A suction-type grasping adjustment device for regular-shaped objects

Abstract

The present invention relates to a suction-type grasping and adjusting device for regular-shaped objects, which comprises: a bracket and a clamping mechanism located at the foremost end of the bracket for clamping an article from the ground and transporting it backward; a transmission mechanism arranged at the front end of the bracket and located at the rear of the clamping mechanism for transporting the article transported by the clamping mechanism backward; and being in transmission connection with the clamping mechanism, the clamping mechanism is driven by the transmission mechanism to rotate in the horizontal plane so that the clamping mechanism performs an opening and closing action to clamp the article; a storage and adjustment mechanism arranged on the bracket and located at the rear of the transmission mechanism for storing the article transported by the transmission mechanism, and at the same time cooperating with the transmission mechanism to perform all-round attitude adjustment of the article in the horizontal plane and the vertical plane. The present invention has high packing efficiency and can perform all-round attitude adjustment on the goods. The present invention can be applied in the field of mechanical equipment manufacturing.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical equipment production and manufacturing, and in particular to a suction-type grasping and adjusting device for objects of regular shapes. Background Art

[0002] In manufacturing, most products need to be packed after production. The current common method is to add a manual workstation at the end of the production line to manually pick up and pack the goods, which is time-consuming and labor-intensive, with high labor costs, increased workload of staff, and low packing efficiency. There is also a method of using vacuum suction cups, which has no storage space, low efficiency, and can only adjust the posture of goods on the horizontal plane. Therefore, there is a lack of structures on the market that can meet both high efficiency and adjust the posture of goods. Summary of the invention

[0003] In view of the above problems, the object of the present invention is to provide a suction-type grabbing and adjusting device for objects of regular shapes, which has high packing efficiency and can perform all-round posture adjustment on the goods.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a suction-type grasping and adjusting device for objects of regular shapes, comprising: a bracket; a clamping mechanism, located at the front end of the bracket, used to clamp the object from the ground and transmit it backward; a transmission mechanism, arranged at the front end of the bracket and located at the rear end of the clamping mechanism, transmitting the object transmitted by the clamping mechanism backward; and being transmission-connected with the clamping mechanism, the clamping mechanism is driven by the transmission mechanism to rotate in the horizontal plane, so that the clamping mechanism opens and closes to clamp the object; a storage adjustment mechanism, arranged on the bracket and located at the rear end of the transmission mechanism, storing the object transmitted by the transmission mechanism, and cooperating with the transmission mechanism to perform all-round posture adjustment of the object in the horizontal and vertical planes.

[0005] Further, the clamping mechanism includes two suction arms, and the suction arms include:

[0006] The suction support part is composed of two suction plates, and the two suction plates are fixedly connected;

[0007] The reeling motor mounting plates are provided in two pieces and are mounted on the rear end of the reeling support portion. The front ends of the two reeling motor mounting plates are both located outside the two reeling plates. A reeling motor is provided on the upper part of the connection between the reeling motor mounting plates and the reeling plates.

[0008] The driving connection part is arranged at the rear end of the winding motor mounting plate and includes a turning shaft, a first chain gear and a first cylinder; the turning shaft is vertically installed between the two winding motor mounting plates, the inner end of the turning shaft is connected to the transmission mechanism, and the outer end of the turning shaft is successively provided with the first chain gear and one end of the first cylinder from inside to outside; the first chain gear is in transmission connection with the transmission mechanism, and the other end of the first cylinder is fixed on the winding plate;

[0009] The winding part is arranged on the winding support part and includes a first driving wheel, a first driven wheel and a first synchronous belt located between the two winding plates, and a rolling suction friction wheel located outside the two winding plates; the first driving wheel is coaxially connected to the output shaft of the winding motor, the first driven wheel is arranged at the front end of the winding support part and is in transmission connection with the first driving wheel through the first synchronous belt; at least two rolling suction friction wheels are provided, which are respectively arranged outside the two winding plates and are coaxially connected to the end of the rotating shaft of the first driven wheel, and the first driven wheel drives the rolling suction friction wheels to rotate to suck an object.

[0010] Further, the transmission mechanism includes two transfer arms, at least two carbon tubes are connected between the two transfer arms, and both ends of the carbon tube extend out of the transfer arm to form a first extension part, and a transfer motor for driving the transfer arm to transfer is arranged in the middle of the carbon tube at the front end of the transfer arm; a clamping arm is connected to the outside of each transfer arm through the first extension part, the front end of the clamping arm is in transmission connection with the first chain gear in the clamping mechanism, and the rear end of the clamping arm is installed on the bracket and is in transmission connection with the storage adjustment mechanism.

