Flat product grabbing device and human-computer interaction operation system

Abstract

The application relates to the technical field of product grabbing equipment, and provides a flat plate product grabbing device and a man-machine interactive operation system, which comprises a mounting support, a grabbing support and a motion adjusting support connected between the grabbing support and the mounting support; a suction disc assembly and an operating rod are arranged on the grabbing support; the motion adjusting support comprises a lifting plate capable of moving up and down relative to the mounting support, a rotating plate capable of rotating relative to the mounting support, a transverse plate capable of moving left and right relative to the mounting support, a longitudinal plate capable of moving forward and backward relative to the mounting support, a lifting holding device, a rotating holding device, a transverse holding device and a longitudinal holding device, and operating buttons for controlling the lifting holding device, the rotating holding device, the transverse holding device and the longitudinal holding device to release holding are arranged on the operating rod. Compared with the prior art, the flat plate product grabbing device provided by the application is convenient for adjusting the position of products, saves time and effort, and improves work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of product grabbing equipment, and in particular to a tablet product grabbing device and a human-computer interactive operation system. Background Art

[0002] Currently, in the production process of flat products such as television glass screens, a matching gripping device is mainly used to move the product. The gripping device generally includes an adsorption component for grabbing the product and a drive device for driving the adsorption component to move. However, the position of the adsorption component cannot be adjusted manually. After the product is placed on the workbench, when the product position needs to be adjusted, it is necessary to push and pull the product manually. Therefore, it is time-consuming and labor-intensive, affecting work efficiency. In addition, the movement of the product on the workbench is prone to wear and tear on the product. Summary of the Invention

[0003] The purpose of the present invention is to provide a flat-plate product grabbing device and a human-computer interactive operation system to solve the technical problems in the prior art of manually adjusting the product placement, which is time-consuming and labor-intensive and affects work efficiency.

[0004] The present invention provides a device for grasping flat-panel products, comprising a mounting bracket having mutually perpendicular X-axis, Y-axis, and Z-axis directions. Furthermore, the device for grasping flat-panel products further comprises a grasping bracket and a motion adjustment bracket connected between the grasping bracket and the mounting bracket; the grasping bracket is provided with a suction cup assembly and an operating rod; the motion adjustment bracket comprises:

[0005] The lifting plate is movable relative to the mounting bracket in a direction parallel to the Z-axis direction;

[0006] The rotating plate can rotate relative to the mounting bracket in a direction parallel to the Z-axis;

[0007] a transverse plate movable relative to the mounting bracket in a direction parallel to the X-axis;

[0008] The longitudinal plate is movable relative to the mounting bracket in a direction parallel to the Y-axis;

[0009] a lifting and holding device for maintaining the position of the lifting plate relative to the mounting bracket in a direction parallel to the Z-axis;

[0010] a rotation holding device for holding the position of the rotating plate relative to the mounting bracket in a direction parallel to the Z-axis;

[0011] a transverse retaining device for maintaining the position of the transverse plate relative to the mounting bracket in a direction parallel to the X-axis direction; and

[0012] a longitudinal holding device for holding the longitudinal plate in position relative to the mounting bracket in a direction parallel to the Y-axis;

[0013] The operating lever is provided with operating buttons for controlling the lifting and holding device, the rotating and holding device, the horizontal and vertical holding devices to release the holding.

[0014] Furthermore, the lifting plate, the rotating plate, the transverse plate, and the longitudinal plate are connected in sequence, the lifting plate is connected to the mounting bracket, and the longitudinal plate is connected to the grabbing bracket.

[0015] Furthermore, the lifting and holding device includes a lifting cylinder, a lifting cylinder frame is provided on the mounting bracket, the lifting cylinder is fixedly set on the lifting cylinder frame, a lifting connecting seat is provided on the lifting plate, and the piston rod of the lifting cylinder extends in a direction parallel to the Z-axis direction and is connected and fixed to the lifting connecting seat.

[0016] Furthermore, four guide pillars are provided on the lifting plate, and the four guide pillars are respectively located at the four corners of the lifting plate, and each guide pillar extends in a direction parallel to the Z-axis direction; four guide sleeves corresponding to the four guide pillars are provided on the mounting bracket, and each guide sleeve is respectively sleeved on each corresponding guide pillar.

[0017] Furthermore, the rotating plate is connected to the lifting plate through a pivot axis, and the rotating holding device is set away from the pivot axis. The rotating holding device includes a roller, a roller bracket, a clamping seat and a clamping seat cylinder. The clamping seat cylinder is fixed on the lifting plate, and the clamping seat is fixed on the piston rod of the clamping seat cylinder. The roller is rotatably set on the roller bracket, and the roller bracket is fixed on the rotating plate. A through groove for the roller bracket to pass through is provided on the lifting plate; the clamping seat has a clamping groove for the roller to move, and the clamping groove is set through the top and bottom ends of the clamping seat, and the clamping groove has two longitudinal walls, each longitudinal wall includes a straight wall section extending along the axial direction of the piston rod of the clamping seat cylinder and an inclined wall section extending from the straight wall section along the axial direction of the piston rod of the clamping seat cylinder and outwardly inclined to the end face of the clamping seat, and a rotating space for the roller to rotate with the pivot axis as the axis is formed between the two inclined wall sections.

[0018] Furthermore, the pivot shaft includes a shaft body portion connected to the shaft end portion, the shaft end portion is locked to the lifting plate by multiple first fasteners, and the multiple first fasteners are arranged at intervals along the circumference of the shaft end; a bearing seat is provided on the rotating plate, and the bearing seat is locked to the rotating plate by multiple second fasteners, and the multiple second fasteners are arranged at intervals along the circumference of the bearing seat; the bearing seat is sleeved on the shaft body portion, and two bearings are provided between the inner wall of the bearing seat and the outer wall of the shaft body portion, and the two bearings are arranged at intervals in the axial direction of the shaft body portion, and the two bearings are divided into an upper bearing and a lower bearing, and a retaining ring and a retaining cover are provided on the shaft body portion, the retaining ring is engaged with the shaft body portion and abuts against the inner ring of the upper bearing, and the retaining cover is locked to the end of the shaft body portion by multiple third fasteners and abuts against the inner ring of the lower bearing, and the multiple third fasteners are arranged at intervals along the circumference of the retaining cover.

