where the two telescopic plates are far away from the first rotating assembly, and a limiting member is arranged between the two telescopic plates. The suction cup assembly includes a negative pressure pipe connected to the telescopic plate. The lower end of the negative pressure pipe is fixedly connected with an adsorption pipe in a frustum of a cone structure. The adsorption pipe is composed of an inner sleeve and an outer sleeve fixedly sleeved outside the inner sleeve. The upper end of the outer sleeve is fixedly connected to the lower end of the negative pressure pipe and is not communicated with the inside of the negative pressure pipe. The upper end of the inner sleeve is fixedly connected to the upper port of the outer sleeve and is communicated with the inside of the negative pressure pipe. An adsorption ring is fixedly arranged at the lower port of the outer sleeve. A plurality of adsorption grooves distributed along its circumferential direction are arranged on the lower side of the adsorption ring. A branch pipe with a one-way valve is commonly connected between each adsorption groove and the negative pressure pipe. The distance between the two adsorption mechanisms can be changed through the corresponding connecting pieces. At the same time, the second rotating assembly controls the two suction cup assemblies to rotate synchronously and face each other to unfold or close, and the first rotating assembly can also control the overall rotation of the two suction cup assemblies.

[0008] According to an advantageous embodiment, the connecting piece includes an I-shaped mounting seat. A plurality of mounting holes distributed along its length direction and symmetrically distributed front and back are arranged on the upper and lower sides of the main connecting arm. The mounting seat is fixedly arranged on the main connecting arm through a bolt one adapted to the mounting hole. A cylinder is fixedly arranged on the lower side of the mounting seat. The telescopic end of the cylinder located in the middle of the main connecting arm is fixedly connected to the upper side of the limiting plate, and the telescopic ends of the other two cylinders are respectively connected to the corresponding first rotating assemblies.

[0009] According to an advantageous embodiment, the first rotating assembly includes an outer cover with a downward opening and a circular shape. The upper side of the outer cover is fixedly connected to the telescopic end of the cylinder. A connecting seat with a stepped frustum shape in cross-section is rotatably arranged inside the outer cover. An annular mounting groove is arranged on the outer wall of the connecting seat near the upper side. A ring-shaped worm gear is fixedly arranged in the mounting groove. A notch is arranged at a position corresponding to the worm gear on the outer side of the outer cover, and a worm meshing with the worm gear is rotatably arranged at the notch position on the outer side of the outer cover through a bracket.

[0010] According to an advantageous embodiment, the second rotating assembly includes two rotating shafts rotatably arranged on the lower side of the connecting seat and symmetrically distributed. The outer walls of the two rotating shafts near the lower side are respectively fixedly connected to the corresponding telescopic plates. A chute is opened in the middle of the lower side of the connecting seat, and the chute is perpendicular to the connection line of the centers of the two rotating shafts. A first screw is rotatably arranged between the two shorter side walls in the chute. A slider slidably connected to the chute is threadedly connected to the first screw. A toothed plate is fixedly connected to the lower side of the slider. A plurality of tooth blocks extending along its length direction are arranged on one side of the toothed plate opposite to the two rotating shafts. Tooth rings are fixedly sleeved on the surfaces of the rotating shafts corresponding to the toothed plate, and both tooth rings are meshed with the toothed plate.

[0011] According to an advantageous embodiment, a groove is opened at a position on the outer wall of the lower side of the connecting seat opposite to any end of the first screw. The groove communicates with the chute. One end of the first screw opposite to the groove movably penetrates through the chute and extends into the groove and is fixedly connected to an adjusting knob.

[0012] According to an advantageous embodiment, a guiding seat with a U-shaped structure is sleeved on the surface of the toothed plate. Both vertical ends of the guiding seat are fixedly connected to the lower side of the connecting seat. A guiding roller is rotatably arranged at the center position of the horizontal end of the guiding seat, and the guiding roller is in rolling connection with the lower side surface of the toothed plate.