[0011] Further, the transfer arm includes a first transmission structure, a synchronous belt gear, a transfer plate and a second synchronous belt; a plurality of synchronous belt gears are provided and are arranged at intervals between the two transfer plates; the input end of the first transmission structure is connected to the output end of the transfer motor, the output end of the first transmission structure is connected to the synchronous belt gear at the front end to drive the synchronous belt gear to rotate, and the synchronous belt gears on all the transfer arms are in transmission connection through the second synchronous belt to realize the transfer of articles.

[0012] Further, the clamping arm includes a clamping large side plate, a clamping small side plate, a clamping transmission shaft, a second chain gear, a third chain gear and a first chain;

[0013] The inner side of the large clamping side plate is fixedly connected to the first extension part, and the small clamping side plate is arranged on the outer side of the front end of the large clamping side plate; both horizontal ends of the turning shaft 204 of the clamping mechanism are fixed between the large clamping side plate and the small clamping side plate, and the first chain gear is also located between the large clamping side plate and the small clamping side plate; the rear ends of the large clamping side plates in the two clamping arms are connected through the clamping transmission shaft, and the end of the clamping transmission shaft passes through the large clamping side plate to form a second extension part. The second chain gear and the third chain gear are sequentially arranged on the second extension part from the inside to the outside. The second chain gear is in transmission connection with the first chain gear of the clamping mechanism through the first chain, driving the turning shaft to act, and the turning shaft drives the first air cylinder of the clamping mechanism to expand and contract; the third chain gear is in transmission connection with the storage adjustment mechanism.

[0014] Furthermore, the clamping arm further includes a rotating motor mounting seat and a rotating motor; the rotating motor mounting seat is arranged on both sides of the rear end of the large clamping side plate, one end of which is mounted on the clamping transmission shaft and is located inside the second chain gear; the other end of the rotating motor mounting seat is fixed on the bracket; the rotating motor is mounted on the side of the rotating motor mounting seat, and the output shaft of the rotating motor passes through the side wall of the rotating motor mounting plate and is coaxial with the rotating main gear located inside the rotating motor mounting plate. The rotating main gear drives the large clamping side plate to act, so that the large clamping side plate moves up and down in the vertical direction.

[0015] Furthermore, the rear end of the large clamping side plate adopts a gear disc structure, and this gear disc structure meshes with the rotating main gear, and the rotating motor drives the large clamping side plate to rotate in the vertical plane.

[0016] Furthermore, the storage adjustment mechanism includes a clamping motor, a fourth chain gear, a second chain, a steering arm, a second air cylinder and a fixed seat; two clamping motors are provided, and each clamping motor is fixed at the front end of the bracket, and its output end is coaxially connected to the fourth chain gear. The fourth chain gear is in transmission connection with the third chain gear in the transmission mechanism through the second chain, and further drives the clamping transmission shaft in the transmission mechanism to rotate, and the second chain gear arranged on the clamping transmission shaft rotates, driving the clamping mechanism to act; two fixed seats are provided, and the two fixed seats are arranged on both sides of the middle part of the bracket. A steering arm is slidably arranged on the upper part of each fixed seat, and the two steering arms are connected through the second air cylinder, so that the two steering arms slide horizontally on their respective fixed seats to store the article and adjust its posture.

[0017] Further, the steering arm includes a large steering plate, a small steering plate, a motor, a synchronously rotating main gear, a third synchronous belt, and a synchronously rotating driven gear; the large steering plate is fixedly connected to the small steering plate, the bottom of the rear end of the large steering plate is fixed on the slider (406) of the fixed seat, the motor is arranged at the bottom of the large steering plate near the fixed seat side, the output shaft of the motor passes through the large steering plate and is coaxially connected to the synchronously rotating main gear located between the large steering plate and the small steering plate to drive the synchronously rotating main gear to rotate; the synchronously rotating main gear is in transmission connection with the synchronously rotating driven gear through the third synchronous belt, the synchronously rotating driven gear is arranged at the front end between the large steering plate and the small steering plate, and the attitude adjustment of the article is realized through the steering of the two third synchronous belts.