[0019] Furthermore, a transverse slide rail is fixedly provided on the transverse plate, and the transverse slide rail extends in a direction parallel to the X-axis direction; a transverse slider is fixedly provided on the rotating plate, and the transverse slider is slidably provided on the transverse slide rail; the transverse holding device includes a transverse first limit assembly for limiting the movement of the transverse plate in a first direction parallel to the X-axis direction and a transverse second limit assembly for limiting the movement of the transverse plate in a direction opposite to the first direction; the first transverse limit assembly includes a transverse impact block and a transverse impact pin for abutting the transverse impact block, the transverse impact block is fixedly provided on the transverse plate, and the transverse impact pin is installed on the rotating plate through a transverse impact pin connecting block; the second transverse limit assembly includes a transverse cylinder, a transverse push head and a transverse push block for abutting the transverse push head, the transverse push block is fixedly provided on the transverse plate, the transverse cylinder is fixed on the rotating plate through a transverse cylinder frame, and the transverse push head is fixed to the end of the piston rod of the transverse cylinder.

[0020] Furthermore, a longitudinal slide rail is fixedly provided on the longitudinal plate, and the longitudinal slide rail extends in a direction parallel to the Y-axis direction; a longitudinal slider is fixedly provided on the transverse plate, and the longitudinal slider is slidably provided on the longitudinal slide rail; the longitudinal holding device includes a longitudinal first limit assembly for limiting the movement of the longitudinal plate in a second direction parallel to the Y-axis direction and a longitudinal second limit assembly for limiting the movement of the longitudinal plate in a direction opposite to the second direction; the longitudinal first limit assembly includes a longitudinal impact block and a longitudinal impact pin for abutting the longitudinal impact block, the longitudinal impact block is fixedly provided on the longitudinal plate, and the longitudinal impact pin is installed on the transverse plate through the longitudinal impact pin connecting block; an installation groove is provided on the longitudinal plate, and the longitudinal second limit assembly includes a longitudinal cylinder and a longitudinal head for abutting the inner wall of the installation groove, the longitudinal cylinder is built into the installation groove and fixed to the transverse plate through the longitudinal cylinder frame, and the longitudinal head is fixed to the end of the piston rod of the longitudinal cylinder.

[0021] Furthermore, there are two operating levers, which are arranged side by side and spaced apart; and the operating buttons on the two operating levers are connected in series.

[0022] The present invention provides a human-computer interactive operation system, including a robot, wherein the human-computer interactive operation system also includes the above-mentioned tablet product grasping device, and the mounting bracket is connected and fixed to the robot.

[0023] Compared with the prior art, the flat-plate product grabbing device provided by the present invention adopts a motion adjustment bracket and an operating rod. The motion adjustment bracket includes a lifting plate, a rotating plate, a transverse plate, a longitudinal plate, a lifting and holding device, a rotating holding device, a transverse holding device and a longitudinal holding device. The lifting plate can move relative to the mounting bracket in a direction parallel to the Z-axis direction, the rotating plate can rotate relative to the mounting bracket around a direction parallel to the Z-axis direction, the transverse plate can move relative to the mounting bracket in a direction parallel to the X-axis direction, and the longitudinal plate can move relative to the mounting bracket in a direction parallel to the Y-axis direction. The operating rod is provided with an operating button for controlling the lifting and holding device, the rotating holding device, the transverse holding device and the longitudinal holding device to release the holding. In this way, the operating rod can be used to push the grabbing bracket to move relative to the mounting bracket to adjust the placement position of the product, which is convenient for adjusting the product position, saves time and effort, improves work efficiency, and can avoid damage to the product.

[0024] Compared with the prior art, the human-machine interactive operation system provided by the present invention adopts the above-mentioned tablet product grabbing device to realize human-machine interactive adjustment, so as to adjust the product placement and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a three-dimensional diagram of a flat product grabbing device provided by an embodiment of the present invention. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the decomposition of the flat product gripping device provided by the embodiment of the present invention. Figure 1 ;

[0027] Figure 3 This is a three-dimensional diagram of a flat product grabbing device provided by an embodiment of the present invention. Figure 2 ;

[0028] Figure 4 This is a schematic diagram of the decomposition of the flat product gripping device provided by the embodiment of the present invention. Figure 2 ;

[0029] Figure 5 for Figure 1 Sectional view of the AA plane;

[0030] Figure 6 for Figure 1 Cross-sectional view of the middle BB surface;

[0031] Figure 7 This is a schematic diagram of the decomposition of the flat product gripping device provided by the embodiment of the present invention. Figure 3 ;

[0032] Figure 8 This is a top view of a hidden mounting bracket of a flat-panel product grabbing device provided by an embodiment of the present invention;

[0033] Figure 9 1 is a schematic structural diagram of a flat-plate product grabbing device provided by an embodiment of the present invention when the transverse plate and the rotating plate are in a locked state;

[0034] Figure 10 1 is a schematic structural diagram of a flat-plate product grabbing device provided by an embodiment of the present invention when the longitudinal plate and the transverse plate are in a locked state;

[0035] Figure 11 1 is a connection diagram of the gas control system provided by an embodiment of the present invention;

[0036] Figure 12 is a three-dimensional schematic diagram of a human-computer interactive operation system provided by an embodiment of the present invention;

[0037] Figure 13 is a three-dimensional schematic diagram of a robot and a flat-panel product grasping device provided by an embodiment of the present invention;

[0038] Figure 14 It is an exploded schematic diagram of the connecting arm and the flat product grabbing device provided in an embodiment of the present invention.

