Variable-pitch module mechanical hand with automatic cleaning function

Abstract

The application belongs to the technical field of workpiece transfer assemblies, in particular to a variable-distance module mechanical hand with automatic cleaning function, which comprises a mounting body and a cylinder, a horizontal guide rail is mounted on the mounting body, a plurality of sliding blocks are slidingly arranged on the horizontal guide rail, a fixed block is fixedly arranged at one end of the horizontal guide rail, a mounting frame is mounted on each sliding block and fixed block, adjacent two mounting frames are connected through a connecting body, the connecting body is slidingly arranged relative to the mounting frame and a limiting structure is arranged on the mounting frame, a gas pipe fixing seat is fixedly mounted on each mounting frame, a suction passage and a blowing passage are arranged on the gas pipe fixing seat, the suction passage is communicated with a suction structure and the blowing passage is connected with a blowing structure; the cylinder is mounted on the mounting body and the output end is provided with a fixed body, the fixed body is connected with the corresponding mounting frame through the connecting body and the fixed body and the connecting body are slidingly matched, thereby solving the problem that the workpiece surface is left with oil stains / water stains, which requires timely replacement of the equipment assembly.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of workpiece transfer assemblies, and particularly relates to a variable-distance module mechanical hand with an automatic cleaning function. BACKGROUND

[0002] With the development of science and technology, many manufacturing plants have realized automatic production. In the transfer process of some workpieces, different treatments need to be performed on the workpieces at different workstations, for example, the workpieces need to be in different intervals at the first workstation and the second workstation, so the first workstation or the second workstation at least needs to have a variable-distance function, that is, each workstation not only needs to realize the treatment function of the workpiece, but also needs to adjust the relative positions or poses of the structures of the workstations to adapt to the workpiece in the transfer. At this time, a mechanical hand with a variable-distance function is needed to realize the simultaneous taking and placing of multiple objects / workpieces.

[0003] The prior art CN113245806A is a taking mechanical hand, which solves the problem of high space occupation of the device for realizing the material adjustment function required at multiple workstations by the same mechanical hand. The present application comprises a mechanical hand body, a box throwing module, a steering and carrying module, and a taking and variable-distance module. The box throwing module, the steering and carrying module, and the taking and variable-distance module are respectively detachably connected with the action end of the mechanical hand body. The taking and variable-distance module is used to grasp a plurality of materials at the first workstation and adjust the interval of the adjacent materials after grasping. The taking and variable-distance module places the plurality of materials at the second workstation under the driving of the mechanical hand body. The steering and carrying module is used to grasp a plurality of materials at the second workstation and adjust the pose of each material. The box throwing module is used to grasp a material box at the first workstation for filling materials. This technology has the advantages of integrating multiple material pose adjustment functions, avoiding the superposition of material pose adjustment structures in the material processing workstation, simplifying the design of the automatic assembly line, and occupying a low space of the device.

[0004] However, this technology is only applicable to the case where the workpiece surface is clean without oil stains / water stains. After machining, the workpieces on the assembly line are mostly not cleaned, and the workpiece surface basically has oil stains / water stains. If the assembly that completes adsorption through a gas medium is used to realize the taking and placing of the workpieces at this time, the gas source is easily damaged and the pipeline is easily contaminated, the device assembly needs to be replaced in time, the maintenance cost is high, and the production is delayed. SUMMARY

[0005] The purpose of the present application is to provide a variable-distance module mechanical hand with automatic cleaning function for efficient taking and placing of workpieces. The design scheme of blowing to remove oil stains / water stains first and then adsorbing to take and place solves the problem of the need to replace the device assembly in time due to the oil stains / water stains remaining on the workpiece surface.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0007] A variable distance module mechanical arm with automatic cleaning function, comprising:

[0008] A mounting body is provided with a horizontal guide rail, a plurality of sliding blocks are slidingly arranged on the horizontal guide rail, a fixed block is fixedly arranged at one end of the horizontal guide rail, a mounting frame is mounted on each sliding block and fixed block, two adjacent mounting frames are connected through a connecting body, the connecting body is slidingly arranged relative to the mounting frame and a limiting structure is arranged on the mounting frame, a gas pipe fixing seat is fixedly mounted on each mounting frame, an adsorption passage and a blowing passage are arranged on the gas pipe fixing seat, the adsorption passage is communicated with an adsorption structure, and the blowing passage is connected with a blowing structure;

[0009] A cylinder mounted on the mounting body, an output end of the cylinder is provided with a fixed body slidingly arranged along the horizontal guide rail, the fixed body is connected with the corresponding mounting frame through the connecting body, and the fixed body and the connecting body are slidingly matched.

