Automatic nozzle manipulator with adjustment function and nozzle adjustment method thereof

Abstract

The present invention relates to an automatic suction nozzle manipulator with an adjustment function and a suction nozzle adjustment method thereof, the manipulator comprises two horizontal and relatively parallel clamping bars, movable seats are slidingly provided on opposite side walls of the two clamping bars along the length direction, a suction nozzle outer tube is vertically provided between the two movable seats, a suction nozzle inner tube is axially slidingly provided in the suction nozzle outer tube, a stroke adjustment component is provided on the suction nozzle inner tube, a sphere is coaxially provided on the suction nozzle outer tube, a positioning groove adapted to the sphere is provided on the movable seat, and the depth of the positioning groove is less than the radius of the sphere; the manipulator also comprises a spacing adjustment component for adjusting the spacing between the two clamping bars, the cavity between the two positioning grooves forms a movable cavity for the free rotation of the sphere, the two clamping bars form a unit, and a plurality of units are horizontally arranged side by side; the present scheme has strong adaptability, and can be used not only for transporting planar workpieces, but also for adsorbing and transporting workpieces with uneven surfaces, thereby avoiding the deformation of light and thin workpieces during the transportation process.

Description

Technical Field

[0001] The present invention relates to the field of automated production technology, and in particular to an automated nozzle manipulator with an adjustment function and a nozzle adjustment method thereof. Background Art

[0002] The vacuum nozzle is a very common accessory in industrial production machinery. It is shaped like a flat conical rubber nozzle. At the bottom of the nozzle is a sealed tube connected to a vacuum pump. When working, the air in the nozzle is pumped out through the sealed tube, so that the nozzle is firmly adsorbed on the surface of the object, thereby transporting and delivering the object.

[0003] At present, in the automated production process, most workpieces are planar workpieces. When adsorbing such workpieces, the suction nozzle can directly stick to the surface for adsorption without making too many operations. However, due to the increasing complexity of products, the workpieces are not limited to planar types, and there are more special-shaped workpieces. For example, when it comes to special-shaped workpieces such as thin sheets, their surfaces are uneven. The designated positions for adsorption by the suction nozzle have horizontal surfaces and inclined surfaces, and the traditional straight up and down adsorption method cannot meet the adsorption requirements of the inclined surface. The adsorption point can only be abandoned. However, this will cause some parts of the workpiece to be subjected to uneven force, resulting in deformation during transportation, which in turn leads to a loss of the shape yield of the workpiece, which can only be corrected through later processing, which undoubtedly increases the processing time cost and equipment cost. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and provide an automated nozzle manipulator with an adjustment function and a nozzle adjustment method thereof. The automated nozzle manipulator with an adjustment function and a nozzle adjustment method thereof can well solve the above-mentioned problems.

[0005] In order to achieve the above requirements, the technical solution adopted by the present invention to solve the technical problem is:

[0006] An automated suction nozzle manipulator with an adjustment function is provided, the manipulator includes two horizontal and relatively parallel clamping bars, movable seats are slidingly provided on the opposite side walls of the two clamping bars along the length direction, a suction nozzle outer tube is vertically provided between the two movable seats, a suction nozzle inner tube is axially slidingly provided in the suction nozzle outer tube, a stroke adjustment component is provided on the suction nozzle inner tube, a sphere is coaxially provided on the suction nozzle outer tube, a positioning groove adapted to the sphere is provided on the movable seat, and the depth of the positioning groove is less than the radius of the sphere; the manipulator also includes a spacing adjustment component for adjusting the spacing between the two clamping bars, the cavity between the two positioning grooves forms a movable cavity for the free rotation of the sphere, the two clamping bars form a unit, and there are multiple units horizontally arranged side by side.