[0039] Description of main component symbols

[0040] 100 - flat product grabbing device; 10 - mounting bracket; 11 - flange; 12 - lifting cylinder frame; 13 - guide sleeve; 20 - grabbing bracket; 21 - suction cup assembly; 22 - operating rod; 23 - operating button; 30 - movement adjusting bracket; 31 - lifting plate; 311 - lifting connecting seat; 312 - guide column; 32 - rotating plate; 321 - transverse sliding block; 33 - transverse plate; 331 - transverse sliding rail; 332 - longitudinal sliding block; 34 - longitudinal plate; 341 - longitudinal sliding rail; 342 - mounting groove; 35 - lifting holding device; 351 - lifting cylinder; 36 - rotating holding device; 361 - roller; 362 - roller bracket; 363 - clamping seat; 364 - clamping seat cylinder; 365 - clamping groove; 366 - longitudinal wall; 3661 - straight wall section; 3662 - inclined wall section; 37 - transverse holding device; 371 - transverse first limiting assembly; 3711 - transverse impact block; 3712 - transverse impact pin; 3713 - transverse impact pin connecting block; 372 - transverse second limiting assembly; 3721 - transverse cylinder; 3722 - transverse top head; 3723 - transverse top block; 3724 - transverse cylinder frame; 38 - longitudinal holding device; 381 - longitudinal first limiting assembly; 3811 - longitudinal impact block; 3812 - longitudinal impact pin; 3813 - longitudinal impact pin connecting block; 382 - longitudinal second limiting assembly; 3821 - longitudinal cylinder; 3822 - longitudinal top head; 3823 - longitudinal cylinder frame; 39 - pivot shaft; 39a - shaft end part; 39b - shaft body part; 391 - first fastener; 392 - bearing seat; 393 - second fastener; 394 - bearing; 394a - upper bearing; 394b - lower bearing; 395 - check ring; 396 - check cover; 397 - third fastener; 300 - robot; 301 - connecting arm; 302 - adapter flange; 400 - air control system; 401 - air compressor; 402 - pressure maintaining tank; 403 - first electromagnetic valve; 404 - second electromagnetic valve; 405 - third electromagnetic valve; 406 - fourth electromagnetic valve; 1000 - human-machine interactive operation system; 500 - operation rack; 600 - feeding rack; 200 - product. DETAILED DESCRIPTION

[0041] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the described examples are part of the examples of the present application, rather than all the examples. Based on the described examples of the present application, all other examples obtained by those of ordinary skill in the art without creative labor belong to the scope of protection of the present application.

[0042] In order for those skilled in the art to better understand the technical solutions of the present application, the implementation of the present application will be described in detail below in combination with specific drawings.

[0043] Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by persons of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the present patent application specification and claims do not denote any order, quantity, or importance, but are merely used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a limitation of quantity, but rather denote the presence of at least one.

[0044] Figure 1 The following is a schematic diagram of the structure of the flat product grabbing device according to the present invention. For the convenience of description, the terms "front", "rear", "left", "right", "up", and "down" are based on the direction of the mounting bracket. Figure 1 The Y-axis direction of the mounting bracket toward the operating rod is "front", the X-axis direction is "right", and the Z-axis direction is "up", but this does not limit the structure of the present invention.

[0045] See also Figures 1 to 11 The flat-plate product grasping device 100 provided in this embodiment includes a mounting bracket 10, which has an X-axis direction, a Y-axis direction, and a Z-axis direction perpendicular to each other, wherein the flat-plate product grasping device 100 also includes a grasping bracket 20 and a motion adjustment bracket 30 connected between the grasping bracket 20 and the mounting bracket 10; the grasping bracket 20 is provided with a suction cup assembly 21 and an operating rod 22; the motion adjustment bracket 30 includes a lifting plate 31, a rotating plate 32, a transverse plate 33, a longitudinal plate 34, a lifting holding device 35, a rotating holding device 36, a transverse holding device 37, and a longitudinal holding device 38, the lifting plate 31 can move relative to the mounting bracket 10 in a direction parallel to the Z-axis direction, the rotating plate 32 can rotate relative to the mounting bracket 10 about a direction parallel to the Z-axis direction, and the transverse plate 33 can move in a direction parallel to the X-axis direction. The longitudinal plate 34 can move relative to the mounting bracket 10 in the direction parallel to the Y-axis direction. The lifting and holding device 35 is used to maintain the position of the lifting plate 31 relative to the mounting bracket 10 in the direction parallel to the Z-axis direction. The rotating holding device 36 is used to maintain the position of the rotating plate 32 relative to the mounting bracket 10 in the direction parallel to the Z-axis direction. The transverse holding device 37 is used to maintain the position of the transverse plate 33 relative to the mounting bracket 10 in the direction parallel to the X-axis direction. The longitudinal holding device 38 is used to maintain the position of the longitudinal plate 34 relative to the mounting bracket 10 in the direction parallel to the Y-axis direction. The operating rod 22 is provided with an operating button 23 for controlling the lifting and holding device 35, the rotating holding device 36, the transverse holding device 37 and the longitudinal holding device 38 to release the holding.