[0010] Preferably, the blowing passage is located inside the adsorption passage, and the adsorption structure and the blowing structure are both rubber skin bowls in a horn-shaped structure. As the mechanical arm gradually approaches the workpiece, the blowing structure will first contact the workpiece, and at the same time, a closed circle is formed inside the adsorption structure. When the adsorption structure adsorbs the workpiece, the gas source of the blowing structure is not working. Since the adsorption structure is working, the inside is always in a negative pressure state, thereby forming a double adsorption effect of the workpiece by the blowing structure and the adsorption structure. At the same time, the respective gas sources working in the process can respectively make the blowing structure blow and clean the workpiece and make the adsorption structure adsorb and process the workpiece.

[0011] Preferably, the bottom of the blowing structure is provided with a closing structure. When the workpiece and the blowing structure are completely in contact, the mechanical arm continues to move towards the workpiece, the closing structure will roll inward, and when the adsorption structure contacts the workpiece, the gas source connected therewith works, so that the area between the blowing structure and the adsorption structure forms a negative pressure. The outside of the bottom of the closing structure is provided with a raised structure, the inside of the raised structure is provided with a cavity, and the cavity is communicated with the outside through an exhaust port. With the continuous working of the negative pressure, the raised structure will contact the surface of the workpiece and increase the contact area, thereby improving the bonding strength. At the same time, due to the compression of the internal space of the cavity, when the adsorption structure and the blowing structure reach the maximum adsorption strength, the bonding surface of the raised structure and the surface of the workpiece will completely cover the exhaust port, thereby further enhancing the bonding strength.

[0012] Preferably, a plurality of air supply ports rotating in the same direction are equidistantly arranged on the inside bottom of the closing structure, and the top size of the air supply port is greater than the bottom size. When the blowing structure works, the airflow in the inside will pass through the air supply port to realize the acceleration treatment of the airflow, and at the same time, the blowing airflow will form a vortex state, completely covering the working surface of the adsorption structure on the surface of the workpiece.

[0013] Preferably, the bottom of the adsorption structure is integrally connected with an adsorption auxiliary body, the adsorption auxiliary body comprises an adsorption outer body arranged outside the adsorption structure and an adsorption inner body arranged inside the adsorption structure, an intermediate adsorption body is arranged between the adsorption outer body and the adsorption inner body, a one-way channel is arranged on the intermediate adsorption body and communicates with the adsorption inner body, and gas enters the area composed of the intermediate adsorption body and the adsorption inner body from the area composed of the intermediate adsorption body and the adsorption outer body through the one-way channel. When the adsorption outer body of the adsorption auxiliary body first contacts the workpiece surface after the blowing structure contacts the workpiece, as the negative pressure strength between the adsorption structure and the blowing structure continues to increase, the adsorption inner body and the intermediate adsorption body gradually approach the workpiece surface, the intermediate adsorption body contacts the workpiece surface before the adsorption inner body, as the negative pressure strength continues to increase, the gas in the area between the intermediate adsorption body and the adsorption outer body enters the area between the intermediate adsorption body and the adsorption inner body through the one-way channel, and as the negative pressure strength continues to increase, the adsorption inner body contacts the workpiece surface and completely adsorbs the area surrounded by the adsorption inner body and the intermediate adsorption body on the workpiece surface under the action of the negative pressure, so that the power of the gas source connected to the adsorption structure can be greatly reduced.

[0014] Preferably, the two groups of air cylinders and horizontal guide rails are arranged horizontally.

[0015] Preferably, the mounting body comprises a first fixed plate, a second fixed plate and a support plate arranged between the first fixed plate and the second fixed plate, the air cylinders are mounted on the support plate, and the two groups of horizontal guide rails are mounted on the first fixed plate and the second fixed plate respectively.