[0013] According to an advantageous embodiment, the telescopic plate includes a first connecting plate fixedly connected to the corresponding rotating shaft. A second connecting plate is slidably sleeved on one side of the first connecting plate away from the corresponding rotating shaft. The second connecting plate is connected to the suction cup assembly on the side away from the first connecting plate. A plurality of limiting holes are opened in the first connecting plate along its length direction. A second bolt is threadedly arranged on the upper side of the second connecting plate and near the first connecting plate. The second bolt is movably inserted into the corresponding limiting hole.

[0014] According to an advantageous embodiment, the upper end of the negative pressure pipe is fixedly connected to the lower side of the second connecting plate, and a connecting pipe communicating with the upper port of the negative pressure pipe is fixedly arranged on the upper side of the second connecting plate. The connecting pipe is connected to an external negative pressure pump.

[0015] According to an advantageous embodiment, the limiting member includes two parallel and slidably connected limiting strips. One side of each of the two limiting strips away from each other is rotatably connected to the corresponding second connecting plate through a connecting shaft. A second screw is threadedly connected to one side of any one of the limiting strips away from the corresponding connecting shaft. A plurality of threaded grooves extending along its length direction are opened on the surface of the other limiting strip near the second screw. The other end of the second screw is rotatably connected to a locking block with a U-shaped structure. The locking block is slidably sleeved on the limiting strip with threaded grooves, and a third bolt is rotatably arranged on the locking block. The third bolt is threadedly connected to the corresponding threaded groove.

[0016] In addition, the present invention also provides a method for grasping on a production conveyor line, which is executed by the above-mentioned production conveyor line grasping manipulator, and includes the following steps: S1. Installation and debugging of the suction cups. The positions of the four suction cup assemblies are adjusted according to the adsorption object through the connecting piece, the first rotating assembly, and the second rotating assembly.

[0017] S2. Material grasping. The main connecting arm is driven by an external sliding device to move above the workpiece sheet, and the suction cup assembly is driven by the corresponding cylinder to move downward to adsorb the workpiece sheet.

[0018] S3. Vibration of the workpiece sheet. After the workpiece sheet is lifted to a certain height by the contraction of the cylinder, the upper side of the workpiece sheet abuts against the limiting plate and bends. Then, the cylinder extends to control the separation of the workpiece sheet from the limiting plate, so that the workpiece sheet becomes flat again, and this is repeated multiple times.

[0019] S4. Discharging. The workpiece sheet after the vibration is conveyed to a specified position for processing by an external sliding device.

[0020] S5. Circulation. The actions of S2 - S4 are repeated.

[0021] Compared with the prior art, the production conveyor line grasping manipulator and its grasping method provided by the embodiment of the present invention have the following beneficial effects: 1. In the present invention, the connecting piece is detachably fixed on the main connecting arm, and at the same time, the first rotating assembly and the second rotating assembly can cooperate. They can not only control the relative rotation of two adjacent suction cup assemblies to adjust the distance between them, but also control the co-rotation of two adjacent suction cup assemblies after they are closed together, and can change the adsorption position of the suction cup assembly according to the shape of the workpiece sheet, improving the applicability of workpiece sheet grasping.

[0022] 2. The telescopic plate provided in the present invention can further change the adsorption position according to the size of the workpiece sheet. At the same time, an adaptive limiting member is arranged between the two telescopic plates to limit and lock the two adjacent telescopic plates, improving the structural stability.

[0023] 3. In the present invention, the suction cup assembly can perform double adsorption on the workpiece sheet. At the edge of the adsorption area, it is adsorbed through a plurality of small adsorption grooves, and in the middle area of the adsorption area, the lower port of the inner sleeve is used for reinforced adsorption. Each adsorption groove and the lower port of the inner sleeve are independent of each other, which can effectively prevent the problem that the suction cup leaks air when the workpiece sheet vibrates and bends, resulting in the dropping of the workpiece sheet. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an external overall three-dimensional structure diagram of the present invention.

[0025] Figure 2 It is an overall bottom view plane structure diagram of the present invention.

[0026] Figure 3It is the bottom-up perspective three-dimensional structure diagram of the adsorption mechanism in the present invention.

[0027] Figure 4 It is the split structure schematic diagram of the outer cover and the connecting seat in the present invention.