[0046] The above-mentioned flat-plate product grabbing device 100 adopts a motion adjustment bracket 30 and an operating rod 22. The motion adjustment bracket 30 includes a lifting plate 31, a rotating plate 32, a transverse plate 33, a longitudinal plate 34, a lifting and holding device 35, a rotating holding device 36, a transverse holding device 37 and a longitudinal holding device 38. The lifting plate 31 can move up and down relative to the mounting bracket 10 in a direction parallel to the Z-axis direction, the rotating plate 32 can rotate relative to the mounting bracket 10 around a direction parallel to the Z-axis direction, the transverse plate 33 can move left and right relative to the mounting bracket 10 in a direction parallel to the X-axis direction, the longitudinal plate 34 can move forward and backward relative to the mounting bracket 10 in a direction parallel to the Y-axis direction, and the lifting and holding device 35 is used to maintain the lifting in a direction parallel to the Z-axis direction. The position of the plate 31, the rotation holding device 36 is used to maintain the position of the rotating plate 32 in the direction parallel to the Z-axis direction, the transverse holding device 37 is used to maintain the position of the transverse plate 33 in the direction parallel to the X-axis direction, and the longitudinal holding device 38 is used to maintain the position of the longitudinal plate 34 in the direction parallel to the Y-axis direction; the operating rod 22 is provided with an operating button 23 for controlling the lifting and holding device 35, the rotation holding device 36, the transverse holding device 37 and the longitudinal holding device 38 to release the holding. In this way, the operating rod 22 can be used to push the grasping bracket 20 to move relative to the mounting bracket 10 to adjust the placement position of the product 200, which is convenient for adjusting the position of the product 200, saving time and effort, improving work efficiency, and avoiding damage to the product 200.

[0047] See also Figures 1 to 4 The flat-panel product grabbing device 100 of this embodiment can be used to grab flat products 200 such as LCD screens, LCD panels, and TV glass screens. The flat-panel product grabbing device 100 includes a mounting bracket 10, a grabbing bracket 20, and a motion adjustment bracket 30. The motion adjustment bracket 30 is connected between the grabbing bracket 20 and the mounting bracket 10. The motion adjustment bracket 30 can realize the movement of the grabbing bracket 20 relative to the mounting bracket 10 in the front-back, left-right, up-down, and rotational directions.

[0048] See also Figures 1 to 4In this embodiment, a suction cup assembly 21 and an operating rod 22 are provided on the grabbing bracket 20. In this embodiment, the suction cup assembly 21 is but not limited to a vacuum suction cup, and its number is but not limited to four, corresponding to the four corners of the product 200 respectively; the number of the operating rods 22 is but not limited to two, and the two operating rods 22 are arranged side by side and at intervals; the operating buttons 23 on the two operating rods 22 are connected in series, so that the operating button 23 is used to unlock the motion adjustment bracket 30. Before the operating button 23 is pressed, the motion adjustment bracket 30 is in a locked state, that is, the relative position of the grabbing bracket 20 and the mounting bracket 10 cannot be adjusted. In this way, when the mounting bracket 10 is moved to drive the grabbing bracket 20 to move, the positions of the two are not likely to change; after pressing the operating button 23, the motion adjustment bracket 30 is in an unlocked state, and the operator 700 can control the movement of the grabbing bracket 20 relative to the mounting bracket 10 by holding the operating rod 22 to adjust the position of the product 200. It should be noted that the operation buttons 23 on the two operation rods 22 are arranged in series. In this way, the motion adjustment bracket 30 can be unlocked only when the two operation buttons 23 are pressed at the same time, thereby preventing accidental touch and improving safety.

[0049] In particular, in this embodiment, the operation button 23 is operated by long pressing, but it can also be operated by clicking.

[0050] In other embodiments, the number of the operating rod 22 may also be one, and at least one of the above-mentioned operating buttons 23 is provided on the operating rod.

[0051] See also Figures 1 to 4 In this embodiment, the mounting bracket 10 is used to support the grasping bracket 20 and the motion adjustment bracket 30. The mounting bracket 10 is generally but not limited to a flat plate shape, and a flange 11 is provided on the upper portion thereof. The flange 11 is connected and fixed to the robot 300, thereby realizing the movement of the entire flat product grasping device 100 through the robot 300.

[0052] See also Figures 1 to 4In this embodiment, the motion adjustment bracket 30 includes a lifting plate 31, a rotating plate 32, a transverse plate 33, and a longitudinal plate 34, which are connected in sequence. The lifting plate 31 is connected to the mounting bracket 10, and the longitudinal plate 34 is connected to the grabbing bracket 20. The lifting plate 31 can move relative to the mounting bracket 10 in a direction parallel to the Z-axis direction, the rotating plate 32 can rotate relative to the mounting bracket 10 about a direction parallel to the Z-axis direction, and the transverse plate 33 can move relative to the mounting bracket 10 in a direction parallel to the X-axis direction and a direction parallel to the Y-axis direction. The lifting plate 31, the rotating plate 32, the transverse plate 33 and the longitudinal plate 34 are parallel to and spaced apart from each other, wherein the lifting plate 31 is installed below the mounting bracket 10 in a liftable manner, and the lifting holding device 35 is provided between the lifting plate 31 and the mounting bracket 10 and is used to maintain the position of the lifting plate 31 relative to the mounting bracket 10 in a direction parallel to the Z-axis direction; the rotating plate 32 is rotatably installed below the lifting plate 31, and the rotating holding device 36 is provided between the rotating plate 32 and the lifting plate 31 and is used to maintain the position of the rotating plate 32 relative to the mounting bracket 10 in a direction parallel to the Z-axis direction. The mounting bracket 10 is positioned; the transverse plate 33 is movably mounted below the rotating plate 32, and the transverse holding device 37 is disposed between the transverse plate 33 and the rotating plate 32 and is used to hold the transverse plate 33 relative to the mounting bracket 10 in a direction parallel to the X-axis direction; the longitudinal plate 34 is movably mounted below the transverse plate 33, and the longitudinal holding device 38 is disposed between the longitudinal plate 34 and the transverse plate 33 and is used to hold the longitudinal plate 34 relative to the mounting bracket 10 in a direction parallel to the Y-axis direction; the grabbing bracket 20 is fixedly connected below the longitudinal plate 34. The operating button 23 of the operating lever 22 is respectively connected to the lifting holding device 35, the rotating holding device 36, the transverse holding device 37, and the longitudinal holding device 38, and is used to control the lifting holding device 35, the rotating holding device 36, the transverse holding device 37, and the longitudinal holding device 38 to release the holding.