[0016] Preferably, a driving motor is mounted on the support plate, a gear rotating on the support plate is mounted at the output end of the driving motor, two racks are mounted on the two sides of the gear, the two racks are slidingly mounted on the support plate and are fixedly mounted on the first fixed plate and the second fixed plate respectively, guide rods are fixedly mounted on the first fixed plate and the second fixed plate and slidingly arranged on the support plate. The two groups of air cylinders are slidingly mounted on the support plate to adapt to the movement of the first fixed plate and the second fixed plate relative to the support plate, the driving motor drives the gear to rotate, the engagement of the teeth of the gear drives the racks (cooperating with the movement of the guide rods) to drive the first fixed plate and the second fixed plate to move in opposite directions, thereby adjusting the distance between the two groups of adsorption structures.

[0017] Preferably, two positioning plates are mounted on the mounting body, and a position sensor is mounted on each of the positioning plates. The position sensors can accurately and effectively control the final positions of the mounting frames.

[0018] Preferably, each of the tracheal fixing bases comprises a mounting body penetrating through the mounting frame, the mounting body is provided with external threads, and two adjusting nuts are matched and mounted on the external threads. By adjusting the adjusting nuts, the position of the tracheal fixing base relative to the mounting frame can be properly adjusted to meet the efficient taking and placing effect.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] (1) The tracheal fixing base is provided with the adsorption passage and the blowing passage, the adsorption passage is communicated with the adsorption structure, and the blowing passage is connected with the blowing structure. In use, the mechanical hand moves to the target work station under the action of the mechanical arm, the cylinder works to drive the fixing body to move through the output end, drives the mounting frame to move through the connecting bodies in sequence, and the mounting frame and the sliding block thereon move linearly along the horizontal guide rail. When the movable ends of all the connecting bodies are attached to the limiting structures on the slide ways of the mounting frame, the tracheal fixing bases move to the final index positions. Then, the mechanical hand moves the adsorption structures and the blowing structures to the surface of the workpiece under the action of the mechanical arm. The gas source connected with the blowing structure works to blow and clean the oil stains and water stains on the surface of the workpiece. The gas source connected with the adsorption structure works to adsorb the workpiece. The mechanical arm transfers the workpiece to the shelf or the lower work station. The gas source connected with the adsorption structure changes from negative pressure to normal pressure, the workpiece is separated from the adsorption structure, and finally the output end of the cylinder reversely works to recover the mounting frames to the initial state.

[0021] (2) The blowing passage is arranged inside the adsorption passage, which is equivalent to arranging the adsorption structure outside the blowing structure. In use, as the mechanical hand gradually approaches the workpiece, the blowing structure will first contact the workpiece, and a closed ring is formed inside the adsorption structure. When the adsorption structure adsorbs the workpiece, the gas source of the blowing structure is not working. Since the adsorption structure is working, the inside is always in a negative pressure state, so that the workpiece is subjected to double adsorption effect of the blowing structure and the adsorption structure. At the same time, the respective gas sources work to enable the blowing structure to blow and remove stains on the workpiece and the adsorption structure to adsorb and process the workpiece.

[0022] (3) The bottom of the blowing structure is provided with a closing structure, when the workpiece and the blowing structure are completely contacted, the closing structure will be rolled inward when the manipulator continues to move to the workpiece, when the adsorption structure is contacted with the workpiece, the gas source connected with the adsorption structure works, so that the area between the blowing structure and the adsorption structure forms negative pressure, the outside of the bottom of the closing structure is provided with a bulge structure, the inside of the bulge structure is provided with a cavity, and the cavity is communicated with the outside through an exhaust port, with the continuation of the negative pressure work, the bulge structure will be contacted with the surface of the workpiece and increase the contact area, improve the bonding strength, at the same time, due to the compression of the cavity space, when the adsorption structure and the blowing structure reach the maximum adsorption strength, the bonding surface of the bulge structure and the surface of the workpiece will completely cover the exhaust port, and the bonding strength is further improved.

[0023] (4) A plurality of air supply ports with consistent rotation are arranged at the inside bottom of the closing structure at equal intervals, when the blowing structure works, the airflow in the inside will pass through the air supply ports to realize the acceleration treatment of the airflow, and the blowing airflow will form a vortex state to completely cover the working surface of the adsorption structure on the surface of the workpiece.