[0018] Further, the attitude adjustment of the article is as follows:

[0019] When the two third synchronous belts rotate in opposite directions, the article can be rotated 360° in the horizontal plane to realize the horizontal attitude adjustment;

[0020] When the two third synchronous belts rotate in the same direction, the article located in the two storage plates (405) is driven to move forward. At this time, the transmission mechanism rotates upward under the drive of the rotating motor, so that the transfer arm in the transmission mechanism contacts the front end of the article, and under the drive of the second synchronous belt in the transfer arm, the article rotates 360° in the vertical plane to realize the vertical attitude adjustment.

[0021] Due to the adoption of the above technical solutions, the present invention has the following advantages:

[0022] 1. Through the steering of the two third synchronous belts and the cooperation with the transfer arm in the transmission mechanism, the present invention realizes the all-round attitude adjustment of the article, and the packing efficiency is relatively high.

[0023] 2. When the two third synchronous belts of the present invention rotate in opposite directions, the article can be rotated 360° in the horizontal plane to realize the horizontal attitude adjustment; when the two third synchronous belts rotate in the same direction, the article located in the two storage plates is driven to move forward. At this time, the transmission mechanism rotates upward under the drive of the rotating motor, so that the transfer arm in the transmission mechanism contacts the front end of the article, and under the drive of the second synchronous belt in the transfer arm, the article rotates 360° in the vertical plane to realize the vertical attitude adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the overall structural schematic diagram of the suction type gripping device for regular-shaped objects in an embodiment of the present invention;

[0025] Figure 2 is the structural schematic diagram of the clamping mechanism in an embodiment of the present invention;

[0026] Figure 3 It is a schematic structural diagram of the conveying mechanism in an embodiment of the present invention;

[0027] Figure 4 It is a schematic structural diagram of the storage adjustment mechanism in an embodiment of the present invention;

[0028] Reference numerals:

[0029] 100 - Bracket, 101 - Double - pass hexagonal aluminum column, 102 - Double - pass hexagonal copper column;

[0030] 200 - Entraining arm, 201 - Entraining plate, 202 - Entraining motor mounting plate, 203 - Entraining motor, 204 - Tipping shaft, 205 - First chain gear, 206 - First cylinder, 207 - First driving wheel, 208 - First driven wheel, 209 - First synchronous belt, 210 - Rolling suction friction wheel;

[0031] 300 - Carbon tube, 301 - Conveying motor, 302 - Synchronous belt gear, 303 - Conveying plate, 304 - Second synchronous belt, 305 - Transmission gear set, 306 - Clamping large side plate, 307 - Clamping small side plate, 308 - Clamping transmission shaft, 309 - Second chain gear, 310 - Third chain gear, 311 - First chain, 312 - Rotating motor mounting base, 313 - Rotating motor;

[0032] 400 - Clamping motor, 401 - Fourth chain gear, 402 - Second chain, 403 - Second cylinder, 404 - Fixed plate, 405 - Storage plate, 406 - Slide block, 407 - Bearing, 408 - Large steering plate, 409 - Small steering plate, 410 - Motor, 411 - Synchronous rotation main gear, 412 - Third synchronous belt, 413 - Synchronous rotation driven gear. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention fall within the scope of protection of the present invention.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] In one embodiment of the present invention, a suction-type gripping and adjusting device for objects of regular shapes is provided. Figures 1 to 4 As shown, the suction-type grabbing device comprises:

[0036] The bracket 100 is used to carry other components of the suction grabbing device, and walking mechanisms are arranged on both sides thereof, and the walking mechanisms drive the entire suction grabbing device to move;

[0037] The clamping mechanism is located at the front end of the support 100 and is used to clamp the items to be packed from the ground and transfer them backwards;

[0038] The transmission mechanism is arranged at the front end of the bracket 100 and at the rear end of the clamping mechanism, and is used to transmit the object transmitted by the clamping mechanism backward; and is in transmission connection with the clamping mechanism, and the transmission mechanism drives the clamping mechanism to rotate in the horizontal plane, so that the clamping mechanism performs an opening and closing action to clamp the object;

[0039] The storage adjustment mechanism is arranged on the bracket 100 and is located at the rear end of the transmission mechanism. It stores the objects transmitted by the transmission mechanism and cooperates with the transmission mechanism to adjust the posture of the objects in all directions in the horizontal and vertical planes.

[0040] In a preferred embodiment, the bracket 100 is composed of an aluminum square tube, and the walking mechanism is arranged on both sides of the bracket 100. In this embodiment, the walking mechanism can be realized by using the driving wheels and corresponding driving motors and driving controllers in the prior art. This is not limited in this embodiment and will not be described in detail.