[0007] The automated suction nozzle manipulator with adjustment function described in the present invention, wherein the stroke adjustment component includes a downward limit sleeve, the upper end of the suction nozzle inner tube is provided with a threaded section extending out of the suction nozzle inner tube, and the downward limit sleeve is threadedly connected to the threaded section, and the stroke adjustment component also includes a reset spring mounted on the suction nozzle outer tube, the reset spring is located between the sphere and the downward limit sleeve, the upper end of the reset spring is connected to the downward limit sleeve, and the lower end is connected to the suction nozzle outer tube.

[0008] The automated suction nozzle manipulator with adjustment function described in the present invention, wherein the stroke adjustment component also includes an upward limit sleeve screwed on the lower end of the suction nozzle inner tube, and in the initial state, the downward limit sleeve rests on the upper end face of the suction nozzle outer tube, and a stroke gap is provided between the upward limit sleeve and the lower end of the suction nozzle outer tube.

[0009] The automated nozzle manipulator with an adjustment function described in the present invention is characterized in that the upper end of the reset spring is coaxially rotatably connected to the downward limiting sleeve via a connecting piece.

[0010] The automated suction nozzle manipulator with adjustment function described in the present invention is characterized in that the downward limit sleeve is a prismatic structure and a ring-shaped limit platform is protruding from the lower end of its outer wall, the connecting piece is annular and its inner hole is adapted to the downward limit sleeve, and an annular groove is provided on the outer wall of the downward limit sleeve flush with the upper surface of the annular limit platform, and the diameter of the annular groove is less than or equal to the minimum diameter of the annular connecting piece.

[0011] The automated nozzle manipulator with adjustment function described in the present invention, wherein the spacing adjustment component includes a linear drive unit provided on one of the clamping bars, and a connecting arm connected to the other clamping bar; the connecting arm is connected to the movable terminal of the linear drive unit.

[0012] The automated suction nozzle manipulator with an adjustment function described in the present invention is characterized in that the clamping bar is provided with a slide groove for the movable seat to slide, and the upper and lower inner walls of the slide groove are provided with ribs along the length direction, and the movable seat is provided with a limiting groove corresponding to the rib. When assembled in place, the movable seat slides and fits with the inner wall of the slide groove and the surface of the rib.

[0013] The automated nozzle manipulator with adjustment function described in the present invention further includes a mounting frame, a lifting mechanism for driving the mounting frame to rise and fall, and a transverse mechanism for driving the lifting mechanism to move transversely; multiple units are arranged side by side on the mounting frame.

[0014] A method for adjusting the nozzle of an automated nozzle manipulator with an adjustment function is also provided, the method comprising the following steps:

[0015] The distance between the two clamping bars is increased by the adjustment assembly so that the movable seat can slide on the clamping bars and the ball can rotate in the movable cavity;

[0016] Rotate the sphere so that corresponding adsorption points on the plurality of inner tube workpieces of the nozzle are vertical;

[0017] The distance between the lower end of the inner tube of the suction nozzle and the workpiece is reduced by the stroke adjustment component so that the lower end of the inner tube of the suction nozzle is vertically aligned with the adsorption point on the workpiece;

[0018] The distance between the two clamping strips is reduced by the adjusting assembly so that the two clamping strips clamp the two movable seats and the inner walls of the two positioning grooves are pressed against the side walls of the sphere, thereby fixing the outer tube of the nozzle.

[0019] The beneficial effects of the present invention are: strong adaptability, not only can be used to transport flat workpieces, but also can be used to adsorb and transport workpieces with uneven surfaces. At the same time, when used to transport special-shaped workpieces, the suction nozzle inner tube with adjustable stroke and swingable angle can achieve vertical adsorption of non-horizontal adsorption positions of the workpiece, which can avoid deformation of light and thin workpieces due to uneven force during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below with reference to the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts.

[0021] Figure 1 It is the overall structural diagram of the present invention.

[0022] Figure 2 yes Figure 1 A magnified view of the local structure.

[0023] Figure 3 It is a schematic diagram of the assembly of the inner tube and outer tube of the suction nozzle of the present invention.