[0024] (5) The bottom of the adsorption structure is integrally connected with an adsorption auxiliary body, when the adsorption outer body of the adsorption auxiliary body contacts the surface of the workpiece after the blowing structure contacts the workpiece, with the gradual increase of the negative pressure strength between the adsorption structure and the blowing structure, the adsorption inner body and the intermediate adsorption body will gradually approach the surface of the workpiece, the intermediate adsorption body will be contacted with the surface of the workpiece before the adsorption inner body, with the continuous increase of the negative pressure strength, the intermediate adsorption body and the adsorption outer body, the gas in the area between the intermediate adsorption body and the adsorption inner body will enter therebetween through the one-way channel, with the continuous increase of the negative pressure strength, the adsorption inner body contacts the surface of the workpiece, and the area surrounded by the adsorption inner body and the intermediate adsorption body is completely adsorbed to the surface of the workpiece under the action of negative pressure, so that the power of the external gas source of the adsorption structure can be greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is the overall structure schematic diagram of the application;

[0026] Figure 2 It is the connection relationship diagram of the mounting body and the mounting frame of the application;

[0027] Figure 3 It is the connection relationship diagram of the fixed plate one, the fixed plate two and the supporting plate of the application;

[0028] Figure 4 It is the connection relationship diagram of the connecting body and the fixed block, the mounting frame of the application;

[0029] Figure 5 It is the connection relationship diagram of the adsorption structure and the blowing structure of one embodiment of the application;

[0030] Figure 6 Connection diagram of adsorption structure and purge structure for an embodiment of the present application;

[0031] Figure 7 Connection diagram of adsorption structure and purge structure for an embodiment of the present application;

[0032] Figure 8 Connection diagram of adsorption structure and purge structure for an embodiment of the present application;

[0033] Figure 9 Connection diagram of adsorption structure and purge structure for an embodiment of the present application; Figure 8 Connection diagram of adsorption structure and purge structure for an embodiment of the present application;

[0034] Figure 10 Connection diagram of adsorption structure and purge structure for an embodiment of the present application;

[0035] Figure 11 Connection diagram of adsorption structure and purge structure for an embodiment of the present application; Figure 10 Sectional view of purge structure for an embodiment of the present application;

[0036] Figure 12 Connection diagram of adsorption structure and purge structure for an embodiment of the present application; Figure 11 Enlarged view of A for an embodiment of the present application;

[0037] Figure 13 Connection diagram of adsorption structure and purge structure for an embodiment of the present application;

[0038] Figure 14 Connection diagram of adsorption structure and purge structure for an embodiment of the present application; Figure 13 Sectional view of adsorption structure for an embodiment of the present application;

[0039] Figure 15 Enlarged view of B for an embodiment of the present application; Figure 14

[0040] Connection diagram of adsorption structure and purge structure for an embodiment of the present application; Figure 16

[0041] Distribution diagram of air outlet after unfolding for a closing structure of the present application. Figure 17 DETAILED DESCRIPTION

[0042] Example 1

[0043] As Figures 1 to 4 ​As shown, a variable distance module mechanical hand with automatic cleaning function comprises: a mounting body 10, a horizontal guide rail 20 is mounted on the mounting body 10, a plurality of sliding blocks 30 are slidingly arranged on the horizontal guide rail 20, the sliding blocks are of an upper silver guide rail sliding block type and are of MGN7C type, a fixed block 40 is fixedly arranged at one end of the horizontal guide rail 20, a mounting rack 60 is mounted on each of the sliding blocks 30 and the fixed block 40, four mounting racks 60 are arranged on each horizontal guide rail 20, two sliding blocks 30 are arranged on each mounting rack 60, two adjacent mounting racks 60 are connected through a connecting body 50, the connecting body 50 is of an I-shaped structure, one end of the connecting body 50 is fixed on one of the mounting racks 60, the other end of the connecting body 50 is slidingly arranged relative to the mounting rack 60, a sliding way is arranged on the mounting rack 60 for the head of the connecting body 50 to slide, but one end of the sliding way of the mounting rack 60 is provided with a limiting structure for limiting the maximum distance between the two mounting racks 60, two air pipe fixing seats 70 are fixedly mounted on each mounting rack 60, an adsorption passage 80 and a blowing passage 90 are arranged on each air pipe fixing seat 70, the adsorption passage 80 is connected with an adsorption structure 81, the blowing passage 90 is connected with a blowing structure 91, the adsorption structure 81 can adopt a suction cup in the scheme, the blowing structure 91 can adopt an air nozzle, all the adsorption passages 80 are connected with an air source, all the blowing passages 90 are connected with an air source, the air source needs to be connected externally, so it is not shown in the figure.

