A display screen grabbing and transporting robot

Abstract

The present invention relates to the field of manipulator technology, and discloses a display screen grabbing and transporting manipulator, comprising a cross fixing frame, the end of which is rotatably connected with a clamping claw, a clamping airbag, an air pressure regulating chamber, and a clamping drive assembly; the clamping airbag is arranged on a side of the clamping claw close to the center of the cross fixing frame, and the clamping airbag is made of a flexible material; the air pressure regulating chamber is arranged in the middle of the cross fixing frame, and a piston is slidably connected inside the air pressure regulating chamber, and the piston divides the inside of the air pressure regulating chamber into two cavities, and one cavity of the air pressure regulating chamber is connected to the clamping airbag through a first air pipe; the clamping drive assembly is arranged on a side of the cross fixing frame away from the air pressure regulating chamber, and is used to adjust the position of the piston in the air pressure regulating chamber and change the angle of the clamping claw. The present invention arranges the clamping airbag on the clamping claw to contact the side of the display screen, so that the flexible contact of the clamping airbag during the clamping process can avoid damaging the display screen.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a display screen grabbing and transporting manipulator. Background Art

[0002] LED display screens are a type of flat panel display. During the production and processing of the display screens, they need to be transferred between different processing steps. Since the display screens themselves are relatively fragile, robots are often used to grab and process them individually during the transfer process.

[0003] The more common manipulators use a clamping claw method to clamp the side of the display screen. This results in greater force on the raised part of some display screens with irregular sides when clamping, which may cause damage to the side of the display screen. Therefore, it is necessary to specifically design flexible materials as the clamping contact surface. Summary of the invention

[0004] The present invention provides a display screen grabbing and transporting robot, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A display screen grabbing and transporting robot comprises a cross fixing frame, the end of which is rotatably connected with a clamping claw, a clamping airbag, an air pressure regulating chamber and a clamping drive assembly; the clamping airbag is arranged on the side of the clamping claw close to the center of the cross fixing frame, and the clamping airbag is made of a flexible material; the air pressure regulating chamber is arranged in the middle of the cross fixing frame, and a piston is slidably connected inside the air pressure regulating chamber, and the piston divides the inside of the air pressure regulating chamber into two cavities, and one cavity of the air pressure regulating chamber is connected to the clamping airbag through a first air pipe; the clamping drive assembly is arranged on the side of the cross fixing frame away from the air pressure regulating chamber, and is used to adjust the position of the piston in the air pressure regulating chamber and change the angle of the clamping claw. When the end of the clamping claw with the clamping airbag moves toward the center of the cross fixing frame, the air pressure inside the clamping airbag increases.

[0007] As a preferred technical solution of the present invention, the middle part of the piston is fixedly connected with a lifting slide bar that is slidably connected to a cross fixing frame, cylinders are arranged on both sides of the cross fixing frame, the piston rod of the cylinder is fixedly connected with a cross push-pull frame, the middle part of the cross push-pull frame is fixedly connected with the lifting slide bar, a slider is arranged on the outside of the cross push-pull frame, the slider is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the end of the clamping claw away from the clamping airbag. The slider is slidably connected to the cross push-pull frame, and the side surface of the slider is threadedly connected with a locking bolt that cooperates with the cross push-pull frame.

[0008] As a preferred technical solution of the present invention, a sliding sleeve is provided on the side of the air pressure regulating chamber away from the cross fixing frame, the sliding sleeve is slidably connected to a sliding rod, a suction cup is provided at the end of the sliding rod, and a spring or air cavity is provided inside the sliding sleeve to drive the sliding rod to move away from the air pressure regulating chamber. The inner cavity of the suction cup is communicated with the inside of the air pressure regulating chamber through a second air pipe, and the first air pipe and the second air pipe are respectively communicated with the cavities of the air pressure regulating chamber on both sides of the piston.

[0009] As a preferred technical solution of the present invention, an auxiliary support frame is fixedly connected to the outer side of the cross fixing frame, and a hanging rod is provided at the corner of the auxiliary support frame, and the hanging rod is fixedly connected to the mounting flange.

[0010] The present invention has the following benefits:

[0011] By arranging a clamping airbag on the clamping jaw to contact the side of the display screen, the flexible contact of the clamping airbag during the clamping process can avoid damage to the display screen, and the deformation of the clamping airbag can wrap the side of the display screen to improve the clamping efficiency. In addition, by arranging a suction cup with variable internal pressure, the suction cup adsorbs the display screen during the process of clamping and releasing the display screen, thereby avoiding the shaking of the display screen position caused by the clamping process, and can further protect the display screen. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 This is a structural schematic diagram of a display screen grabbing and transferring robot.

[0014] Figure 2 This is a schematic diagram of the structure of a display screen grabbing and transferring robot after removing the mounting flange.

[0015] Figure 3 for Figure 2 Front view of .

[0016] Figure 4 This is a schematic diagram of the structure of a clamping and driving component in a display screen grabbing and transferring robot.

