An automatic manipulator with the function of carrying different workpieces

Abstract

The application discloses an automatic manipulator with a function of carrying different workpieces, and relates to the technical field of manipulators.The automatic manipulator comprises a pressurizing mechanism, a lifting mechanism, a horizontal moving mechanism and a grabbing mechanism.The pressurizing mechanism comprises magnetic poles A and a cam, and the magnetic poles A and the cam are combined to control the movement of a diaphragm, to control the volume of a chamber on one side of the diaphragm to be increased, to achieve the effects of pressure increase and negative pressure, and to control the delivery after the pressure increase or the negative pressure is completed through corresponding control valves and pipelines.The lifting mechanism comprises a reciprocating sleeve, and the pressurizing mechanism is used to control the pressure of a lower chamber of the reciprocating sleeve to realize the lifting and lowering of the reciprocating sleeve.The horizontal moving mechanism comprises a moving plate and a guide shaft A, and a driving motor is used to drive the guide shaft A to rotate, and the guide shaft A drives the moving plate to move, and the moving plate drives the grabbing mechanism to move.The grabbing mechanism comprises memory metal sheets and sucking discs, and the combination of the sucking discs and the memory metal sheets is used to realize the grabbing of plate workpieces and cylindrical workpieces, and the grabbing mechanism does not need to be replaced.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an automated robotic arm with the function of handling different workpieces. Background Technology

[0002] When handling workpieces, we usually use robotic arms to reduce labor intensity and improve efficiency. However, in actual use, it is often necessary to frequently change the gripping mechanism at the end of the robotic arm to deal with different workpieces, which greatly affects the handling efficiency. At the same time, it is not uncommon for the motor to be damaged when the weight of the workpiece exceeds the set torque of the motor. Therefore, at present, robotic arms with handling functions have the following problems: (1) No motor protection function, which easily damages the motor; (2) Cannot adapt to different workpieces and cannot meet daily use needs; (3) Cannot adjust the distance and height of workpiece handling, which causes certain troubles. Summary of the Invention

[0003] The purpose of this invention is to provide an automated robotic arm with the function of handling different workpieces, so as to solve the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a base plate is included, side plates are installed on both sides of the base plate, a pressure mechanism is installed on the right side plate, a protective mechanism is installed on one side of the pressure mechanism, a transverse movement mechanism is installed on the base plate, a gripping mechanism is installed on the transverse movement mechanism, a fixed seat is installed on the base plate, a lifting mechanism is installed on the fixed seat, the pressure mechanism controls the lifting mechanism, and the gripping mechanism is used to grip the workpiece.

[0005] The protective mechanism includes a magnetic pole C. A protective cover is installed on one side of the side plate, and a drive motor is installed on one side of the protective cover. A cam is installed on the output shaft of the drive motor, and a magnetic pole A is installed on the cam. A magnetic pole B is installed on one side of the magnetic pole A. A magnetic pole plate is installed on one side of the cam, and a magnetic pole C is installed on the magnetic pole plate. A magnetic pole D is installed on one side of the magnetic pole C. The magnetic poles A and B have opposite polarities, and the magnetic poles C and D have opposite polarities. The magnetic poles A and C are installed opposite to each other.

[0006] The pressurizing mechanism includes a diaphragm. The protective cover is hollow inside, and a partition is installed on the inner wall of the protective cover. A first sliding groove is provided on the partition, and a push plate is slidably installed in the first sliding groove. The push plate consists of a first sliding shaft and a first contact plate. The first contact plate is installed on the first sliding shaft, and the first sliding shaft is slidably installed in the first sliding groove. A first spring is installed on one side of the first sliding shaft. The first contact plate is made of magnetic material and has the same polarity as magnetic pole A. A diaphragm is installed on the other side of the first sliding shaft. The two ends of the diaphragm are rotatably installed on the protective cover. A first air port is provided on the protective cover, and a first control valve is installed on the first air port. The first control valve is connected to the lifting mechanism through a pipe. The diaphragm is made of plastic.

[0007] Press the start button on the control panel to power on the device. The protection mechanism operates as follows: The drive motor drives the magnetic pole plate, causing magnetic poles C and D on the plate to attract magnetic poles A and B respectively. Magnetic poles A and B rotate with the magnetic pole plate, driving the cam to rotate synchronously. When the drive motor is overloaded, because the force required to move the workpiece exceeds the torque set by the drive motor, the attraction force generated by magnetic poles A and C will not be able to drive the cam to rotate. The pressurization mechanism operates as follows: When one side of the cam moves to its maximum stroke, the cam pushes the push plate to move and compress the first... Simultaneously, as the magnetic pole A approaches the first contact plate, since the first contact plate and magnetic pole A have the same polarity, they will generate a repulsive force. Magnetic pole A further pushes the first contact plate to move and compress the first spring. The first contact plate drives the first sliding shaft to move within the first sliding groove, i.e., pushes the plate to move. The pusher plate causes the diaphragm to stretch to one side. Because the diaphragm is made of plastic, it has a certain degree of extensibility and flexibility. The middle of the diaphragm will bulge upwards, and the two sides of the diaphragm are fixed to the protective cover. When the diaphragm bulges upwards, the volume of the cavity formed by the diaphragm and the inner wall of the protective cover will decrease, and the pressure will gradually... As the pressure increases, the first control valve opens, and air inside the chamber is transported to the lifting mechanism or dust removal mechanism through the first air port, the first control valve, and the pipeline. The first control valve has cut-off, connection, and leakage functions. When the cam rotates and leaves the maximum push position, the first spring is released. The first spring pushes the push plate to move in the opposite direction, causing the push plate to move the diaphragm in the opposite direction, making the diaphragm bulge downwards. This increases the volume of the chamber formed by the diaphragm and the inner wall of the protective cover, gradually reducing the pressure and creating a negative pressure. This negative pressure is then transported to the lifting mechanism or dust removal mechanism through the first air port, the first control valve, and the pipeline. When magnetic pole B approaches the first contact plate, since the magnetic properties of the first contact plate and magnetic pole B are opposite, an attractive force will be generated between the first contact plate and magnetic pole B. Magnetic pole B attracts the first contact plate to move further in the opposite direction. Through the above design, both pressurization and negative pressure effects can be achieved. Moreover, pressurization and negative pressure processing are not only achieved by the cam pushing the push plate to move. At the same time, the combination of magnetic poles A and B is used to further enhance the force when the first spring is compressed or released, thereby increasing the degree to which the push plate drives the diaphragm to bulge. Finally, the size of the cavity volume formed by the diaphragm and the inner wall of the protective cover is increased or decreased.