[0044] The mechanical hand further comprises a gas cylinder 100 mounted on the mounting body 10, an output end of the gas cylinder 100 is provided with a fixed body 110 slidingly arranged along the horizontal guide rail 20, the fixed body 110 is connected with the corresponding mounting rack 60 through the connecting body 50 and the fixed body 110 and the connecting body 50 are slidingly matched.

[0045] In use, the mechanical hand moves to a target work station under the action of a mechanical arm, the gas cylinder 100 works to drive the fixed body 110 to move through the output end, the mounting racks 60 are sequentially driven to move through the connecting bodies 50, the mounting racks 60 and the sliding blocks 30 thereon move linearly along the horizontal guide rail 20, when the movable ends of all the connecting bodies 50 are attached to the limiting structures on the sliding ways of the mounting racks 60, the air pipe fixing seats 70 move to the final index, then the mechanical hand moves the adsorption structures 81 and the blowing structures 91 to the surface of a workpiece under the action of the mechanical arm, the air source connected with the blowing structure 91 works to blow and clean oil stains and water stains on the surface of the workpiece, the air source connected with the adsorption structure 81 works to adsorb the workpiece, the mechanical arm transfers the workpiece to a shelf or a lower work station, the air source connected with the adsorption structure 81 changes from negative pressure to normal pressure, the workpiece is separated from the adsorption structure 81, finally the output end of the gas cylinder 100 reversely works to recover the mounting racks 60 to the initial state.

[0046] As a preferred mode, as Figure 5 and Figure 6As shown in the figure, the purge passage 90 is located inside the adsorption passage 80 and the adsorption structure 81 is located outside the purge structure 91, both of which are rubber skin bowls with horn-shaped structure, and the purge structure 91 is partially exposed outside the adsorption structure 81, with an exposed length of 2-3mm. When the robot gradually approaches the workpiece, the purge structure 91 will first contact the workpiece, while forming a closed loop inside the adsorption structure 81. The air source of the purge structure 91 is not working when the adsorption structure 81 is adsorbing the workpiece. Since the adsorption structure 81 is always in a negative pressure state when it is working, the workpiece is subjected to double adsorption effect by the purge structure 91 and the adsorption structure 81. At the same time, the respective air sources working in the process can also make the purge structure 91 blow and clean the workpiece, and the adsorption structure 81 adsorb and process the workpiece.

[0047] As a preferred mode, as shown in Figure 7 、 Figure 8 and Figure 9 , the bottom of the purge structure 91 is provided with a closing structure 911. When the workpiece and the purge structure 91 are in complete contact, the closing structure 911 will roll inward as the robot continues to move towards the workpiece. When the adsorption structure 81 contacts the workpiece, the air source connected thereto works, so that the area between the purge structure 91 and the adsorption structure 81 forms a negative pressure. The outside of the bottom of the closing structure 911 is provided with a raised structure 912, the inside of which is provided with a cavity, and the cavity is communicated with the outside through an exhaust port 913. With the continuation of the negative pressure work, the raised structure 912 will contact the surface of the workpiece and increase its contact area, thereby improving the bonding strength. At the same time, due to the compression of the internal space of the cavity, when the adsorption structure 81 and the purge structure 91 reach the maximum adsorption strength, the bonding surface of the raised structure 912 and the surface of the workpiece will completely cover the exhaust port 913, thereby further enhancing the bonding strength.

[0048] As a preferred mode, as shown in Figure 10 and Figure 11 、 Figure 17 , the inside bottom of the closing structure 911 is provided with a plurality of air supply ports 914 with consistent rotation at equal intervals. The top size of the air supply port 914 is larger than the bottom size. When the purge structure 91 is working, the internal airflow will pass through the air supply port 914 to achieve airflow acceleration treatment, and at the same time, the blowing airflow will form a vortex state, completely covering the working surface of the adsorption structure 81 on the surface of the workpiece.