[0024] Figure 4 It is a schematic diagram of the connection relationship between the connecting piece and the upward limiting sleeve of the present invention.

[0025] Figure 5 2 is a diagram showing the relative positions of two adjacent clamping strips of the present invention.

[0026] Figure 6 It is a schematic diagram of the assembly of the spacing adjustment component and the clamping strip of the present invention.

[0027] Figure 7 It is a flow chart for implementing the adjustment method of the present invention. DETAILED DESCRIPTION

[0028] The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of the present invention are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0029] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] "Multiple" refers to two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0031] Moreover, the terms "up, down, left, right, upper end, lower end, longitudinal" and the like indicating directions are all based on the posture and position of the device or apparatus described in this solution during normal use.

[0032] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the following will be a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work shall fall within the scope of protection of the present invention.

[0033] The automatic nozzle manipulator with adjustment function of the preferred embodiment of the present invention is as follows: Figure 1-6As shown, the manipulator includes two horizontal and relatively parallel clamping bars 1, and movable seats 2 are slidably provided on the opposite side walls of the two clamping bars 1 along the length direction, a suction nozzle outer tube 3 is vertically provided between the two movable seats 2, a suction nozzle inner tube 4 is axially slidably provided in the suction nozzle outer tube 3, a stroke adjustment component 5 is provided on the suction nozzle inner tube 4, a sphere 6 is coaxially provided on the suction nozzle outer tube 3, and a positioning groove 7 adapted to the sphere 6 is provided on the movable seat 2, and the depth of the positioning groove 7 is less than the radius of the sphere 6; the manipulator also includes a spacing adjustment component 8 for adjusting the spacing between the two clamping bars 1, and the cavity between the two positioning grooves 7 forms a movable cavity 9 for the free rotation of the sphere 6. The two clamping bars 1 form a unit, and there are multiple units horizontally arranged side by side; the manipulator of this scheme has strong adaptability and flexible use. When adsorbing workpieces, the spacing between the two clamping bars is increased by the spacing adjustment component 8. The spacing between the bars 1 allows the movable seat 2 to slide freely and move above the adsorption position. At the same time, the ball 6 can rotate freely to the corresponding adsorption position facing the workpiece. Of course, the maximum adjustment stroke of the two clamping bars 1 needs to be less than twice the maximum depth of the ball 6 in the positioning groove 7 to prevent the ball 6 from falling directly out of the positioning groove 7. The stroke adjustment component 5 is further used to adapt the high and low positions of the adsorption position, thereby achieving a uniform distribution of the adsorption positions of the workpiece. It can be used not only for transporting planar workpieces, but also for adsorbing and transporting workpieces with uneven surfaces. At the same time, when transporting special-shaped workpieces, the suction nozzle inner tube 4 with adjustable stroke and swingable angle can achieve vertical adsorption of non-horizontal adsorption positions of the workpiece, which can avoid deformation of thin and light workpieces due to uneven force during transportation.

[0034] Preferably, the stroke adjustment component 5 includes a downward limiting sleeve 51, the upper end of the nozzle inner tube 4 is provided with a threaded section 41 extending out of the nozzle inner tube 4, and the downward limiting sleeve 51 is screwed on the threaded section 41. Further, the stroke adjustment component 5 also includes a return spring 52 sleeved on the nozzle outer tube 3, and the return spring 52 is located between the ball 6 and the downward limiting sleeve 51. The upper end of the return spring 52 is connected to the downward limiting sleeve 51, and the lower end is connected to the nozzle outer tube 3. Further, the stroke adjustment component 5 also includes an upward limiting sleeve 53 screwed on the lower end of the nozzle inner tube 4 In the initial state, the downward limit sleeve 51 rests on the upper end surface of the nozzle outer tube 3, and a travel gap 10 is provided between the upward limit sleeve 53 and the lower end of the nozzle outer tube 3. When the height of the nozzle inner tube 4 needs to be adjusted to match the adsorption surface of the workpiece, the height of the downward limit sleeve 51 can be adjusted to realize the lifting and lowering of the nozzle inner tube 4. When the adjustment is in place, the rising distance of the nozzle inner tube 4 can be limited by adjusting the upper and lower positions of the upward limit sleeve to prevent the nozzle inner tube 4 from rising excessively, and at the same time, it can also prevent the reset spring 52 from being excessively stretched.