[0041] In a preferred embodiment, Figure 2 As shown, the clamping mechanism adopts a rolling suction structure, including two rolling suction arms 200. The structural principles of the two rolling suction arms 200 are similar, and only one of them is taken as an example for detailed description.

[0042] The suction arm 200 comprises:

[0043] The suction support part is composed of two suction plates 201, and the two suction plates 201 are fixedly connected to form an H-like structure;

[0044] In this embodiment, the two suction plates 201 are fixedly connected by double-pass hexagonal aluminum columns 101. At least one double-pass hexagonal aluminum column 101 is provided, and multiple double-pass hexagonal aluminum columns 101 are arranged at intervals between the two suction plates 201. Both the front end and the rear end of the two suction plates 201 have accommodation spaces for arranging the suction part and the driving connection part respectively.

[0045] There are two suction motor mounting plates 202, which are installed at the rear end of the suction support part. The front ends of the two suction motor mounting plates 202 are both located outside the two suction plates 201, and a suction motor 203 is arranged above the connection between the suction motor mounting plate 202 and the suction plate 201. In this embodiment, the suction motor 203 is fixed to the aforementioned connection by a flange bearing.

[0046] The driving connection part is arranged at the rear end of the suction motor mounting plate 202 and includes a turning shaft 204, a first chain gear 205 and a first cylinder 206. The turning shaft 204 is installed vertically between the two suction motor mounting plates 202. The inner end of the turning shaft 204 is connected to the transmission mechanism. The outer end of the turning shaft 204 is sequentially provided with a first chain gear 205 and one end of the first cylinder 206 from inside to outside. The first chain gear 205 is in transmission connection with the transmission mechanism, and the other end of the first cylinder 206 is fixed to the suction plate 201. Preferably, the first cylinder 206 is fixed to the suction plate 201 by a spherical eye bearing.

[0047] During use, the first chain gear 205 is driven by the transmission mechanism to rotate, the turning shaft 204 is driven by the first chain gear 205 to act, and then the first cylinder 206 is driven to act. The first cylinder 206 drives the suction support part to perform an opening and closing action in the horizontal plane.

[0048] The suction part is arranged on the suction support part and includes a first driving wheel 207, a first driven wheel 208 and a first synchronous belt 209 located between the two suction plates 201, and a rolling suction friction wheel 210 located outside the two suction plates 201. The first driving wheel 207 is coaxially connected to the output shaft of the suction motor 203, and the first driving wheel 207 is driven to rotate by the suction motor 203. The first driven wheel 208 is arranged at the front end of the suction support part and is in transmission connection with the first driving wheel 207 through the first synchronous belt 209. At least two rolling suction friction wheels 210 are provided, which are respectively arranged outside the two suction plates 201 and are coaxially connected to the end of the rotating shaft of the first driven wheel 208. The first driven wheel 208 drives the rolling suction friction wheels 210 to rotate to realize the suction of an object.

[0049] In this embodiment, the rolling suction friction wheel 210 and the two coiling arms 200 act jointly to suck and convey the article backward. After the rolling suction friction wheels 210 on both sides come into contact with the article, the article is picked up by the resultant force of the frictional forces. The first cylinder 206 is constantly pushed out during the forward suction process and retracts at the calibration position.

[0050] Specifically, the following parameters are set. Let x be the distance between the center of the rolling suction friction wheel 210 and the edge of the goods when the two coiling arms 200 are in the closed state, and F 卷吸部 be the pressure exerted by the coiling part on the article, and F 气缸 be the thrust exerted by the first cylinder 206 on the coiling part. Let L 卷吸部 and L 气缸 be the force arms of F 卷吸部 and F 气缸 respectively, and let f 轮 be the frictional force between the rolling suction friction wheel 210 and the article, and F 物品 be the pressure on the article. The compound grasping operation of the friction wheel - coiling arm needs to meet the following conditions:

[0051] x > 0;

[0052] In addition, in the compound grasping of the friction wheel - coiling arm:

[0053]

[0054] Taking a 200 - mm cube as an example, it is assumed that the diameter of the rolling suction friction wheel 210 is 40 mm, and L 卷吸部

[0055] ≥ 150 mm. To achieve the highest efficiency, the first cylinder 206 is a cylinder of the model AirTAC MI8 - 10CA. According to the specification data of the AirTAC cylinder and the cylinder theoretical output force table, the cylinder thrust F 气缸 = 2.36 N is obtained from the cylinder thrust formula. According to the synchronous belt transmission efficiency, f 轮 = 1.92 N.