[0028] Figure 5 It is the sectional perspective three-dimensional structure diagram of the connecting seat in the present invention.

[0029] Figure 6 It is the external perspective three-dimensional structure diagram of the suction cup assembly in the present invention.

[0030] Figure 7 It is the external perspective three-dimensional structure diagram of the limiting member in the present invention.

[0031] Figure 8 It is the schematic diagram of using the present invention to grasp a rectangular sheet.

[0032] Figure 9 It is the schematic diagram of using the manipulator of the present invention to grasp a triangular sheet.

[0033] Figure 10 It is the method flow chart of grasping a sheet by the manipulator of the present invention.

[0034] Reference numerals in the figure: 1, main connecting arm; 2, connecting member; 21, mounting seat; 22, cylinder; 3, limiting plate; 4, adsorption mechanism; 41, first rotating assembly; 411, outer cover; 412, connecting seat; 413, worm gear; 414, worm; 42, second rotating assembly; 421, rotating shaft; 422, first screw rod; 423, slider; 424, toothed plate; 425, toothed ring; 43, telescopic plate; 431, first connecting plate; 432, second connecting plate; 44, suction cup assembly; 441, negative pressure pipe; 442, adsorption pipe; 4421, inner sleeve; 4422, outer sleeve; 443, adsorption ring; 4431, adsorption groove; 444, branch pipe; 45, limiting member; 451, limiting strip; 452, second screw rod; 453, locking block; 5, guiding seat; 6, connecting pipe. Detailed implementation manners

[0035] In order to enable those skilled in the art to better understand the solution of the present invention, the following Figures 1-10 provides a further detailed description of the present application.

[0036] Please refer to Figure 1 and Figure 4, A production conveyor line grasping manipulator, specifically a suction cup type manipulator, is fixedly connected to an external sliding device to form a grasping robot. The manipulator includes a main connecting arm 1, and three detachable and position-changeable connecting pieces 2 are arranged on the main connecting arm 1. The connecting piece 2 includes an I-shaped mounting seat 21. A plurality of mounting holes are formed on the upper and lower sides of the main connecting arm 1, which are distributed along its length direction and symmetrically distributed front and back. The mounting seat 21 is fixedly arranged on the main connecting arm 1 through a bolt one adapted to the mounting hole. A cylinder 22 is fixedly arranged on the lower side of the mounting seat 21. A limiting plate 3 is fixedly connected to the telescopic end of the cylinder 22 located in the middle of the main connecting arm 1. The telescopic ends of the other two cylinders 22 are both connected with an adsorption mechanism 4. The positions of the two adsorption mechanisms 4 can be adjusted by the position of the mounting seat 21 on the main connecting arm 1. After the adsorption mechanism 4 adsorbs the sheet material, the sheet material can be driven to move upward by the corresponding cylinder 22 telescoping and cooperate with the limiting plate 3, so that the sheet material is bent to perform a vibrating material action.

[0037] Refer to Figure 1 and Figure 2 , The adsorption mechanism 4 includes a first rotating assembly 41 connected to the connecting piece 2. A second rotating assembly 42 is arranged on the first rotating assembly 41. Two telescopic plates 43 are arranged on the second rotating assembly 42. Suction cup assemblies 44 are arranged at positions where the two telescopic plates 43 are far away from the first rotating assembly 41, and a limiting member 45 is arranged between the two telescopic plates 43.

[0038] Refer to Figure 2 , Figure 3 and Figure 4 , In order to facilitate the two suction cup assemblies 44 on the same adsorption mechanism 4 to rotate in the same direction simultaneously for position adjustment, the first rotating assembly 41 includes an outer cover 411 with a downward opening and a circular shape. The upper side of the outer cover 411 is fixedly connected to the telescopic end of the cylinder 22. A connecting seat 412 with a stepped frustum-shaped cross section is rotatably arranged inside the outer cover 411. An annular mounting groove is formed on the outer wall of the connecting seat 412 near the upper side, and an annular worm gear 413 is fixedly arranged in the mounting groove. A notch is formed at a position on the outer side of the outer cover 411 corresponding to the worm gear 413, and a worm 414 meshing with the worm gear 413 is rotatably arranged at the notch position on the outer side of the outer cover 411 through a bracket. By driving the worm 414 to rotate, the worm gear 413 on the surface of the connecting seat 412 rotates, driving the connecting seat 412 and the two suction cup assemblies 44 connected below it to rotate in the same direction.