[0008] The lateral movement mechanism includes a drive gear, which is mounted on the output shaft of the drive motor. A driven gear A meshes with one side of the drive gear, and a driven gear B meshes with the other side of the drive gear. Guide shafts A and C are respectively mounted on the middle of the driven gears A and B via bearings. Guide shafts A and C are mounted on a side plate. A moving plate is threadedly connected to the middle of the guide shafts A and C. A height plate is mounted on the moving plate, and a gripping mechanism is mounted below the height plate.

[0009] The drive motor drives the drive gear to rotate, which in turn drives the driven gears A and B to rotate synchronously. Driven gears A and B then drive the guide shafts A and C to rotate, respectively. Since the guide shafts A and C are threadedly connected to the moving plate, they drive the moving plate to move to one side. The moving plate then drives the height plate to move to one side, and the height plate synchronously drives the gripping mechanism to move.

[0010] The gripping mechanism includes a shape memory metal sheet. A support plate A is horizontally mounted below the height plate. Fixed rods are mounted on both sides of the support plate A. A support shaft is mounted on one side of each fixed rod. The support shaft is mounted on the support plate A and rotatably connected to the support shaft. A movable shaft A is mounted on the left side of the connecting rod, and a movable shaft B is mounted on the right side of the connecting rod. A contact wheel A is mounted on the movable shaft A, and a contact wheel B is mounted on the movable shaft B. First sliding grooves are provided on both sides of the support plate A. The movable shafts A and B are slidably connected to the first sliding grooves. An internal guide shaft is provided, and the contact wheels A and B are slidably connected to the first guide shaft. A second spring is installed on one side of the first guide shaft. An electromagnet A is installed on the left side of the first sliding groove, and an electromagnet B is installed on the right side of the first sliding groove. A memory metal sheet is installed below the fixed rod and the connecting rod. A first heating wire and a first pressure sensor are provided on the memory metal sheet. The first pressure sensor is located on one side of the first heating wire. The first heating wire is electrically connected to the control system. The telescopic rods on the electromagnets A and B are respectively connected to the contact wheels A and B.

[0011] The working process of the gripping mechanism is as follows: When gripping a plate-like workpiece, the control system controls the lifting mechanism and the traversing mechanism to move to the corresponding position. Then, the workpiece is attracted by the suction cup on the support plate A. At the same time, electromagnets A and B are energized, and the telescopic rods on electromagnets A and B drive contact wheels A and B to move inward. Contact wheels A and B slide on the first guide shaft and compress the second spring. Contact wheels A and B position and clamp the side of the workpiece. When the second pressure sensor inside contact wheels A and B detects the set value, it feeds back to the control system. The control system determines whether contact wheels A and B are positioned in place. If they are not in place, the above process continues. When they are in place, the lifting mechanism and the traversing mechanism move the workpiece to the set position.

[0012] When gripping cylindrical workpieces, the movement process is similar to that of gripping plate-shaped workpieces. The difference is that the control system controls the first heating wire to start heating, which heats the shape memory metal sheet. Since the shape memory metal sheet is made of shape memory metal, it will bend when heated. Because the upper side of the shape memory metal sheet is mounted on the support plate A, the shape memory metal sheet will bend from bottom to top. Multiple sets of shape memory metal sheets are used to further cover the cylindrical workpiece, which can grip and position the workpiece. Through the above design, the gripping mechanism can use different plate-shaped and cylindrical workpieces without changing the gripping mechanism, saving time.

[0013] A second pressure sensor is provided on the outer side of both contact wheel A and contact wheel B. A suction cup is installed below the support plate A. Several suction cups are provided. Electromagnets A and B are installed on the support plate A. Electromagnets A and B are push-pull type electromagnets.

[0014] The lifting mechanism includes a reciprocating sleeve, which is vertically mounted on the fixed base. A fixed sleeve is slidably connected below the reciprocating sleeve, and a base is mounted below the fixed sleeve. The upper side of the fixed sleeve is hollow, and a first adjustment port is provided on the upper side of the fixed sleeve. A second control valve is installed on the first adjustment port, and the second control valve is connected to the first control valve on the first air port through a pipe. A second spring is provided on the upper side of the fixed sleeve, and the second spring is installed between the reciprocating sleeve and the fixed sleeve.