[0056] To meet So

[0057] Due to the influence of the overall structure, finally L 气缸 = 38.1 mm; L 卷吸部 = 196.3 mm; To ensure the contact surface of the rolling suction friction wheel 210, the contact angle between the rolling suction friction wheel 210 and the article is finally set to 30°; x = 17.33 mm; F 物品 = 2.2 N.

[0058] In a preferred embodiment, asFigure 1 , Figure 3 As shown in Figure 3 , the transmission mechanism includes two identical transfer arms. At least two carbon tubes 300 are connected between the two transfer arms. Both ends of the carbon tube 300 extend out of the transfer arms to form a first extension part. A transfer motor 301 for driving the transfer arms to perform transmission is provided in the middle of the carbon tube 300 at the front end of the transfer arm. A clamping arm is connected to the outside of each transfer arm through the first extension part of the carbon tube 300. The front end of the clamping arm is in transmission connection with the first chain gear 205 in the clamping mechanism. The rear end of the clamping arm is installed on the bracket 100 and is in transmission connection with the storage adjustment mechanism.

[0059] In this embodiment, the transfer arm includes a first transmission structure, a synchronous belt gear 302, a transfer plate 303, and a second synchronous belt 304. A plurality of synchronous belt gears 302 are provided and are arranged at intervals between the two transfer plates 303. The input end of the first transmission structure is connected to the output end of the transfer motor 301 and is driven by the transfer motor 301 to work. The output end of the first transmission structure is connected to the synchronous belt gear 302 at the front end to drive the synchronous belt gear 302 to rotate. The synchronous belt gears 302 on all transfer arms are in transmission connection through the second synchronous belt 304. Furthermore, the second synchronous belt 304 is driven by the first transmission structure to rotate, realizing the transmission of items.

[0060] Among them, the first transmission structure includes a transmission gear set 305. The driving active gear in the transmission gear set 305 is coaxially connected to the output shaft of the transfer motor 301. The driven gear in the transmission gear set 305 meshes with the driving active gear to drive the driven gear to rotate. The driven gear is coaxially connected to the transmission shaft arranged between the two transfer arms, and both ends of the transmission shaft are respectively connected to the synchronous belt gears 302 on each transfer arm to drive the synchronous belt gears 302 to rotate, so as to transfer the object to the storage adjustment mechanism.

[0061] Preferably, the transmission shaft is a D shaft.

[0062] In this embodiment, the clamping arm includes a large clamping side plate 306, a small clamping side plate 307, a clamping transmission shaft 308, a second chain gear 309, a third chain gear 310, and a first chain 311.

[0063] The inner side of the large clamping side plate 306 is fixedly connected to the first extension part of the carbon tube 300. The small clamping side plate 307 is arranged on the outer side of the front end of the large clamping side plate 306 and is fixedly connected by a double-pass hexagonal aluminum column 101. The horizontal ends of the turning shaft 204 of the clamping mechanism are fixed between the large clamping side plate 306 and the small clamping side plate 307, and the first chain gear 205 is also located between the large clamping side plate 306 and the small clamping side plate 307. The rear ends of the large clamping side plates 306 in the two clamping arms are connected by a clamping transmission shaft 308. The end of the clamping transmission shaft 308 passes through the large clamping side plate 306 to form a second extension part. A second chain gear 309 and a third chain gear 310 are sequentially arranged on the second extension part from inside to outside, and the second chain gear 309 is close to the large clamping side plate 306. The second chain gear 309 is in transmission connection with the first chain gear 205 through a first chain 311, thereby driving the turning shaft 204 to act, and the first cylinder 206 is driven to expand and contract by the turning shaft 204. The third chain gear 310 is in transmission connection with the storage adjustment mechanism.

[0064] The clamping arm further includes a rotating motor mounting seat 312 and a rotating motor 313. The rotating motor mounting seat 312 is arranged on both sides of the rear end of the large clamping side plate 306. One end of it is mounted on the clamping transmission shaft 308 and is located inside the second chain gear 309. The other end of the rotating motor mounting seat 312 is fixed on the bracket 100. The rotating motor 313 is mounted on the side part of the rotating motor mounting plate 312 of the rotating motor mounting seat 312. Preferably, the rotating motor 313 is fixed to the rotating motor mounting plate 312 of the rotating motor mounting seat 312 through a clamping flange. The output shaft of the rotating motor 313 passes through the side wall of the rotating motor mounting plate 312 of the rotating motor mounting seat 312 and is coaxial with the rotating main gear located inside the rotating motor mounting plate 312 of the rotating motor mounting seat 312. The rotating main gear drives the large clamping side plate 306 to act, so that the large clamping side plate 306 moves up and down in the vertical direction. When moving downward, it is convenient to drive the clamping mechanism to clamp the articles on the ground, and when moving upward, it can cooperate with the storage adjustment mechanism to realize the attitude adjustment of the articles in the vertical plane.