[0039] Refer to Figure 2 , Figure 3 and Figure 5, in order to facilitate the relative rotation of the two suction cup assemblies 44 on the same adsorption mechanism 4 to approach or move away from each other, the second rotating assembly 42 includes two rotating shafts 421 that are rotatably arranged on the lower side of the connecting seat 412 and symmetrically distributed. The outer walls of the two rotating shafts 421 near the lower side are respectively fixedly connected to the corresponding telescopic plates 43. A chute is provided in the middle of the lower side of the connecting seat 412. The chute is perpendicular to the connection line of the centers of the two rotating shafts 421. A first screw 422 is rotatably arranged between the two shorter side walls in the chute. A slider 423 that is threadedly connected to the first screw 422 and slidably connected to the chute is provided on the first screw 422. A toothed plate 424 is fixedly connected to the lower side of the slider 423. A plurality of tooth blocks extending along its length direction are provided on both sides of the toothed plate 424 opposite to the two rotating shafts 421. Tooth rings 425 are fixedly sleeved on the surfaces of the rotating shafts 421 corresponding to the toothed plate 424. Both of the two tooth rings 425 are meshed with the toothed plate 424. A groove is provided on the outer wall of the lower side of the connecting seat 412 at a position opposite to any end of the first screw 422. The groove communicates with the chute. One end of the first screw 422 opposite to the groove movably penetrates through the chute and extends into the groove and is fixedly connected to an adjusting knob. A guide seat 5 with a U-shaped structure is sleeved on the surface of the toothed plate 424. Both vertical ends of the guide seat 5 are fixedly connected to the lower side of the connecting seat 412. A guide roller is rotatably arranged at the central position of the horizontal end of the guide seat 5. The guide roller is in rolling connection with the lower surface of the toothed plate 424 and is used for guiding and positioning the toothed plate 424. The first screw 422 rotates to drive the slider 423 to drive the toothed plate 424 to move, so that the two tooth rings 425 rotate relatively and drive the two rotating shafts 421 to rotate relatively, and further enable the two suction cup assemblies 44 to approach or move away from each other, and further adjust the positions between adjacent two suction cup assemblies 44.

[0040] Refer to Figure 2 and Figure 3 , in order to further improve the adsorption range of the suction cup assembly 44, the telescopic plate 43 includes a first connecting plate 431 fixedly connected to the corresponding rotating shaft 421. A second connecting plate 432 is slidably sleeved on the side of the first connecting plate 431 away from the corresponding rotating shaft 421. The side of the second connecting plate 432 away from the first connecting plate 431 is connected to the suction cup assembly 44. A plurality of limiting holes distributed along its length direction are provided on the first connecting plate 431. A second bolt is threadedly arranged on the upper side of the second connecting plate 432 near the first connecting plate 431. The second bolt is movably inserted into the corresponding limiting hole. By adjusting the relative distance between the first connecting plate 431 and the second connecting plate 432, the adsorption range of the suction cup assembly 44 is further adjusted.

[0041] Refer to Figure 3 and Figure 7, in order to improve the stability of the installation of two adjacent suction cup assemblies 44, the limiting member 45 includes two limiting strips 451 that are parallel to each other and slidably connected. The two limiting strips 451 slide along their length directions. On the sides of the two limiting strips 451 facing away from each other, they are rotatably connected to the corresponding second connecting plates 432 through connecting shafts. On the side of any one limiting strip 451 away from the corresponding connecting shaft, a second screw 452 is threadedly connected. On the surface of the other limiting strip 451 close to the second screw 452, a plurality of thread grooves extending along its length direction are provided. The other end of the second screw 452 is rotatably connected to a locking block 453 having a U-shaped structure. The locking block 453 is slidably sleeved on the limiting strip 451 with the thread grooves, and a third bolt is rotatably provided on the locking block 453, and the third bolt is threadedly connected to the corresponding thread groove. The locking block 453 locks the two limiting strips 451 through the third bolt. When it is necessary to rotate the two telescopic plates 43 to adjust the position, first unlock the locking block 453 so that the two limiting strips 451 can slide relative to each other. The two telescopic plates 43 are respectively connected to the corresponding limiting strips 451. The two telescopic plates 43 interact through the limiting member 45 to form a triangular structure, making the suction cup assembly 44 more stable after installation.