[0015] The lifting mechanism operates as follows: The first and second control valves are both open, while the third control valve is closed. The second control valve has conveying, cutting off, and venting functions. After being pressurized, the air is delivered through the first air port, the first control valve, the pipeline, the second control valve, and the first regulating port to the chamber between the reciprocating sleeve and the fixed sleeve. The pressure in the chamber between the reciprocating sleeve and the fixed sleeve increases, and the pressurized air drives the reciprocating sleeve upwards. The reciprocating sleeve also pulls the second spring. When the reciprocating sleeve needs to move downwards, the second control valve vents, the first control valve closes, the pressure in the chamber between the reciprocating sleeve and the fixed sleeve decreases, the reciprocating sleeve moves downwards, and the second spring is released. The second spring further assists the reciprocating sleeve in moving downwards. Through this design, the lifting mechanism can move up and down. The lifting mechanism drives the pressurizing mechanism, the protection mechanism, the dust removal mechanism, and the lateral movement mechanism to move up and down, thus meeting the height adjustment requirements when the workpiece moves.

[0016] A dust collection box is installed on the base plate. The dust collection box is provided with a first adsorption hole. The dust collection box is hollow inside. A third control valve is installed on the dust collection box. The third control valve is connected to the first air port through a pipe.

[0017] The working process of the dust removal mechanism is as follows: The third control valve has unidirectional conveying, cutting off, and leakage functions. When the third control valve is open, the second control valve is closed, and the first control valve is open, the negative pressure generated by the pressurizing mechanism is conveyed to the first adsorption hole through the first air port, the first control valve, the pipeline, the third control valve, and the dust collection box. The dust generated around the transverse moving mechanism is adsorbed through the first adsorption hole and settled in the dust collection box. This ensures the stable operation of the transverse moving mechanism, is not affected by dust, and extends the service life of the transverse moving mechanism.

[0018] A support column is vertically installed on the outer side of the support plate A, and a support plate B is installed below the support column. The support plate B is hollow.

[0019] A control panel is installed on one side of the side panel, and a control system is installed in the control panel. The control panel is equipped with a start button, a stop button, and an emergency stop button. A guide shaft B is slidably connected to the middle of the moving plate, and the guide shaft B is installed on the side panel.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0021] 1. Integrated design of pressurization and protection mechanisms. The drive motor drives the magnetic pole plate, causing magnetic poles C and D on the plate to attract magnetic poles A and B respectively. Magnetic poles A and B rotate with the magnetic pole plate, driving the cam to rotate synchronously. When the drive motor is overloaded, because the force required to move the workpiece exceeds the torque set by the drive motor, the attraction generated by magnetic poles A and C will not be able to drive the cam to rotate, thus protecting the drive motor from burnout. When one side of the cam moves to its maximum stroke, the cam pushes the push plate to move and compresses the first spring. The first contact plate and magnetic pole A will generate a repulsive thrust. Magnetic pole A further pushes the first contact plate to move. The push plate drives the diaphragm to stretch to one side. Since the diaphragm is made of plastic, it has a certain degree of extensibility and flexibility. The middle of the diaphragm will bulge upward, and the two sides of the diaphragm are fixed to the protective cover. When the diaphragm bulges upward, the volume of the cavity formed by the diaphragm and the inner wall of the protective cover will decrease, and the pressure will gradually increase.

[0022] 2. The gripping mechanism can adapt to different workpieces, making it convenient and efficient. When gripping plate-shaped workpieces, the control system moves the lifting and traversing mechanisms to the corresponding positions. The workpiece is then adsorbed by the suction cups on support plate A. Contact wheels A and B position and clamp the workpiece from the side. When the second pressure sensor inside contact wheels A and B detects a set value and feeds it back to the control system, the control system determines whether contact wheels A and B are properly positioned. If not, the above process continues. When they are properly positioned, the lifting and traversing mechanisms move the workpiece to the set position. When gripping cylindrical workpieces, the process is similar to gripping plate-shaped workpieces, except that the control system controls the first heating wire to heat the shape memory metal sheet. Because the shape memory metal sheet is made of shape memory metal, it bends when heated. Since the upper side of the shape memory metal sheet is mounted on support plate A, it bends from bottom to top. Multiple sets of shape memory metal sheets are used to further enclose the cylindrical workpiece, enabling gripping and positioning. Through this design, the gripping mechanism can use different plate-shaped and cylindrical workpieces without needing to change the gripping mechanism, saving time.

[0023] 3. The lifting and traversing mechanisms meet daily movement needs. After pressurization, air is delivered through the first air port, first control valve, pipeline, second control valve, and first regulating port to the chamber between the reciprocating sleeve and the fixed sleeve. The increased pressure in the chamber causes the pressurized air to move the reciprocating sleeve upwards. The drive motor rotates the driving gear, which in turn drives driven gears A and B to rotate synchronously. Driven gears A and B then rotate guide shafts A and C, respectively. Since guide shafts A and C are threadedly connected to the moving plate, they move the moving plate to one side, which in turn moves the height plate to one side. The height plate simultaneously moves the gripping mechanism, meeting daily handling needs and reducing labor intensity. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 yes Figure 1 Full sectional view at position AA;

[0027] Figure 3 yes Figure 1 Full sectional view at position BB;

[0028] Figure 4 This is a structural diagram of the lifting mechanism;

[0029] Figure 5 This is a schematic diagram of the gripping mechanism;

[0030] Figure 6 yes Figure 5 Remove the top view of some components;

[0031] Figure 7 This is a schematic diagram of the structure of a shape memory metal sheet;

[0032] Figure 8 yes Figure 1 Remove the top view of some components.