[0053] In another embodiment, the motion adjustment bracket 30 includes a longitudinal plate 34, a lifting plate 31, a rotating plate 32 and a transverse plate 33 connected in sequence from the mounting bracket 10 to the grabbing bracket 20, wherein the longitudinal holding device 38 is arranged between the longitudinal plate 34 and the mounting bracket 10, the lifting holding device 35 is arranged between the lifting plate 31 and the longitudinal plate 34, the rotating holding device 36 is arranged between the rotating plate 32 and the lifting plate 31, and the transverse holding device 37 is arranged between the transverse plate 33 and the rotating plate 32.

[0054] In another embodiment, the motion adjustment bracket 30 includes a transverse plate 33, a longitudinal plate 34, a lifting plate 31 and a rotating plate 32 connected in sequence from the mounting bracket 10 to the grasping bracket 20, wherein the transverse holding device 37 is arranged between the transverse plate 33 and the mounting bracket 10, the longitudinal holding device 38 is arranged between the longitudinal plate 34 and the transverse plate 33, the lifting holding device 35 is arranged between the lifting plate 31 and the longitudinal plate 34, and the rotating holding device 36 is arranged between the rotating plate 32 and the lifting plate 31.

[0055] In another embodiment, the motion adjustment bracket 30 includes a rotating plate 32, a transverse plate 33, a longitudinal plate 34 and a lifting plate 31 connected in sequence from the mounting bracket 10 to the grabbing bracket 20, wherein the rotation holding device 36 is arranged between the rotating plate 32 and the mounting bracket 10, the transverse holding device 37 is arranged between the transverse plate 33 and the rotating plate 32, the longitudinal holding device 38 is arranged between the longitudinal plate 34 and the transverse plate 33, and the lifting holding device 35 is arranged between the lifting plate 31 and the longitudinal plate 34.

[0056] See also Figures 1 to 7 In this embodiment, the lifting and holding device 35 includes a lifting cylinder 351. The mounting bracket 10 is provided with a lifting cylinder frame 12. The lifting cylinder 351 is fixedly mounted on the lifting cylinder frame 12. The lifting plate 31 is provided with a lifting connection base 311. The piston rod of the lifting cylinder 351 extends parallel to the Z-axis and is fixedly connected to the lifting connection base 311. The stroke of the piston rod of the lifting cylinder 351 defines the lifting and lowering motion of the lifting plate 31. In this embodiment, the number of lifting cylinders 351 is, but is not limited to, two. The two lifting cylinders 351 are symmetrically arranged on the mounting bracket 10.

[0057] In another embodiment, the lifting cylinder 351 is installed on the lifting plate 31 , and the lifting connection seat 311 is set on the mounting bracket 10 .

[0058] The flat product grasping device 100 of this embodiment also includes an air control system 400, which includes an air compressor 401, a pressure-maintaining gas tank 402 and a first solenoid valve 403. The first solenoid valve 403 is electrically connected to the operation button 23. The first solenoid valve 403 is respectively connected to the air compressor 401, the pressure-maintaining gas tank 402 and the lifting cylinder 351. It should be noted that when the operation button 23 is not pressed, the air compressor 401 and the lifting cylinder 351 are connected, and the piston rod of the lifting cylinder 351 retracts to the innermost end of the lifting cylinder 351, and the lifting cylinder 351 is lifted. The lowering plate 31 is at its highest position, at which point the lifting plate 31 and the mounting bracket 10 are locked. Pressing the operating button 23 releases the lifting and holding device 35, and the first solenoid valve 403 connects the pressure-maintaining gas tank 402 and the lifting cylinder 351. Pressurized gas is fed into the lifting cylinder 351 via the pressure-maintaining gas tank 402, unlocking the lifting plate 31 and the mounting bracket 10. Thus, when the operator 700 applies external force to pull the operating lever 22 downward, the grabbing bracket 20 and the motion adjustment bracket 30 can be driven downward relative to the mounting bracket 10. Specifically, the travel of the lifting plate 31 is the travel of the piston rod of the lifting cylinder 351, meaning that the maximum downward travel of the lifting plate 31 is the travel of the piston rod extending outward from the outermost end of the lifting cylinder 351. The pressure-maintaining gas damps the piston rod of the lifting cylinder 351, allowing the grabbing bracket 20 to remain suspended during its movement to its lowest point.

[0059] In another embodiment, the lifting and holding device 35 may use a gas spring to connect the mounting bracket 10 and the lifting plate 31 .

[0060] from Figures 1 to 7 It can be seen that in this embodiment, the number of guide pillars 312 provided on the lifting plate 31 is but not limited to four. The four guide pillars 312 are respectively located at the four corners of the lifting plate 31, and each guide pillar 312 extends in a direction parallel to the Z-axis direction; the mounting bracket 10 is provided with four guide sleeves 13 corresponding to the four guide pillars 312, and each guide sleeve 13 is respectively sleeved on each corresponding guide pillar 312.

[0061] See also Figures 1 to 8And 11, the rotating plate 32 of this embodiment is connected to the lifting plate 31 through a pivot shaft 39, and the rotating holding device 36 is set away from the pivot shaft 39. The rotating holding device 36 includes a roller 361, a roller bracket 362, a base 363 and a base cylinder 364. The base cylinder 364 is fixed on the lifting plate 31, and the base 363 is fixed on the piston rod of the base cylinder 364. The roller 361 is rotatably set on the roller bracket 362. The roller bracket 362 is fixed on the rotating plate 32, and a through groove for the roller bracket 362 to pass through is provided on the lifting plate 31; the base 363 has a holding groove 365 for the roller 361 to move, and the holding groove 365 is set through the top and bottom ends of the base 363, and the holding groove 365 has two longitudinal walls 366.