[0035] Preferably, the upper end of the return spring 52 is coaxially rotatably connected to the downward limit sleeve 51 through a connecting piece 11. Specifically, the downward limit sleeve 51 is a hexagonal prism structure and a ring limit platform 12 is convexly provided at the lower end of its outer wall. The connecting piece 11 is annular and its inner hole is adapted to the outer contour of the downward limit sleeve 51. An annular groove 13 is provided on the lower end of the outer wall of the downward limit sleeve 51 corresponding to the upper surface of the annular limit platform 12. The annular groove 13 is located on the inner wall below and is flush with the upper surface of the annular limit platform 12. The diameter of the annular groove 13 is less than or equal to the minimum diameter of the annular connecting piece 11, that is, less than or equal to the distance between the two parallel inner side walls of the annular connecting piece 11, so as to ensure that the annular connecting piece 11 can rotate coaxially horizontally with the downward limit sleeve 51. The annular connecting piece 11 can realize the separation of the telescopic movement of the return spring 52 from the rotation and telescopic movement of the inner tube 4 of the nozzle, so as to avoid interference between the movements of the two.

[0036] Preferably, the spacing adjustment assembly 8 includes a linear drive unit 81 provided on one clamping bar 1, and a connecting arm 82 connected to the other clamping bar 1; the connecting arm 82 is connected to the movable terminal of the linear drive unit 81, and the movement direction of the movable terminal of the linear drive unit 81 is perpendicular to the clamping bar 1 to ensure that two adjacent clamping bars 1 can be parallel to each other and separated or approached.

[0037] Preferably, the clamping bar 1 is provided with a slide groove 14 for the movable seat 2 to slide, and the upper and lower inner walls of the slide groove 14 are provided with ribs 15 along the length direction. The movable seat 2 is provided with a limiting groove 16 corresponding to the rib 15. When assembled in place, the movable seat 2 slides and fits with the inner wall of the slide groove 14 and the surface of the rib 15. The movable seat 2 can be confined to the clamping bar 1 through the cooperation of the limiting platform and the rib 15, so as to facilitate assembly and prevent the movable seat 2 from accidentally falling during maintenance and disassembly.

[0038] Preferably, the robot also includes a mounting frame 17, a lifting mechanism 18 for driving the mounting frame 17 to rise and fall, and a transverse movement mechanism 19 for driving the lifting mechanism 18 to move transversely; multiple units are arranged side by side on the mounting frame to facilitate the alignment and adsorption of multiple positions of the workpiece and the transportation of the workpiece.

[0039] The nozzle adjustment method of the automatic nozzle manipulator with adjustment function in the preferred embodiment of the present invention is as follows: Figure 7 As shown, the method includes the following steps:

[0040] Step S10: Enlarging the distance between the two clamping bars 1 by adjusting the assembly so that the movable seat 2 can slide on the clamping bar 1 and the ball 6 can rotate in the movable cavity 9;

[0041] Step S20: rotating the sphere so that the corresponding adsorption points on the workpiece of the multiple nozzle inner tubes 4 are vertical;

[0042] Step S30: The distance between the lower end of the nozzle inner tube 4 and the workpiece is reduced by the stroke adjustment component 5 so that the lower end of the nozzle inner tube 4 is vertically aligned with the suction point on the workpiece;

[0043] Step S40: By adjusting the assembly, the distance between the two clamping bars 1 is reduced so that the two clamping bars 1 clamp the two movable seats and the inner walls of the two positioning grooves 7 are pressed against the side walls of the sphere 6, thereby fixing the outer tube 3 of the nozzle.