[0033] In the diagram: 1. Side plate; 11. Base plate; 12. Height plate; 13. Guide shaft A; 14. Guide shaft B; 15. Guide shaft C; 16. Moving plate; 17. Base; 18. Reciprocating sleeve; 19. Fixed sleeve; 2. Drive motor; 21. Protective cover; 22. Driven gear A; 23. Driven gear B; 24. Driven gear; 25. Cam; 251. Magnetic pole A; 252. Magnetic pole B; 253. Magnetic pole C; 254. Magnetic pole D; 255. Magnetic pole plate 26. Diaphragm; 27. Partition plate; 28. Push plate; 29. ​​First air port; 3. Support plate A; 31. Support column; 32. Support plate B; 33. Memory metal sheet; 34. Control panel; 35. Suction cup; 36. Support shaft; 37. Moving shaft A; 371. Contact wheel A; 372. Electromagnet A; 38. Moving shaft B; 381. Contact wheel B; 382. Electromagnet B; 39. Connecting rod; 391. Fixing rod; 4. Dust collection box; 41. Fixing base. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figures 1-8 The present invention provides a technical solution comprising: a base plate 11, side plates 1 mounted on both sides of the base plate 11, a pressure mechanism mounted on the right side plate 1, a protective mechanism mounted on one side of the pressure mechanism, a transverse movement mechanism mounted on the base plate 11, a gripping mechanism mounted on the transverse movement mechanism, a fixed seat 41 mounted on the base plate 11, a lifting mechanism mounted on the fixed seat 41, the pressure mechanism controlling the lifting mechanism, and the gripping mechanism for gripping the workpiece.

[0036] The protective mechanism includes a magnetic pole C253. A protective cover 21 is installed on one side of the side plate 1. A drive motor 2 is installed on one side of the protective cover 21. A cam 25 is installed on the output shaft of the drive motor 2. A magnetic pole A251 is installed on the cam 25. A magnetic pole B252 is installed on one side of the magnetic pole A251. A magnetic pole plate 255 is installed on one side of the cam 25. A magnetic pole C253 is installed on the magnetic pole plate 255. A magnetic pole D254 is installed on one side of the magnetic pole C253. The magnetic poles A251 and B252 have opposite polarities. The magnetic poles C253 and D254 have opposite polarities. The magnetic poles A251 and C253 are installed opposite to each other.

[0037] The pressurizing mechanism includes a diaphragm 26, a hollow protective cover 21, a partition 27 installed on the inner wall of the protective cover 21, a first sliding groove on the partition 27, a push plate 28 slidably installed in the first sliding groove, the push plate 28 is composed of a first sliding shaft and a first contact plate, the first contact plate is installed on the first sliding shaft, the first sliding shaft is slidably installed in the first sliding groove, a first spring is installed on one side of the first sliding shaft, the first contact plate is made of magnetic material, the first contact plate has the same polarity as the magnetic pole A251, the diaphragm 26 is installed on the other side of the first sliding shaft, the two ends of the diaphragm 26 are rotatably installed on the protective cover 21, a first air port 29 is provided on the protective cover 21, a first control valve is installed on the first air port 29, the first control valve is connected to the lifting mechanism through a pipe, and the diaphragm 26 is made of plastic.

[0038] Press the start button on control panel 34 to power on the device. The protection mechanism operates as follows: Drive motor 2 drives magnetic pole plate 255, causing magnetic poles C253 and D254 on magnetic pole plate 255 to attract magnetic poles A251 and B252 respectively. Magnetic poles A251 and B252 rotate with magnetic pole plate 255. When drive motor 2 is overloaded, because the force required to move the workpiece exceeds the torque set by drive motor 2, the attraction force generated by magnetic poles A251 and C253 will not be able to drive cam 25 to rotate, thus protecting drive motor 2. The pressurization mechanism operates as follows: Magnetic poles A251 and B252 drive cam 25 to rotate synchronously. When one side of cam 25 rotates... When the cam 25 reaches its maximum stroke, it pushes the push plate 28 to move and compress the first spring. Simultaneously, the magnetic pole A251 approaches the first contact plate. Since the first contact plate and the magnetic pole A251 have the same polarity, they generate a repulsive force. The magnetic pole A251 further pushes the first contact plate to move and compresses the first spring. The first contact plate drives the first sliding shaft to move within the first slide groove, i.e., the push plate 28 moves. The push plate 28 causes the diaphragm 26 to stretch to one side. Because the diaphragm 26 is made of plastic, it has a certain degree of extensibility and flexibility. The middle of the diaphragm 26 will bulge upwards, and both sides of the diaphragm 26 are fixed to the protective cover 21. When the diaphragm 26 bulges upwards, the diaphragm 26 and the protective cover 21... The volume of the chamber formed by the inner wall of the protective cover 21 will decrease, and the pressure will gradually increase. The first control valve will open, and the air inside the chamber will be transported to the lifting mechanism or dust removal mechanism through the first air port 29, the first control valve, and the pipeline. The first control valve has the functions of cutting off, connecting, and venting. When the cam 25 rotates and leaves the maximum push position, the first spring is released. The first spring will push the push plate 28 to move in the opposite direction. The push plate 28 will drive the diaphragm 26 to move in the opposite direction, causing the diaphragm 26 to bulge downward. This will increase the volume of the chamber formed by the diaphragm 26 and the inner wall of the protective cover 21, and the pressure will gradually decrease, forming a negative pressure. This negative pressure air will be transported to the lifting mechanism or dust removal mechanism through the first air port 29, the first control valve, and the pipeline. In the dust collection mechanism, magnetic pole B252 approaches the first contact plate. Since the magnetic properties of the first contact plate and magnetic pole B252 are opposite, an attraction will be generated between the first contact plate and magnetic pole B252. Magnetic pole B252 attracts the first contact plate to move further in the opposite direction. Through the above design, both pressurization and negative pressure effects can be achieved. Moreover, pressurization and negative pressure processing are not only achieved by cam 25 pushing push plate 28 to move. At the same time, the combination of magnetic poles A251 and magnetic pole B252 is adopted to further enhance the force when the first spring is compressed or released, thereby increasing the degree to which push plate 28 drives diaphragm 26 to bulge. Finally, the size of the cavity volume formed by diaphragm 26 and inner wall of protective cover 21 is increased or decreased.