[0042] Refer to Figure 1 , Figure 3 and Figure 6, in order to reduce the influence of the bending of the sheet on the adsorption force of the suction cup assembly 44 during the vibrating material feeding, the suction cup assembly 44 includes a negative pressure pipe 441 connected to the telescopic plate 43. The lower end of the negative pressure pipe 441 is fixedly connected with an adsorption pipe 442 having a frustum structure. The adsorption pipe 442 is composed of an inner sleeve 4421 and an outer sleeve 4422 fixedly sleeved outside the inner sleeve 4421. The upper end of the outer sleeve 4422 is fixedly connected to the lower end of the negative pressure pipe 441 and is not communicated with the inside of the negative pressure pipe 441. The upper end of the inner sleeve 4421 is fixedly connected to the upper port of the outer sleeve 4422 and is communicated with the inside of the negative pressure pipe 441. The lower port of the outer sleeve 4422 is fixedly provided with an adsorption ring 443. A plurality of adsorption grooves 4431 distributed along the circumferential direction are formed on the lower side of the adsorption ring 443. A branch pipe 444 with a one-way valve is commonly connected between each adsorption groove 4431 and the negative pressure pipe 441. The upper end of the negative pressure pipe 441 is fixedly connected to the lower side of the second connecting plate 432, and a connecting pipe 6 communicated with the upper port of the negative pressure pipe 441 is fixedly provided on the upper side of the second connecting plate 432. The connecting pipe 6 is connected to an external negative pressure pump. When the suction cup assembly 44 is pressed down as a whole to fit with the sheet, the adsorption ring 443 is sleeved around the lower port of the inner sleeve 4421. All the adsorption groove openings 4431 on the lower side of the adsorption ring 443 generate negative pressure through the negative pressure pipe 441 and the branch pipe 444 to adsorb the sheet. At the same time, the lower port of the inner sleeve 4421 will also fit with the sheet and directly generate negative pressure through the negative pressure pipe 441 to adsorb the sheet, forming a double adsorption. Moreover, the outer adsorption ring 443 adsorbs through a plurality of adsorption grooves 4431, making the sheet in the area of the adsorption ring 443 not easily bend. And even if a single adsorption groove 4431 leaks air due to the bending deformation of the sheet, it will not affect the adsorption work of other adsorption grooves 4431 on the sheet, having a better adsorption effect on the sheet and reducing the situation of air leakage and dropping of the sheet during the vibrating material feeding.

[0043] In addition, the present invention also provides a method for grasping on a production conveyor line, as Figure 10 shown, which is executed and completed by the above-mentioned production conveyor line grasping manipulator, including the following steps: S1. Suction cup installation and debugging. Adjust the positions of the four suction cup assemblies 44 according to the adsorption object through the connecting member 2, the first rotating assembly 41 and the second rotating assembly 42, as Figure 8 shown. When the sheet is a rectangle, first adjust the distance between the two adsorption mechanisms 4 to a proper position through the connecting member 2, and then open the two suction cup assemblies 44 by a certain angle through the second rotating assembly 42, and adjust the distance between the two suction cup assemblies 44 so that the four suction cup assemblies 44 on the two adsorption mechanisms 4 can adsorb at four scattered points of the sheet. Figure 9As shown, when the workpiece is a triangle, the two adsorption mechanisms 4 are adjusted to an appropriate distance through the connecting member 2. Then, the two suction cup assemblies 44 on any one of the adsorption mechanisms 4 are closed, and at the same time, the two suction cup assemblies 44 on the other adsorption mechanism 4 are opened at a certain angle, so as to form three adsorption points and adsorb on the surface of the triangular workpiece.