[0062] from Figure 8 As can be seen, in this embodiment, each longitudinal wall 366 includes a straight wall section 3661 extending along the axial direction of the piston rod of the base cylinder 364, and an inclined wall section 3662 extending obliquely from the straight wall section 3661 along the axial direction of the piston rod of the base cylinder 364 and outward (in the vertical direction shown in the figure) to the end surface of the base 363. A rotation space is formed between the two inclined wall sections 3662 for the roller 361 to rotate about the pivot axis 39. The spacing between the two straight wall sections 3661 of the retaining groove 365 is adapted to the roller 361. That is, after the roller 361 slides into the straight wall section 3661, the straight wall section 3661 abuts against the roller 361, thereby limiting the rotation of the rotating plate 32.

[0063] In this embodiment, the air control system 400 also includes a second solenoid valve 404 electrically connected to the operation button 23, and the second solenoid valve 404 is respectively connected to the air compressor 401 and the base cylinder 364. It should be noted that when the operation button 23 is not pressed, the air compressor 401 and the base cylinder 364 are connected, the piston rod of the base cylinder 364 extends from the outermost end of the lifting cylinder 351, and the roller 361 is located between the straight wall section 3661 of the holding groove 365. At this time, the rotating plate 32 and the lifting plate 31 are in a locked state; after pressing the operation button 23, the rotation holding device 36 is released, the second solenoid valve 404 controls the base cylinder 364 to retract, and the roller 361 slides relatively into the inclined wall section 3662 of the holding groove 365, and the rotating plate 32 and the lifting plate 31 are in an unlocked state. In this way, the operator 700 can drive the rotating plate 32 to rotate relative to the lifting plate 31 around the pivot axis 39 within a preset angle through the operating lever 22.

[0064] from Figures 5 to 8It can be seen that in this embodiment, the pivot shaft 39 includes a shaft end 39a and a shaft body 39b connected to the shaft end 39a, and the shaft end 39a is locked on the lifting plate 31 by a plurality of first fasteners 391, and the plurality of first fasteners 391 are arranged at intervals along the circumference of the shaft end 39a; a bearing seat 392 is provided on the rotating plate 32, and the bearing seat 392 is locked on the rotating plate 32 by a plurality of second fasteners 393, and the plurality of second fasteners 393 are arranged at intervals along the circumference of the bearing seat 392; the bearing seat 392 is sleeved on the shaft body 39b, and the inner wall of the bearing seat 392 is aligned with the shaft end 39a. Two bearings 394 are disposed between the outer walls of the shaft portion 39b. The two bearings 394 are spaced apart in the axial direction of the shaft portion 39b. The two bearings 394 are divided into an upper bearing 394a and a lower bearing 394b. A retaining ring 395 and a blocking cover 396 are disposed on the shaft portion 39b. The retaining ring 395 engages with the shaft portion 39b and abuts against the inner ring of the upper bearing 394a. The blocking cover 396 is secured to the end of the shaft portion 39b via a plurality of third fasteners 397 and abuts against the inner ring of the lower bearing 394b. The plurality of third fasteners 397 are spaced apart along the circumference of the blocking cover 396. Thus, in the unlocked state, the rotating plate 32 can rotate relative to the lifting plate 31 about the pivot axis 39.

[0065] See also Figures 1 to 6 , 9 and 10, in this embodiment, a transverse rail 331 is fixedly provided on the transverse plate 33, and the transverse rail 331 extends in a direction parallel to the X-axis direction; a transverse slider 321 is fixedly provided on the rotating plate 32, and the transverse slider 321 is slidably provided on the transverse rail 331; the transverse slider 321 engages with the transverse rail 331 to retain the transverse slider 321 on the transverse rail 331 in a direction parallel to the Z-axis direction. In this way, the transverse plate 33 and the rotating plate 32 are connected via the transverse slider 321 and the transverse rail 331, and the transverse plate 33 moves relative to the rotating plate 32 only in the direction in which the transverse rail 331 extends. It should be noted that the transverse plate 33 mentioned herein as being movable relative to the mounting bracket 10 in a direction parallel to the X-axis direction refers to a condition in which the rotating plate 32 does not rotate relative to the mounting bracket 10; similarly, the transverse plate 33 being movable relative to the mounting bracket 10 in a direction parallel to the Y-axis direction also refers to a condition in which the rotating plate 32 does not rotate relative to the mounting bracket 10.

[0066] Figures 1 to 5 Schematic diagram of the structure when the transverse plate 33 and the rotating plate 32 are in an unlocked state; Figure 9 It is a structural diagram when the transverse plate 33 and the rotating plate 32 are in a locked state.