[0065] In this embodiment, the rear end of the large clamping side plate 306 adopts a gear disc structure, and this gear disc structure meshes with the rotating main gear, and then the large clamping side plate 306 is driven by the rotating motor 313 to rotate in the vertical plane. The clamping transmission shaft 308 passes through the center of the gear disc structure.

[0066] In a preferred embodiment, such as Figure 1 、 Figure 4As shown in the figure, the storage adjustment mechanism includes a clamping motor 400, a fourth chain gear 401, a second chain 402, a steering arm, a second cylinder 403 and a fixed seat. Two clamping motors 400 are provided, and each clamping motor 400 is fixed to the front end of the bracket 100. The output end thereof is coaxially connected to the fourth chain gear 401. The fourth chain gear 401 is drivingly connected to the third chain gear 310 in the transmission mechanism through the second chain 402, thereby driving the clamping transmission shaft 308 to rotate, so that the second chain gear 309 provided on the clamping transmission shaft 308 rotates, and the clamping mechanism is driven by the second chain gear 309 to act. In this embodiment, two fixed seats are provided. The two fixed seats are arranged on both sides of the middle part of the bracket 100. A steering arm is slidably arranged on the upper part of each fixed seat. The two steering arms have the same structure, and the two steering arms are connected by the second cylinder 403, so that the two steering arms slide left and right in the horizontal direction on their respective fixed seats to realize storing the article and adjusting its posture.

[0067] Among them, the fixed seat includes two fixing plates 404, two storage plates 405 and two sliders 406. The two fixing plates 404 are vertically fixed to the bracket 100. One end of the storage plate 405 is vertically and fixedly connected to the front end of the bracket 100, and the other end of the storage plate 405 is vertically and fixedly connected to the front fixing plate 404, and the article is stored by the two storage plates 405. A slide rail for installing the slider 406 is arranged between the two fixing plates 404. The connecting end of the steering arm is fixed to the slider 406, and the slider 406 drives the steering arm to slide left and right in the slide rail under the action of the second cylinder 403.

[0068] Preferably, bearings 407 are arranged on the inner sides of the two storage plates 405, and a carrier (not shown in the figure) for carrying the article is arranged between the bottoms of the two storage plates 405. The friction when the object moves from the conveying mechanism to the storage can be reduced through the bearings 407.

[0069] Such as Figure 4As shown, the steering arm includes a large steering plate 408, a small steering plate 409, a motor 410, a synchronous rotation main gear 411, a third synchronous belt 412 and a synchronous rotation slave gear 413. The large steering plate 408 and the small steering plate 409 are fixedly connected, preferably, fixed by a double-pass hexagonal copper column 102; the rear end bottom of the large steering plate 408 is fixed on the slider 406, and a motor 410 is arranged at the bottom of the large steering plate 408 near the slider 406. The output shaft of the motor 410 passes through the large steering plate 408 and is coaxially connected to the synchronous rotation main gear 411 located between the large steering plate 408 and the small steering plate 409, thereby driving the synchronous rotation main gear 411 to rotate. The synchronous rotation main gear 411 is transmission-connected to the synchronous rotation slave gear 413 through the third synchronous belt 412. The synchronous rotation slave gear 413 is arranged at the front end between the large steering plate 408 and the small steering plate 409. The posture adjustment of the object is achieved by the steering of the third synchronous belt 412 in the two steering arms.

[0070] When the two third synchronous belts 412 rotate in opposite directions, the article can be rotated 360° in the horizontal plane to achieve horizontal posture adjustment; when the two third synchronous belts 412 rotate in the same direction, the articles located in the two storage plates 405 are driven to move forward. At this time, the transmission mechanism rotates upward under the drive of the rotating motor 313, so that the transmission arm in the transmission mechanism contacts the front end of the article, and driven by the second synchronous belt 304 in the transmission arm, the article is rotated 360° in the vertical plane to achieve vertical posture adjustment.