[0044] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An automatic nozzle manipulator with adjustment function, characterized in that: The robot comprises two horizontal and relatively parallel clamping bars, and movable seats are slidably provided on opposite side walls of the two clamping bars along the length direction, a nozzle outer tube is vertically provided between the two movable seats, a nozzle inner tube is axially slidably provided in the nozzle outer tube, a stroke adjustment component is provided on the nozzle inner tube, a ball is coaxially provided on the nozzle outer tube, a positioning groove adapted to the ball is provided on the movable seat, the depth of the positioning groove is less than the radius of the ball; the robot further comprises a spacing adjustment component for adjusting the spacing between the two clamping bars, a cavity between the two positioning grooves forms a movable cavity for the free rotation of the ball, the two clamping bars form a unit, and a plurality of the units are horizontally arranged side by side; The stroke adjustment assembly includes a downward limiting sleeve, the upper end of the suction nozzle inner tube is provided with a threaded section extending out of the suction nozzle inner tube, the downward limiting sleeve is threadedly connected to the threaded section, the stroke adjustment assembly also includes a return spring sleeved on the suction nozzle outer tube, the return spring is located between the ball and the downward limiting sleeve, the upper end of the return spring is connected to the downward limiting sleeve, and the lower end is connected to the suction nozzle outer tube; The stroke adjustment assembly further includes an upward limit sleeve threadedly connected to the lower end of the nozzle inner tube. In an initial state, the downward limit sleeve abuts against the upper end surface of the nozzle outer tube, and a stroke gap is provided between the upward limit sleeve and the lower end of the nozzle outer tube. The upper end of the return spring is coaxially rotatably connected to the downward limit sleeve through a connecting piece; the downward limit sleeve is a prismatic structure and a ring-shaped limit platform is protruded from the lower end of its outer wall, the connecting piece is annular and its inner hole is adapted to the downward limit sleeve, and an annular groove is provided on the outer wall of the downward limit sleeve corresponding to the upper surface of the annular limit platform, and the diameter of the annular groove is less than or equal to the minimum diameter of the annular connecting piece.

2. The automatic nozzle manipulator with adjustment function according to claim 1, characterized in that: The spacing adjustment assembly includes a linear drive unit provided on one of the clamping bars, and a connecting arm connected to the other clamping bar; the connecting arm is connected to a movable terminal of the linear drive unit.

3. The automatic nozzle manipulator with adjustment function according to claim 1, characterized in that: The clamping bar is provided with a sliding groove for the movable seat to slide, and the upper and lower inner walls of the sliding groove are provided with convex ribs along the length direction. The movable seat is provided with a limiting groove corresponding to the convex rib. When assembled in place, the movable seat slides and fits with the inner wall of the sliding groove and the surface of the convex rib.

4. The automatic nozzle manipulator with adjustment function according to claim 1, characterized in that: The manipulator further comprises a mounting frame, a lifting mechanism for driving the mounting frame to move up and down, and a transverse mechanism for driving the lifting mechanism to move transversely; a plurality of the units are arranged side by side on the mounting frame.

5. A nozzle adjustment method for an automatic nozzle manipulator with an adjustment function, according to any one of claims 1 to 4, characterized in that: The method comprises the following steps: The distance between the two clamping bars is increased by the adjustment assembly so that the movable seat can slide on the clamping bars and the ball can rotate in the movable cavity; Rotate the sphere so that corresponding adsorption points on the plurality of inner tube workpieces of the nozzle are vertical; The distance between the lower end of the inner tube of the suction nozzle and the workpiece is reduced by the stroke adjustment component so that the lower end of the inner tube of the suction nozzle is vertically aligned with the adsorption point on the workpiece; The adjustment component is used to reduce the distance between the two clamping bars so that the two clamping bars clamp and fix the two movable seats, and the inner walls of the two positioning grooves are pressed tightly against the side walls of the sphere, thereby fixing the outer tube of the nozzle.

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