[0039] The lateral movement mechanism includes a drive gear 24, which is mounted on the output shaft of the drive motor 2. A driven gear A22 meshes with one side of the drive gear 24, and a driven gear B23 meshes with the other side of the drive gear 24. Guide shafts A13 and C15 are respectively mounted on the middle of the driven gears A22 and B23 via bearings. Guide shafts A13 and C15 are mounted on the side plate 1. A moving plate 16 is threadedly connected to the middle of the guide shafts A13 and C15. A height plate 12 is mounted on the moving plate 16, and a gripping mechanism is mounted below the height plate 12.

[0040] The drive motor 2 drives the drive gear 24 to rotate, which in turn drives the driven gears A22 and B23 to rotate synchronously. The driven gears A22 and B23 drive the guide shafts A13 and C15 to rotate, respectively. Since the guide shafts A13 and C15 are threadedly connected to the moving plate 16, the guide shafts A13 and C15 drive the moving plate 16 to move to one side. The moving plate 16 then drives the height plate 12 to move to one side, and the height plate 12 synchronously drives the gripping mechanism to move.

[0041] The gripping mechanism includes a shape memory metal sheet 33. A support plate A3 is horizontally mounted below the height plate 12. Fixed rods 391 are mounted on both sides of the support plate A3. A support shaft 36 is mounted on one side of the fixed rod 391. The support shaft 36 is mounted on the support plate A3. A connecting rod 39 is rotatably connected to the support shaft 36. A movable shaft A37 is mounted on one side of the left connecting rod 39, and a movable shaft B38 is mounted on one side of the right connecting rod 39. A contact wheel A371 is mounted on the movable shaft A37, and a contact wheel B381 is mounted on the movable shaft B38. First sliding grooves are provided on both sides of the support plate A3. The movable shafts A37 and B38 are slidably connected to the first sliding grooves. A first guide shaft is provided in the moving groove. Contact wheels A371 and B381 are slidably connected to the first guide shaft. A second spring is installed on one side of the first guide shaft. Electromagnet A372 is installed on the left side of the first sliding groove, and electromagnet B382 is installed on the right side of the first sliding groove. A memory metal sheet 33 is installed below the fixed rod 391 and the connecting rod 39. A first heating wire and a first pressure sensor are provided on the memory metal sheet 33. The first pressure sensor is located on one side of the first heating wire. The first heating wire is electrically connected to the control system. The telescopic rods on electromagnets A372 and B382 are connected to contact wheels A371 and B381, respectively.

[0042] The working process of the gripping mechanism is as follows: When gripping a plate-like workpiece, the control system controls the lifting mechanism and the traversing mechanism to move to the corresponding position. Then, the workpiece is attracted by the suction cup 35 on the support plate A3. At the same time, electromagnets A372 and B382 are energized. The telescopic rods on electromagnets A372 and B382 drive contact wheels A371 and B381 to move inward. Contact wheels A371 and B381 slide on the first guide shaft and compress the second spring. Contact wheels A371 and B381 position and clamp the side of the workpiece. When the second pressure sensor inside contact wheels A371 and B381 detects the set value and feeds it back to the control system, the control system determines whether contact wheels A371 and B381 are in position. If they are not in position, the above process continues. When they are in position, the lifting mechanism and the traversing mechanism move the workpiece to the set position.

[0043] When gripping cylindrical workpieces, the movement process is similar to that of gripping plate-type workpieces. The difference is that the control system controls the first heating wire to generate heat, which heats the shape memory metal sheet 33. Since the shape memory metal sheet 33 is made of shape memory metal, it will bend when heated. Because the upper side of the shape memory metal sheet 33 is mounted on the support plate A3, the shape memory metal sheet 33 will bend from bottom to top. Multiple sets of shape memory metal sheets 33 are used to further cover the cylindrical workpiece, which can grip and position the workpiece. Through the above design, the gripping mechanism can use different plate-type and cylindrical workpieces without changing the gripping mechanism, saving time.

[0044] A second pressure sensor is provided on the outer side of both contact wheel A371 and contact wheel B381. A suction cup 35 is installed below the support plate A3, and several suction cups 35 are provided. Electromagnets A372 and B382 are installed on the support plate A3. Both electromagnets A372 and B382 are push-pull type electromagnets.