[0049] As a preferred mode, as shown in Figures 13 to 15As shown, the bottom of the adsorption structure 81 is integrally connected with an adsorption auxiliary body 811, the adsorption auxiliary body 811 includes an adsorption outer body 8111 arranged outside the adsorption structure 81 and an adsorption inner body 8112 located inside the adsorption structure 81, an intermediate adsorption body 8113 is arranged between the adsorption outer body 8111 and the adsorption inner body 8112, the intermediate adsorption body 8113 is provided with a one-way channel 8114 in communication with the adsorption inner body 8112, the one-way channel 8114 is two flexible film bodies adsorbed by electrostatic force, when the area composed of the intermediate adsorption body 8113 and the adsorption outer body 8111 enters the area composed of the intermediate adsorption body 8113 and the adsorption inner body 8112, it will be blocked at the port when reversed, the gas enters the area composed of the intermediate adsorption body 8113 and the adsorption inner body 8112 from the area composed of the intermediate adsorption body 8113 and the adsorption outer body 8111 through the one-way channel 8114, when the adsorption outer body 8111 of the adsorption auxiliary body 811 contacts the workpiece after the purge structure 91 contacts the workpiece, with the gradual increase of the negative pressure strength between the adsorption structure 81 and the purge structure 91, the adsorption inner body 8112 and the intermediate adsorption body 8113 gradually approach the workpiece surface, the intermediate adsorption body 8113 contacts the workpiece surface before the adsorption inner body 8112, with the continuous increase of the negative pressure strength, the gas in the area between the intermediate adsorption body 8113 and the adsorption outer body 8111 enters between the intermediate adsorption body 8113 and the adsorption inner body 8112 through the one-way channel 8114, with the continuous increase of the negative pressure strength, the adsorption inner body 8112 contacts the workpiece surface, and under the action of the negative pressure, the area surrounded by the adsorption inner body 8112 and the intermediate adsorption body 8113 is completely adsorbed on the workpiece surface, which can greatly reduce the power of the external gas source of the adsorption structure 81.

[0050] As a preferred mode, as shown in Figure 1 and Figure 2 As shown, the gas cylinder 100, the horizontal guide rail 20 are both horizontally arranged with two groups, the output ends of the two groups of gas cylinders 100 are connected with the corresponding groups of sliding blocks 30 through the corresponding fixed bodies 110, and two rows of adsorption structures 81 and purge structures 91 are arranged through the two groups of horizontal guide rails 20, so that the taking and placing efficiency is greatly improved.

[0051] As a preferred mode, as shown in Figures 1 to 3 As shown, the mounting body 10 includes a fixed plate one 101, a fixed plate two 102 and a support plate 103 located between the fixed plate one 101 and the fixed plate two 102, the gas cylinder 100 is mounted on the support plate 103, and the two groups of horizontal guide rails 20 are mounted on the fixed plate one 101 and the fixed plate two 102 respectively.

[0052] As a preferred mode, as shown in Figure 2 and Figure 3As shown, a driving motor 1031 is installed on the support plate 103, and a gear 1033 is installed on the output end of the driving motor 1031 to rotate on the support plate 103. Racks 1032 are installed on both sides of the gear 1033. The two racks 1032 are respectively slidably installed on the support plate 103 and the two racks 1032 are respectively fixed to the fixing plate 101 and the fixing plate 2 102. The guide rods 103 are fixedly installed on the fixing plate 101 and the fixing plate 2 102. The guide rod 1034 is slidably mounted on the support plate 103. The two sets of cylinders 100 are slidably mounted on the support plate 103 to accommodate the relative movement of the fixed plate 101 and the fixed plate 2 102. The drive motor 1031 drives the gear 1033 to rotate, and the meshing of the teeth drives the rack 1032 (cooperating with the movement of the guide rod 1034) to drive the fixed plate 101 and the fixed plate 2 102 to move in opposite directions, thereby achieving the adjustment of the distance between the two sets of adsorption structures 81.

[0053] As a preferred method, Figure 1 As shown, two positioning plates 104 are installed on the installation body 10 , and a position sensor 105 is installed on one of the positioning plates 104 . The final position of each installation bracket 60 can be accurately and effectively controlled through the position sensor 105 .

[0054] As a preferred method, Figures 5 to 8 as well as Figure 16 As shown, instead of adopting a complex adsorption structure 81 spacing adjustment structure, a simpler structure is used to achieve a similar effect. Each of the trachea fixing seats 70 includes a mounting body 71 that passes through the mounting frame 60. The mounting body 71 is provided with an external thread and two adjusting nuts 72 are matched and installed on the external thread. By adjusting the adjusting nuts 72, the position of the trachea fixing seat 70 relative to the mounting frame 60 can be appropriately adjusted to meet the effect of efficient picking and placing.