[0067] In this embodiment, the transverse holding device 37 includes a first transverse limiting assembly 371 for limiting the movement of the transverse plate 33 in a first direction parallel to the X-axis direction and a second transverse limiting assembly 372 for limiting the movement of the transverse plate 33 in a direction opposite to the first direction; the first transverse limiting assembly 371 includes a transverse impact block 3711 and a transverse striker 3712 for abutting the transverse impact block 3711, the transverse impact block 3711 is fixedly set on the transverse plate 33, and the transverse striker 3712 is installed on the rotating plate 32 through a transverse striker connecting block 3713; the second transverse limiting assembly 372 includes a transverse cylinder 3721, a transverse push head 3722 and a transverse push block 3723 for abutting the transverse push head 3722, the transverse push block 3723 is fixedly set on the transverse plate 33, the transverse cylinder 3721 is fixed to the rotating plate 32 through a transverse cylinder frame 3724, and the transverse push head 3722 is fixed to the end of the piston rod of the transverse cylinder 3721. The transverse impact block 3711 and the transverse top block 3723 are arranged between the transverse striker 3712 and the transverse cylinder 3721. The air control system 400 also includes a third solenoid valve 405 electrically connected to the operation button 23. The third solenoid valve 405 is connected to the air compressor 401 and the transverse cylinder 3721 respectively. It should be noted that when the operation button 23 is not pressed, the air compressor 401 and the transverse cylinder 3721 are connected, and the piston rod of the transverse cylinder 3721 extends out of the outermost end of the transverse cylinder 3721, and the transverse push head 3722 is pressed against the transverse push block 3723. At this time, the transverse plate 33 and the rotating plate 32 are in a locked state; after pressing the operation button 23, the transverse holding device 37 is released, and the third solenoid valve 405 controls the transverse cylinder 3721 to retract, the transverse push head 3722 is separated from the transverse push block 3723, and the transverse plate 33 and the rotating plate 32 are in an unlocked state. In this way, the operator 700 can drive the transverse plate 33 to rotate relative to the rotating plate 32 within a preset stroke through the operating lever 22. In particular, the stroke of the transverse plate 33 is the stroke of the piston rod of the transverse cylinder 3721 , that is, the maximum stroke of the transverse plate 33 is the innermost stroke of the piston rod retracting the lifting cylinder 351 .

[0068] In yet another embodiment, the transverse striker 3712 and the transverse cylinder 3721 are disposed between the transverse striker 3711 and the transverse top block 3723 .

[0069] Figures 1 to 4 6 is a schematic diagram of the structure when the longitudinal plate 34 and the transverse plate 33 are in an unlocked state; Figure 10 It is a structural diagram of the longitudinal plate 34 and the transverse plate 33 when they are in a locked state.

[0070] In this embodiment, a longitudinal slide rail 341 is fixedly provided on the longitudinal plate 34, and the longitudinal slide rail 341 extends in a direction parallel to the Y-axis direction; a longitudinal slider 332 is fixedly provided on the transverse plate 33, and the longitudinal slider 332 is slidably provided on the longitudinal slide rail 341; the longitudinal holding device 38 includes a longitudinal first limiting component 381 for limiting the movement of the longitudinal plate 34 in a second direction parallel to the Y-axis direction and a longitudinal second limiting component 382 for limiting the movement of the longitudinal plate 34 in a direction opposite to the second direction; the longitudinal first limiting component 381 includes a longitudinal collision block 3811 and a longitudinal collision block 382 for contacting the longitudinal collision block 3811. The longitudinal striker 3812 is abutted against the longitudinal striker block 3811. The longitudinal striker 3811 is fixedly mounted on the longitudinal plate 34, and the longitudinal striker 3812 is mounted on the transverse plate 33 via a longitudinal striker connecting block 3813. A mounting slot 342 is defined in the longitudinal plate 34. The longitudinal second position-limiting assembly 382 includes a longitudinal cylinder 3821 and a longitudinal plunger 3822 for abutting against the inner wall of the mounting slot 342. The longitudinal cylinder 3821 is positioned within the mounting slot 342 and secured to the transverse plate 33 via a longitudinal cylinder bracket 3823. The longitudinal plunger 3822 is secured to the end of the piston rod of the longitudinal cylinder 3821. The longitudinal cylinder 3821 and the longitudinal striker 3812 are both located in the mounting slot 342 and on the same side of the longitudinal striker block 3811. The longitudinal striker block 3811 is located at one end of the longitudinal cylinder 3821, and the longitudinal plunger 3822 is located at the other end of the longitudinal cylinder 3821. The air control system 400 also includes a fourth solenoid valve 406 electrically connected to the operation button 23. The fourth solenoid valve 406 is connected to the air compressor 401 and the longitudinal cylinder 3821 respectively. It should be noted that when the operation button 23 is not pressed, the air compressor 401 and the longitudinal cylinder 3821 are connected, the piston rod of the longitudinal cylinder 3821 extends from the outermost end of the longitudinal cylinder 3821, and the longitudinal push head 3822 is abutted against the inner wall of the mounting groove 342. At this time, the transverse plate 33 and the longitudinal plate 34 are in a locked state; after pressing the operation button 23, the longitudinal holding device 38 is released, the fourth solenoid valve 406 controls the longitudinal cylinder 3821 to retract, the longitudinal push head 3822 is separated from the inner wall of the mounting groove 342, and the transverse plate 33 and the longitudinal plate 34 are in an unlocked state. In this way, the operator 700 can drive the longitudinal plate 34 to rotate relative to the rotating plate 32 within a preset stroke through the operating lever 22. In particular, the stroke of the longitudinal plate 34 is the stroke of the piston rod of the longitudinal cylinder 3821 , that is, the maximum stroke of the longitudinal plate 34 is the innermost stroke of the piston rod retracting the lifting cylinder 351 .

[0071] In this embodiment, the flat product gripping device 100 also includes a reset button (not shown), which is electrically connected to the first solenoid valve 403, the second solenoid valve 404, the third solenoid valve 405, and the fourth solenoid valve 406, respectively, to control the reset action of the lifting plate 31, the rotating plate 32, the horizontal plate 33, and the longitudinal plate 34.

[0072] As Figures 12 to 14 shown, the human-computer interaction operation system 1000 provided by the embodiment includes a robot 300, wherein the human-computer interaction operation system 1000 further includes the above-mentioned tablet product grabbing device 100, and the mounting bracket 10 is connected and fixed with the robot 300. The human-computer interaction operation system 1000 adopts the above-mentioned tablet product grabbing device 100, and can realize human-computer interaction adjustment, so as to adjust the placing position of the product 200 and improve the production efficiency.