[0045] The lifting mechanism includes a reciprocating sleeve 18, which is vertically mounted on a fixed base 41. A fixed sleeve 19 is slidably connected below the reciprocating sleeve 18. A base 17 is mounted below the fixed sleeve 19. The upper side of the fixed sleeve 19 is hollow. A first adjustment port is provided on the upper side of the fixed sleeve 19. A second control valve is installed on the first adjustment port. The second control valve is connected to the first control valve on the first air port 29 through a pipe. A second spring is provided on the upper side of the fixed sleeve 19 and is installed between the reciprocating sleeve 18 and the fixed sleeve 19.

[0046] The lifting mechanism operates as follows: both the first and second control valves are open, and the third control valve is closed. The second control valve has conveying, cutting off, and venting functions. After being pressurized by the pressurizing mechanism, air is conveyed through the first air port 29, the first control valve, the pipeline, the second control valve, and the first regulating port to the chamber between the reciprocating sleeve 18 and the fixed sleeve 19. The pressure in the chamber between the reciprocating sleeve 18 and the fixed sleeve 19 increases, and the pressurized air drives the reciprocating sleeve 18 to move upward. The reciprocating sleeve 18 pulls the second spring. When the reciprocating sleeve 18 needs to move downward, the second control valve vents, the first control valve closes, the pressure in the chamber between the reciprocating sleeve 18 and the fixed sleeve 19 decreases, the reciprocating sleeve 18 moves downward, and the second spring is released. The second spring further assists the reciprocating sleeve 18 in moving downward. Through the above design, the lifting mechanism can move up and down. The lifting mechanism drives the pressurizing mechanism, the protection mechanism, the dust removal mechanism, and the lateral movement mechanism to move up and down, thereby meeting the height adjustment required when the workpiece moves.

[0047] A dust collector 4 is installed on the base plate 11. The dust collector 4 is provided with a first adsorption hole. The interior of the dust collector 4 is hollow. A third control valve is installed on the dust collector 4. The third control valve is connected to the first air port 29 through a pipe.

[0048] The working process of the dust removal mechanism is as follows: The third control valve has one-way conveying, cutting off and leakage functions. When the third control valve is open, the second control valve is closed and the first control valve is open, the negative pressure generated by the pressurizing mechanism is conveyed to the first adsorption hole through the first air port 29, the first control valve, the pipeline, the third control valve and the dust collection box 4. The dust generated around the transverse moving mechanism is adsorbed through the first adsorption hole and settled in the dust collection box 4. This can ensure the stable operation of the transverse moving mechanism, which is not affected by dust and extends the service life of the transverse moving mechanism.

[0049] A support column 31 is vertically installed on the outer side of the support plate A3, and a support plate B32 is installed below the support column 31. The support plate B32 is hollow.

[0050] A control panel 34 is installed on one side of the side plate 1. The control panel 34 contains a control system and has a start button, a stop button, and an emergency stop button. A guide shaft B14 is slidably connected to the middle of the moving plate 16 and is installed on the side plate 1.

[0051] Working principle of the invention:

[0052] Pressing the start button on the control panel 34 powers on the device. The drive motor 2 drives the magnetic pole plate 255, causing magnetic poles C253 and D254 on the magnetic pole plate 255 to attract magnetic poles A251 and B252 respectively. Magnetic poles A251 and B252 rotate with the magnetic pole plate 255, driving the cam 25 to rotate synchronously. When one side of the cam 25 reaches its maximum stroke, the cam 25 pushes the push plate 28 to move and compress the first spring. At the same time, magnetic pole A251 approaches the first contact plate. Since the first contact plate and magnetic pole A251 have the same polarity, the first contact plate and magnetic pole A251... 251 will generate a repulsive thrust. Magnetic pole A251 further pushes the first contact plate to move and compresses the first spring. The first contact plate drives the first sliding shaft to move within the first slide groove, i.e., push plate 28 moves. Push plate 28 drives diaphragm 26 to stretch to one side. Since diaphragm 26 is made of plastic, it has a certain degree of extensibility and flexibility. The middle of diaphragm 26 will bulge upwards, and both sides of diaphragm 26 are fixed to protective cover 21. When diaphragm 26 bulges upwards, the volume of the cavity formed by diaphragm 26 and the inner wall of protective cover 21 will decrease, and the pressure will gradually increase. The first control valve opens, and the air inside the cavity passes through the first air port 29. The first control valve and pipeline deliver the fluid to the lifting mechanism or dust removal mechanism. The first control valve has the functions of shut-off, connection, and discharge. When the cam 25 rotates and leaves the maximum push position, the first spring is released. The first spring will push the push plate 28 to move in the opposite direction. The push plate 28 drives the diaphragm 26 to move in the opposite direction, causing the diaphragm 26 to bulge downward. The volume of the cavity formed by the diaphragm 26 and the inner wall of the protective cover 21 will increase, and the pressure will gradually decrease, forming a negative pressure. This negative pressure is then delivered to the lifting mechanism or dust removal mechanism through the first air port 29, the first control valve, and the pipeline. At the same time, the magnetic pole B252 approaches the first contact plate. Since the contact plate and the magnetic pole B252 have opposite magnetic properties, an attraction will be generated between the first contact plate and the magnetic pole B252. The magnetic pole B252 attracts the first contact plate to move further in the opposite direction. Through the above design, both pressurization and negative pressure effects can be achieved. Moreover, the pressurization and negative pressure processing is not only achieved by the cam 25 pushing the push plate 28 to move. At the same time, the combination of magnetic poles A251 and B252 is used to further enhance the force when the first spring is compressed or released, thereby increasing the degree to which the push plate 28 drives the diaphragm 26 to bulge. Finally, the size of the cavity volume formed by the diaphragm 26 and the inner wall of the protective cover 21 is increased or decreased.