[0071] In the above embodiment, the first synchronous belt 209 , the second synchronous belt 304 and the third synchronous belt 412 are all rubber-surface synchronous belts with a Shore hardness of 60A.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adsorption type grasping and adjusting device for regular-shaped objects, characterized in that, Comprising: A bracket (100); A clamping mechanism located at the foremost end of the bracket (100) for clamping an article from the ground and transporting it rearward; A transmission mechanism disposed at the front end of the bracket (100), behind the clamping mechanism, for transporting the article transported by the clamping mechanism rearward; and being in driving connection with the clamping mechanism, with the transmission mechanism driving the clamping mechanism to rotate in a horizontal plane so that the clamping mechanism performs an opening and closing action to clamp the article; A storage and adjustment mechanism disposed on the bracket (100), behind the transmission mechanism, for storing the article transported by the transmission mechanism, and at the same time cooperating with the transmission mechanism to perform all-round attitude adjustment of the article in the horizontal and vertical planes; The clamping mechanism includes two suction arms (200), and the suction arm (200) includes: A suction support portion composed of two suction plates (201), with the two suction plates (201) fixedly connected between them; Two suction motor mounting plates (202) are provided, mounted at the rear end of the suction support portion. The front ends of the two suction motor mounting plates (202) are both located outside the two suction plates (201), and a suction motor (203) is provided at the upper part of the connection between the suction motor mounting plate (202) and the suction plate (201); A drive connection portion is disposed at the rear end of the suction motor mounting plate (202), including a turning shaft (204), a first chain gear (205), and a first cylinder (206); the turning shaft (204) is vertically installed between the two suction motor mounting plates (202). The inner end of the turning shaft (204) is connected to the transmission mechanism, and the outer end of the turning shaft (204) is successively provided with the first chain gear (205) and one end of the first cylinder (206) from inside to outside; the first chain gear (205) is in driving connection with the transmission mechanism, and the other end of the first cylinder (206) is fixed on the suction plate (201); A suction portion is disposed on the suction support portion, including a first driving wheel (207), a first driven wheel (208), and a first synchronous belt (209) located between the two suction plates (201), and a rolling suction friction wheel (210) located outside the two suction plates (201); the first driving wheel (207) is coaxially connected to the output shaft of the suction motor (203), the first driven wheel (208) is disposed at the front end of the suction support portion and is in driving connection with the first driving wheel (207) through the first synchronous belt (209); at least two rolling suction friction wheels (210) are provided, respectively disposed outside the two suction plates (201) and coaxially connected to the end of the rotating shaft of the first driven wheel (208), and the first driven wheel (208) drives the rolling suction friction wheel (210) to rotate to suck an object; The transmission mechanism includes two transfer arms, and at least two carbon tubes (300) are connected between the two transfer arms. The two ends of the carbon tube (300) extend out of the transfer arms to form a first extension part, and a transfer motor (301) for driving the transfer arms to transmit is arranged in the middle of the carbon tube (300) at the front end of the transfer arm; One clamping arm is connected to the outside of each transfer arm through the first extension part. The front end of the clamping arm is in transmission connection with the first chain gear (205) in the clamping mechanism. The rear end of the clamping arm is installed on the bracket (100) and is in transmission connection with the storage adjustment mechanism.

2. The sucking-type grasping and adjusting device for regular-shaped objects according to claim 1, wherein, The transfer arm includes a first transmission structure, a synchronous belt gear (302), a transfer plate (303) and a second synchronous belt (304). A plurality of synchronous belt gears (302) are arranged at intervals between the two transfer plates (303); The input end of the first transmission structure is connected to the output end of the transfer motor (301), and the output end of the first transmission structure is connected to the synchronous belt gear (302) at the front end to drive the synchronous belt gear (302) to rotate. The synchronous belt gears (302) on all the transfer arms are in transmission connection through the second synchronous belt (304) to realize the transmission of articles.

3. The suction-type grasping adjustment device for regular-shaped objects according to claim 1, characterized in that, The clamping arm includes a large clamping side plate (306), a small clamping side plate (307), a clamping transmission shaft (308), a second chain gear (309), a third chain gear (310) and a first chain (311); The inner side surface of the large clamping side plate (306) is fixedly connected to the first extension part. The small clamping side plate (307) is arranged on the front outer side surface of the large clamping side plate (306); The horizontal direction ends of the turning shaft (204) of the clamping mechanism are fixed between the large clamping side plate (306) and the small clamping side plate (307), and the first chain gear (205) is also located between the large clamping side plate (306) and the small clamping side plate (307); The rear ends of the large clamping side plates (306) in the two clamping arms are connected through the clamping transmission shaft (308). The end part of the clamping transmission shaft (308) passes through the large clamping side plate (306) to form a second extension part. The second chain gear (309) and the third chain gear (310) are sequentially arranged on the second extension part from the inside to the outside. The second chain gear (309) is in transmission connection with the first chain gear (205) of the clamping mechanism through the first chain (311) to drive the turning shaft (204) to act, and the turning shaft (204) drives the first cylinder (206) of the clamping mechanism to expand and contract; The third chain gear (310) is in transmission connection with the storage adjustment mechanism.