[0073] Referring to Figures 12 to 14 In the embodiment, the human-computer interaction operation system 1000 includes an operation rack 500, a feeding rack 600 and the robot 300. The operation rack 500 and the feeding rack 600 are arranged on the side of the robot 300. The operation rack 500 is used to receive and store the product 200 transported by a forklift. The robot 300 drives the tablet product grabbing device 100 to reciprocate between the operation rack 500 and the feeding rack 600. It is worth mentioning that after the tablet product grabbing device 100 of the embodiment grabs the product 200 in the feeding rack 600, the robot 300 moves to above the operation rack 500. The product 200 has its film facing surface facing the operator 700 and is inclined at a preset angle with the horizontal plane and hovers above the operation rack 500. After the operator 700 manually tears off the film attached to the surface of the product 200, the robot 300 rotates the tablet product grabbing device 100, so that the product 200 hovers above the operation rack 500 in a substantially horizontal manner. The operator 700 presses the operation button 23 to unlock the movement adjustment bracket 30, and then moves the position of the grabbing bracket 20 through the operating rod 22, so as to place the product 200 to a designated position.

[0074] In the embodiment, the robot 300 is any existing robot 300 capable of moving the tablet product grabbing device 100 in the prior art. The robot 300 includes a connecting arm 301, and the connecting arm 301 is connected and fixed with the mounting bracket 10 through an adapter flange 302.

[0075] The above only describes the preferred embodiments of the present application and should not be used to limit the present application. Any modification, equivalent replacement or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A device for grasping flat products, comprising a mounting bracket having mutually perpendicular X-axis, Y-axis, and Z-axis directions, characterized in that: The flat-panel product grabbing device further includes a grabbing bracket and a motion adjustment bracket connected between the grabbing bracket and the mounting bracket; the grabbing bracket is provided with a suction cup assembly and an operating rod; the motion adjustment bracket includes: a lifting plate movable relative to the mounting bracket in a direction parallel to the Z-axis; a rotating plate, rotatable relative to the mounting bracket about a direction parallel to the Z-axis; a transverse plate movable relative to the mounting bracket in a direction parallel to the X-axis; a longitudinal plate movable relative to the mounting bracket in a direction parallel to the Y-axis; A lifting and holding device for maintaining the position of the lifting plate relative to the mounting bracket in a direction parallel to the Z-axis direction; wherein the lifting and holding device comprises a lifting cylinder; a rotation holding device for holding the position of the rotating plate relative to the mounting bracket in a direction parallel to the Z-axis; a transverse holding device for holding the transverse plate in position relative to the mounting bracket in a direction parallel to the X-axis direction; and a longitudinal holding device for holding the longitudinal plate in position relative to the mounting bracket in a direction parallel to the Y-axis direction; The operating rod is provided with an operating button for controlling the lifting and holding device, the rotating holding device, the lateral holding device and the releasing of the holding of the longitudinal holding device; The cam is fixed to the lifting plate through a pivot axis, and the rotation holding device is arranged away from the pivot axis. The rotation holding device includes a roller, a roller bracket, a clamping seat and a clamping seat cylinder. The clamping seat cylinder is fixed to the lifting plate, and the clamping seat is fixed on the piston rod of the clamping seat cylinder. The roller is rotatably arranged on the roller bracket, and the roller bracket is fixed to the rotating plate. The lifting plate is provided with a through slot for the roller bracket to pass through; the clamping seat has a clamping slot for the roller to move, and the clamping slot is arranged through the top and bottom ends of the clamping seat. The clamping slot has two longitudinal walls, each of the longitudinal walls includes a straight wall section extending along the axial direction of the piston rod of the clamping seat cylinder and an inclined wall section extending from the straight wall section along the axial direction of the piston rod of the clamping seat cylinder and outwardly inclined to the end face of the clamping seat. A rotation space for the roller to rotate with the pivot axis as the axis is formed between the two inclined wall sections. After the roller slides into the straight wall section, the straight wall section abuts against the roller.

2. The flat product grabbing device according to claim 1, characterized in that: The lifting plate, the rotating plate, the transverse plate, and the longitudinal plate are connected in sequence. The lifting plate is connected to the mounting bracket, and the longitudinal plate is connected to the grabbing bracket.

3. The flat product grabbing device according to claim 1 or 2, characterized in that: A lifting cylinder frame is provided on the mounting bracket, the lifting cylinder is fixedly provided on the lifting cylinder frame, a lifting connecting seat is provided on the lifting plate, and the piston rod of the lifting cylinder extends in a direction parallel to the Z-axis direction and is fixedly connected to the lifting connecting seat.

4. The flat product grabbing device according to claim 3, characterized in that: Four guide posts are provided on the lifting plate, and the four guide posts are respectively located at the four corners of the lifting plate, and each of the guide posts extends in a direction parallel to the Z-axis direction; four guide sleeves corresponding to the four guide posts are provided on the mounting bracket, and each guide sleeve is respectively sleeved on each corresponding guide post.

5. The flat product grabbing device according to claim 1, characterized in that: The cam is secured to the bottom of the shaft and has a plurality of locking members, each of which is secured to a position detachable from the bottom of the shaft and has a plurality of locking members, each of which is secured to a position detachable from the bottom of the shaft and has a plurality of locking members, each of which is secured to a position detachable from the bottom of the shaft.

6. The flat product grabbing device according to claim 1 or 2, characterized in that:

7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod.

7. The flat product grabbing device according to claim 1 or 2, characterized in that:

7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod.

8. The flat product grabbing device according to claim 1 or 2, characterized in that: There are two operating levers, which are arranged side by side and spaced apart; and the operating buttons on the two operating levers are connected in series.

9. A human-computer interactive operation system, comprising a robot, characterized in that: It also includes the flat product gripping device according to any one of claims 1 to 8, and the mounting bracket is connected and fixed to the robot.

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