[0053] The drive motor 2 drives the drive gear 24 to rotate, which in turn drives the driven gears A22 and B23 to rotate synchronously. The driven gears A22 and B23 drive the guide shafts A13 and C15 to rotate, respectively. Since the guide shafts A13 and C15 are threadedly connected to the moving plate 16, the guide shafts A13 and C15 drive the moving plate 16 to move to one side. The moving plate 16 then drives the height plate 12 to move to one side, and the height plate 12 synchronously drives the gripping mechanism to move.

[0054] The working process of the gripping mechanism is as follows: When gripping a plate-like workpiece, the control system controls the lifting mechanism and the traversing mechanism to move to the corresponding position. Then, the workpiece is attracted by the suction cup 35 on the support plate A3. At the same time, electromagnets A372 and B382 are energized. The telescopic rods on electromagnets A372 and B382 drive contact wheels A371 and B381 to move inward. Contact wheels A371 and B381 slide on the first guide shaft and compress the second spring. Contact wheels A371 and B381 position and clamp the side of the workpiece. When the second pressure sensor inside contact wheels A371 and B381 detects the set value and feeds it back to the control system, the control system determines whether contact wheels A371 and B381 are in position. If they are not in position, the above process continues. When they are in position, the lifting mechanism and the traversing mechanism move the workpiece to the set position.

[0055] When gripping cylindrical workpieces, the movement process is similar to that of gripping plate-type workpieces. The difference is that the control system controls the first heating wire to generate heat, which heats the shape memory metal sheet 33. Since the shape memory metal sheet 33 is made of shape memory metal, it will bend when heated. Because the upper side of the shape memory metal sheet 33 is mounted on the support plate A3, the shape memory metal sheet 33 will bend from bottom to top. Multiple sets of shape memory metal sheets 33 are used to further cover the cylindrical workpiece, which can grip and position the workpiece. Through the above design, the gripping mechanism can use different plate-type and cylindrical workpieces without changing the gripping mechanism, saving time.

[0056] The lifting mechanism operates as follows: both the first and second control valves are open, and the third control valve is closed. The second control valve has conveying, cutting off, and venting functions. After being pressurized by the pressurizing mechanism, air is conveyed through the first air port 29, the first control valve, the pipeline, the second control valve, and the first regulating port to the chamber between the reciprocating sleeve 18 and the fixed sleeve 19. The pressure in the chamber between the reciprocating sleeve 18 and the fixed sleeve 19 increases, and the pressurized air drives the reciprocating sleeve 18 to move upward. The reciprocating sleeve 18 pulls the second spring. When the reciprocating sleeve 18 needs to move downward, the second control valve vents, the first control valve closes, the pressure in the chamber between the reciprocating sleeve 18 and the fixed sleeve 19 decreases, the reciprocating sleeve 18 moves downward, and the second spring is released. The second spring further assists the reciprocating sleeve 18 in moving downward. Through the above design, the lifting mechanism can move up and down. The lifting mechanism drives the pressurizing mechanism, the dust removal mechanism, and the lateral movement mechanism to move up and down, thereby meeting the height adjustment required when the workpiece moves.

[0057] The working process of the dust removal mechanism is as follows: The third control valve has unidirectional conveying, cutting off, and leakage functions. When the third control valve is open, the second control valve is closed, and the first control valve is open, the negative pressure generated by the pressurizing mechanism is conveyed to the first adsorption hole through the first air port 29, the first control valve, the pipeline, the third control valve, and the dust collection box 4. The dust generated around the transverse moving mechanism is adsorbed through the first adsorption hole and settled in the dust collection box 4. This ensures the stable operation of the transverse moving mechanism, is not affected by dust, and extends the service life of the transverse moving mechanism. The third control valve has a unidirectional conveying effect, which can prevent dust backflow.