Claims

1. A variable-pitch module robot with automatic cleaning function, characterized in that, The utility model relates to a kind of air pipe fixing seat and air pipe fixing seat's air pipe fixing seat, including: Mounting body (10), horizontal guide rail (20) is installed on mounting body (10), multiple sliders (30) are slidably arranged on horizontal guide rail (20), one end of horizontal guide rail (20) is fixedly provided with fixed block (40), mounting rack (60) is installed on each slider (30) and fixed block (40), adjacent two mounting racks (60) are connected by connecting body (50), connecting body (50) is slidably arranged relative to mounting rack (60) and mounting rack (60) is provided with limiting structure, air pipe fixing seat (70) is fixedly installed on each mounting rack (60), air pipe fixing seat (70) is provided with adsorption passage (80) and purging passage (90), adsorption passage (80) is communicated with adsorption structure (81), purging passage (90) is connected with purging structure (91); And air cylinder (100) mounted on mounting body (10), the output end of air cylinder (100) is installed with the fixed body (110) along horizontal guide rail (20) sliding arrangement, fixed body (110) is connected with corresponding mounting rack (60) by connecting body (50) and the fixed body (110) is slidably fitted with connecting body (50); The bottom of the adsorption structure (81) is integrally connected with an adsorption auxiliary body (811), the adsorption auxiliary body (811) includes an adsorption outer body (8111) disposed outside the adsorption structure (81) and an adsorption inner body (8112) located inside the adsorption structure (81), an intermediate adsorption body (8113) is disposed between the adsorption outer body (8111) and the adsorption inner body (8112), the intermediate adsorption body (8113) is provided with a one-way channel (8114) in communication with the adsorption inner body (8112), and the gas enters the area composed of the intermediate adsorption body (8113) and the adsorption inner body (8112) from the area composed of the intermediate adsorption body (8113) and the adsorption outer body (8111) through the one-way channel; The air cylinder (100), the horizontal guide rail (20), and the horizontal guide rail (20) are both provided with two groups, and the output ends of the two groups of air cylinders (100) are connected with the corresponding sliders (30) through the corresponding fixed bodies (110).

2. The variable pitch module robot with automatic cleaning function according to claim 1, characterized in that, The purging passage (90) is located inside the adsorption passage (80), and the adsorption structure (81) and the purging structure (91) are both rubber skin bowls in a horn shape.

3. The variable pitch module robot with automatic cleaning function according to claim 1 or 2, characterized in that, The bottom of the purging structure (91) is provided with a closing structure (911), the outside of the bottom of the closing structure (911) is provided with a raised structure (912), the inside of the raised structure (912) is provided with a cavity, and the cavity is in communication with the outside through an exhaust port (913).

4. The variable pitch module robot with automatic cleaning function according to claim 3, characterized in that, Multiple air supply ports (914) with consistent rotation are equidistantly arranged on the inside bottom of the closing structure (911), and the top size of the air supply port (914) is greater than the bottom size.

5. The variable pitch module robot with automatic cleaning function according to claim 1, characterized in that, The mounting body (10) comprises a fixed plate one (101), a fixed plate two (102) and a support plate (103) between the fixed plate one (101) and the fixed plate two (102), the air cylinder (100) is mounted on the support plate (103), and two groups of horizontal guide rails (20) are mounted on the fixed plate one (101) and the fixed plate two (102) respectively.

6. The variable pitch module robot with automatic cleaning function according to claim 5, characterized in that, The support plate (103) is provided with a driving motor (1031), the output end of the driving motor (1031) is provided with a gear (1033) rotatably arranged on the support plate (103), both sides of the gear (1033) are provided with racks (1032) matchedly mounted, the two racks (1032) are slidingly mounted on the support plate (103) respectively and the two racks (1032) are fixedly mounted with the fixed plate one (101) and the fixed plate two (102) respectively, the fixed plate one (101) and the fixed plate two (102) are fixedly provided with guide rods (1034) and the guide rods (1034) are slidingly arranged on the support plate (103).

7. The variable pitch module robot with automatic cleaning function according to claim 1, characterized in that, Two positioning plates (104) are mounted on the mounting body (10), and a position sensor (105) is mounted on each of the positioning plates (104).

8. The variable pitch module robot with automatic cleaning function according to claim 1, characterized in that, Each air pipe fixing seat (70) comprises a mounting body (71) penetrating through the mounting frame (60), the mounting body (71) is provided with external threads, and two adjusting nuts (72) are matchedly mounted on the external threads.

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