[0044] S2. Pick up the workpiece. The main connecting arm 1 is driven by an external sliding device to move above the workpiece, and the suction cup assembly 44 is driven by the corresponding cylinder 22 to move downward to adsorb the workpiece.

[0045] S3. Shake off the workpiece. The middle cylinder 22 controls the limiting plate 3 to remain fixed. At the same time, the left and right cylinders 22 contract to lift the workpiece to a certain height, so that the upper side of the workpiece abuts against the limiting plate 3 and bends. Then, the cylinder 22 extends to control the separation of the workpiece from the limiting plate 3, so that the workpiece becomes flat again. Repeat this process multiple times to make the excess workpiece that may be adsorbed on the lower side of the uppermost workpiece fall off.

[0046] S4. Deliver the workpiece. The workpiece after shaking off is conveyed to a specified position for processing through an external sliding device.

[0047] S5. Repeat. Repeat the operations of S2 - S4.

[0048] The above are only embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. A production conveyor line grabbing robot, comprising a main connecting arm, characterized in that: The main connecting arm is provided with three detachable connecting pieces that can be relocated, a T-shaped limiting plate is provided on the connecting piece in the middle, and adsorption mechanisms are provided on the other two connecting pieces; The adsorption mechanism includes a rotating assembly 1 connected to the connecting member, a rotating assembly 2 installed at the bottom of the rotating assembly 1, two telescopic plates arranged on the rotating assembly 2, and a suction cup assembly arranged at the free ends of the two telescopic plates, and a limiting member is arranged between the two telescopic plates; The suction cup assembly includes a negative pressure tube connected to the telescopic plate, the lower end of the negative pressure tube is fixedly connected to an adsorption tube with a truncated cone structure, the adsorption tube is composed of an inner sleeve and an outer sleeve fixedly sleeved outside the inner sleeve, the upper end of the outer sleeve is fixed to the lower end of the negative pressure tube and is not connected to the inside of the negative pressure tube, the upper end of the inner sleeve is fixed to the upper end of the outer sleeve and is connected to the inside of the negative pressure tube, the lower end of the outer sleeve is fixed to the upper end of the outer sleeve and is connected to the inside of the negative pressure tube, and an adsorption ring is fixedly provided at the lower end of the outer sleeve, and a plurality of adsorption grooves distributed along the circumferential direction of the adsorption ring are opened on the lower side of the adsorption ring, and a branch pipe with a one-way valve is commonly connected between each adsorption groove and the negative pressure tube; Adjust the distance between the two adsorption mechanisms. Rotating component one can control the overall rotation of the two suction cup components. Rotating component two controls the two suction cup components to rotate synchronously toward each other to expand or close, which is suitable for adsorbing different sheets.

2. A production conveyor line grabbing robot according to claim 1, characterized in that: The connecting member includes an I-shaped mounting seat, and a plurality of mounting holes are opened on the upper and lower sides of the main connecting arm, which are distributed along the length direction and symmetrically distributed front to back. The mounting seat is fixed on the main connecting arm by a bolt that is compatible with the mounting hole. A cylinder is fixedly arranged on the lower side of the mounting seat. The telescopic end of the cylinder located in the middle of the main connecting arm is fixedly connected to the upper side of the limit plate, and the telescopic ends of the other two cylinders are respectively connected to the corresponding rotating components.

3. A production conveyor line grabbing robot according to claim 2, characterized in that: The rotating component 1 includes a circular outer cover which opens downward, the upper side of the outer cover is fixedly connected to the telescopic end of the cylinder, a connecting seat with a stepped truncated cone-shaped cross-section is rotatably arranged inside the outer cover, an annular mounting groove is provided on the outer wall of the connecting seat close to the upper side, an annular worm gear is fixedly arranged in the mounting groove, a notch is provided on the outer side of the outer cover at a position corresponding to the worm gear, and a worm which meshes with the worm gear is rotatably arranged on the outer side of the outer cover at the notch position through a bracket.