[0058] Press the stop button on control panel 34 to power off the device.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated robotic arm with the function of handling different workpieces, characterized in that: Includes a base plate (11), with side plates (1) installed on both sides of the base plate (11), a pressure mechanism installed on the right side plate (1), a protection mechanism installed on one side of the pressure mechanism, a transverse movement mechanism installed on the base plate (11), a gripping mechanism installed on the transverse movement mechanism, a fixed seat (41) installed on the base plate (11), a lifting mechanism installed on the fixed seat (41), the pressure mechanism controls the lifting mechanism, and the gripping mechanism is used to grip the workpiece; The transverse mechanism includes a drive gear (24), which is mounted on the output shaft of the drive motor (2). A driven gear A (22) meshes with one side of the drive gear (24), and a driven gear B (23) meshes with the other side of the drive gear (24). A guide shaft A (13) and a guide shaft C (15) are respectively mounted on the middle of the driven gear A (22) and the driven gear B (23) through bearings. The guide shaft A (13) and the guide shaft C (15) are mounted on the side plate (1). A moving plate (16) is threadedly connected to the middle of the guide shaft A (13) and the guide shaft C (15). A height plate (12) is mounted on the moving plate (16), and a gripping mechanism is mounted below the height plate (12). The gripping mechanism includes a shape memory metal sheet (33). A support plate A (3) is horizontally installed below the height plate (12). Fixed rods (391) are installed on both sides of the support plate A (3). A support shaft (36) is installed on one side of the fixed rod (391). The support shaft (36) is mounted on the support plate A (3). A connecting rod (39) is rotatably connected to the support shaft (36). A moving shaft A (37) is installed on the left side of the connecting rod (39). A moving shaft B (38) is installed on the right side of the connecting rod (39). A contact wheel A (371) is installed on the moving shaft A (37). A contact wheel B (381) is installed on the moving shaft B (38). A first sliding groove is provided on both sides of the support plate A (3). The moving shaft A (37) and the moving shaft B (38) are connected to the first sliding groove. A sliding groove is slidably connected, and a first guide shaft is provided in the first sliding groove. The contact wheel A (371) and contact wheel B (381) are slidably connected to the first guide shaft. A second spring is installed on one side of the first guide shaft. Electromagnet A (372) is installed on the left side of the first sliding groove, and electromagnet B (382) is installed on the right side of the first sliding groove. The memory metal sheet (33) is installed on the fixed rod (391) and the connecting rod (39). A first heating wire and a first pressure sensor are provided on the memory metal sheet (33). The first pressure sensor is located on one side of the first heating wire. The first heating wire is electrically connected to the control system. The telescopic rods on the electromagnet A (372) and electromagnet B (382) are respectively connected to the contact wheel A (371) and the contact wheel B (381).

2. An automated robotic arm with the function of adapting to the handling of different workpieces as described in claim 1, characterized in that: The protective mechanism includes a magnetic pole C (253), a protective cover (21) is installed on one side of the side plate (1), a drive motor (2) is installed on one side of the protective cover (21), a cam (25) is installed on the output shaft of the drive motor (2), a magnetic pole A (251) is installed on the cam (25), a magnetic pole B (252) is installed on one side of the magnetic pole A (251), a magnetic pole plate (255) is installed on one side of the cam (25), a magnetic pole C (253) is installed on the magnetic pole plate (255), a magnetic pole D (254) is installed on one side of the magnetic pole C (253), the magnetic poles A (251) and B (252) have opposite polarities, the magnetic poles C (253) and D (254) have opposite polarities, and the magnetic poles A (251) and C (253) are installed opposite to each other.

3. An automated robotic arm with the function of adapting to the handling of different workpieces according to claim 2, characterized in that: The pressurizing mechanism includes a diaphragm (26), the protective cover (21) is hollow inside, a partition (27) is installed on the inner wall of the protective cover (21), a first sliding groove is provided on the partition (27), a push plate (28) is slidably installed in the first sliding groove, the push plate (28) is composed of a first sliding shaft and a first contact plate, the first contact plate is installed on the first sliding shaft, the first sliding shaft is slidably installed in the first sliding groove, a first spring is installed on one side of the first sliding shaft, the first contact plate is made of magnetic material, the first contact plate has the same polarity as magnetic pole A (251), the diaphragm (26) is installed on the other side of the first sliding shaft, the two ends of the diaphragm (26) are rotatably installed on the protective cover (21), a first air port (29) is provided on the protective cover (21), a first control valve is installed on the first air port (29), the first control valve is connected to the lifting mechanism through a pipe, and the diaphragm (26) is made of plastic.

4. An automated robotic arm with the function of handling different workpieces according to claim 3, characterized in that: A second pressure sensor is provided on the outer side of the contact wheel A (371) and the contact wheel B (381). A suction cup (35) is installed below the support plate A (3). Several suction cups (35) are provided. Electromagnet A (372) and electromagnet B (382) are installed on the support plate A (3). Electromagnet A (372) and electromagnet B (382) are push-pull type electromagnets.

5. An automated robotic arm with the function of adapting to the handling of different workpieces according to claim 4, characterized in that: The lifting mechanism includes a reciprocating sleeve (18), which is vertically mounted on a fixed base (41). A fixed sleeve (19) is slidably connected below the reciprocating sleeve (18). A base (17) is installed below the fixed sleeve (19). The upper side of the fixed sleeve (19) is hollow. A first adjustment port is provided on the upper side of the fixed sleeve (19). A second control valve is installed on the first adjustment port. The second control valve is connected to the first control valve on the first air port (29) through a pipe. A second spring is provided on the upper side of the fixed sleeve (19). The second spring is installed between the reciprocating sleeve (18) and the fixed sleeve (19).

6. An automated robotic arm with the function of adapting to the handling of different workpieces according to claim 5, characterized in that: A dust collector (4) is installed on the base plate (11). The dust collector (4) is provided with a first adsorption hole. The dust collector (4) is hollow inside. A third control valve is installed on the dust collector (4). The third control valve is connected to the first air port (29) through a pipe.

7. An automated robotic arm with the function of adapting to the handling of different workpieces according to claim 6, characterized in that: A support column (31) is vertically installed on the outside of the support plate A (3), and a support plate B (32) is installed below the support column (31). The support plate B (32) is hollow.

8. An automated robotic arm with the function of handling different workpieces according to claim 7, characterized in that: A control panel (34) is installed on one side of the side plate (1). A control system is provided in the control panel (34). A start button, a stop button, and an emergency stop button are provided on the control panel (34). A guide shaft B (14) is slidably connected in the middle of the moving plate (16). The guide shaft B (14) is installed on the side plate (1).

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