4. The suction-type grasping adjustment device for regular-shaped objects according to claim 3, characterized in that The clamping arm further includes a rotating motor mounting seat (312) and a rotating motor (313); the rotating motor mounting seat (312) is arranged on both sides of the rear end of the large clamping side plate (306), one end of which is mounted on the clamping transmission shaft (308) and is located inside the second chain gear (309); the other end of the rotating motor mounting seat (312) is fixed on the bracket (100); the rotating motor (313) is mounted on the side of the rotating motor mounting seat (312), and the output shaft of the rotating motor (313) passes through the side wall of the rotating motor mounting seat (312) and is coaxial with the rotating main gear located inside the rotating motor mounting seat (312), and the rotating main gear drives the large clamping side plate (306) to move, so that the large clamping side plate (306) moves up and down in the vertical direction.

5. The suction-type grasping and adjusting device for regular-shaped objects according to claim 4, wherein The rear end of the large clamping side plate (306) adopts a gear disc structure, and this gear disc structure meshes with the rotating main gear, and the large clamping side plate (306) is driven by the rotating motor (313) to rotate in the vertical plane.

6. The sucking type grasping and adjusting device for regular-shaped objects according to claim 4, characterized in that, The storage adjustment mechanism includes a clamping motor (400), a fourth chain gear (401), a second chain (402), a steering arm, a second cylinder (403) and a fixed seat; two clamping motors (400) are provided, and each clamping motor (400) is fixed at the front end of the bracket (100), and its output end is coaxially connected with the fourth chain gear (401), and the fourth chain gear (401) is in transmission connection with the third chain gear (310) in the transmission mechanism through the second chain (402), so as to drive the clamping transmission shaft (308) in the transmission mechanism to rotate, and the second chain gear (309) arranged on the clamping transmission shaft (308) rotates to drive the clamping mechanism to act; two fixed seats are provided, and the two fixed seats are arranged on both sides of the middle part of the bracket (100), and a steering arm is slidably arranged on the upper part of each fixed seat, and the two steering arms are connected by the second cylinder (403) so that the two steering arms slide horizontally on their respective fixed seats to store the article and adjust its posture.

7. The sucking type grasping and adjusting device for regular-shaped objects according to claim 6, characterized in that, The steering arm includes a large steering plate (408), a small steering plate (409), a motor (410), a synchronous rotation main gear (411), a third synchronous belt (412), and a synchronous rotation driven gear (413); the large steering plate (408) is fixedly connected to the small steering plate (409), the bottom of the rear end of the large steering plate (408) is fixed on the slider (406) of the fixed seat, the motor (410) is arranged at the bottom of the large steering plate (408) close to the fixed seat side, the output shaft of the motor (410) passes through the large steering plate (408) and is coaxially connected to the synchronous rotation main gear (411) located between the large steering plate (408) and the small steering plate (409) to drive the synchronous rotation main gear (411) to rotate; the synchronous rotation main gear (411) is in transmission connection with the synchronous rotation driven gear (413) through the third synchronous belt (412), the synchronous rotation driven gear (413) is arranged at the front end between the large steering plate (408) and the small steering plate (409), and the attitude adjustment of the article is realized through the steering of the two third synchronous belts (412).

8. The sucking type grasping and adjusting device for regular-shaped objects according to claim 7, characterized in that, The attitude adjustment of the article is as follows: When the two third synchronous belts (412) rotate in opposite directions, the article can be rotated 360° in the horizontal plane to realize the horizontal attitude adjustment; When the two third synchronous belts (412) rotate in the same direction, the article located in the two storage plates (405) is driven to move forward. At this time, the transmission mechanism rotates upward under the drive of the rotation motor (313), so that the transfer arm in the transmission mechanism contacts the front end of the article, and under the drive of the second synchronous belt (304) in the transfer arm, the article rotates 360° in the vertical plane to realize the vertical attitude adjustment.

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