4. A production conveyor line grabbing robot according to claim 3, characterized in that: The second rotating component includes two rotating shafts rotatably arranged on the lower side of the connecting seat and symmetrically distributed, the outer walls of the two rotating shafts close to the lower side are respectively fixedly connected to the corresponding telescopic plates, a sliding groove is opened in the middle part of the lower side of the connecting seat, the sliding groove is perpendicular to the line connecting the centers of the two rotating shafts, a screw rod 1 is arranged between the two shorter side walls in the sliding groove and rotates together, a slider slidably connected to the sliding groove is threadedly connected to the screw rod 1, a tooth plate is fixedly connected to the lower side of the slider, and a plurality of tooth blocks extending along the length direction of the tooth plate are arranged on the side opposite to the two rotating shafts, a tooth ring is fixedly mounted on the surface of the rotating shaft at the position corresponding to the tooth plate, and the two tooth rings are meshed with the tooth plate.

5. A production conveyor line grabbing robot according to claim 4, characterized in that: A groove is provided on the lower outer wall of the connecting seat at a position opposite to any one end of the screw rod, the groove is connected to the slide groove, and one end of the screw rod opposite to the groove movably passes through the slide groove and extends into the groove and is fixedly connected with an adjusting knob.

6. A production conveyor line grabbing robot according to claim 4, characterized in that: The surface of the tooth plate is sleeved with a guide seat with a U-shaped structure, and the two vertical ends of the guide seat are fixedly connected to the lower side of the connecting seat. A guide roller is rotatably arranged at the center position of the horizontal end of the guide seat, and the guide roller is rollingly connected to the lower surface of the tooth plate.

7. A production conveyor line grabbing robot according to claim 4, characterized in that: The telescopic plate includes a connecting plate 1 fixedly connected to the corresponding rotating shaft, a connecting plate 2 is slidably sleeved on the side of the connecting plate 1 away from the corresponding rotating shaft, and the side of the connecting plate 2 away from the connecting plate 1 is connected to the suction cup assembly, and the connecting plate 1 is provided with a plurality of limiting holes distributed along its length direction, and a bolt 2 is threadedly provided on the upper side of the connecting plate 2 and close to the connecting plate 1, and the bolt 2 is movably plugged into the corresponding limiting hole.

8. A production conveyor line grabbing robot according to claim 7, characterized in that: The upper end of the negative pressure tube is fixedly connected to the lower side of the second connecting plate, and a connecting tube connected to the upper port of the negative pressure tube is fixedly provided on the upper side of the second connecting plate, and the connecting tube is connected to an external negative pressure pump.

9. A production conveyor line grabbing robot according to claim 4, characterized in that: The limiting member includes two limiting strips that are parallel to each other and slidably connected, and the sides of the two limiting strips that are away from each other are rotatably connected to the corresponding connecting plate two through a connecting shaft, and the side of any one of the limiting strips away from the corresponding connecting shaft is threadedly connected to the screw rod two, and the surface of the other limiting strip close to the screw rod two is provided with a plurality of thread grooves extending along its length direction, and the other end of the screw rod two is rotatably connected to a locking block with a U-shaped structure, and the locking block is slidably sleeved on the limiting strip with the thread groove, and a bolt three is rotatably provided on the locking block, and the bolt three is threadedly connected to the corresponding thread groove.

10. A method for grasping a production conveyor line, characterized in that: The process is completed by using a production conveyor line grabbing robot as claimed in claim 2, including the following steps: S1, suction cup installation and debugging, adjusting the positions of the four suction cup components according to the adsorption object through the connector, rotating component 1 and rotating component 2; S2, grab the material, drive the main connecting arm to move above the material piece through the external sliding device and drive the suction cup assembly to move down through the corresponding cylinder to absorb the material piece; S3, shaking the material, the cylinder contracts to lift the sheet to a certain height so that the upper side of the sheet contacts the limit plate and bends, and then the cylinder extends to control the sheet to separate from the limit plate so that the sheet is flat again, and this is repeated many times; S4, unloading, the material is transported to the designated position for processing through the external sliding device after the material is shaken; S5. Loop and repeat the actions of S2-S4.

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