[0017] Figure 5 This is a schematic diagram of the structure inside the air pressure regulating chamber in a display screen grabbing and transferring robot.

[0018] Figure 6This is a schematic diagram of the structure of the air pressure regulating chamber and suction cup in a display screen grabbing and transferring robot.

[0019] In the figure: 1. cross fixing frame; 2. auxiliary support frame; 3. hanging rod; 4. mounting flange; 5. fixing column; 6. air pressure regulating chamber; 7. clamping claw; 8. clamping airbag; 9. first air pipe; 10. lifting slide rod; 11. clamping drive assembly; 12. cross push-pull frame; 13. cylinder; 14. slide block; 15. locking bolt; 16. connecting rod; 17. placement groove; 18. piston; 19. sealing ring; 20. sliding sleeve; 21. sliding rod; 22. suction cup; 23. second air pipe. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In one embodiment, see Figure 1-Figure 6 A display screen grabbing and transporting robot comprises a cross fixing frame 1, the end of the cross fixing frame 1 is rotatably connected to one side of a clamping claw 7, and common display screens all adopt a rectangular structure. Therefore, in this application, a cross fixing frame 1 is used as the main supporting structure, and the four ends of the cross fixing frame 1 are respectively rotatably connected to the upper position of the clamping claw 7. The entire position description is in accordance with the attached Figure 1 The state is described, so the four clamping jaws 7 can complete the clamping process of the four edges of the display screen, and the four clamping jaws 7 rotate synchronously, and also include a clamping airbag 8, an air pressure regulating chamber 6 and a clamping drive assembly 11;

[0022] The clamping airbag 8 is arranged on one side of the clamping jaw 7 close to the center of the cross fixing frame 1, and a placement groove 17 is arranged on one side of the lower end of the clamping jaw 7 close to the center, the clamping airbag 8 is placed inside the placement groove 17, and a fixing component is arranged inside the placement groove 17, such as setting glue to adhere the clamping airbag 8, so that a part of the clamping airbag 8 can be tightly attached to the inner wall of the placement groove 17, at this time, the clamping airbag 8 will not be displaced, and when the internal air pressure of the clamping airbag 8 is tightened, the outer wall of the clamping airbag 8 will also be pressed against the entire inner wall of the placement groove 17, so that the stability of the clamping airbag 8 will be better and there will be no misalignment problem, and the subsequent clamping will be more stable, and the side of the clamping airbag 8 close to the center of the cross fixing frame 1 is exposed to the outside of the placement groove 17, that is to say, during the clamping process of the clamping jaw 7, only the clamping airbag 8 will contact the side of the display screen, thereby converting the rigid contact of the original clamping jaw 7 into the flexible contact of the airbag clamping. The contact can more effectively protect the side of the display screen, and the clamping airbag 8 adopts a truncated cone structure, that is, the lower end diameter of the clamping airbag 8 is larger than the upper diameter. Therefore, when the side of the display screen contacts the middle part of the clamping airbag 8, the bottom of the clamping airbag 8 will hold up the display screen, thereby avoiding the problem of the display screen falling off. The clamping airbag 8 adopts a flexible material that deforms with the internal and external pressure difference. For example, the clamping airbag 8 is made of rubber. When the side wall of the clamping airbag 8 contacts the side of the display screen and the internal air pressure of the clamping airbag 8 increases, the position of the clamping airbag 8 that is not in contact with the display screen will protrude outward, so that the side wall of the clamping airbag 8 can completely fit the side wall of the display screen, and a small part of the clamping airbag 8 will extend out from the upper and lower sides of the display screen. Even if there are steps of different heights on the side of the display screen, the side wall of the clamping airbag 8 completely wraps the side wall of the display screen, and the display screen completes the clamping process at this time;

[0023] The air pressure regulating chamber 6 is arranged in the middle of the cross fixing frame 1. The lower surfaces of the four extending rods of the cross fixing frame 1 are provided with fixing columns 5. The lower ends of the fixing columns 5 are fixedly connected to the upper surface of the air pressure regulating chamber 6, so that the air pressure regulating chamber 6 is fixedly connected to the lower surface of the cross fixing frame 1. The air pressure regulating chamber 6 adopts a cylindrical structure, and a cylindrical cavity is also arranged inside the air pressure regulating chamber 6. A piston 18 that can slide up and down is arranged in the cylindrical cavity inside the air pressure regulating chamber 6. The piston 18 can slide up and down. The side wall of 8 is provided with a sealing ring 19 to improve the sealing performance between the piston 18 and the inner wall of the air pressure regulating chamber 6, so that the internal cavity of the air pressure regulating chamber 6 is divided into two upper and lower cavities by the piston 18, and one of the cavities is communicated with the clamping airbag 8 through the first air pipe 9, that is, the gas in this cavity can freely enter and exit the clamping airbag 8. When the piston 18 squeezes this cavity, the gas enters the clamping airbag 8, thereby increasing the air pressure inside the clamping airbag 8, thereby achieving the effect of adjusting the air pressure of the clamping airbag 8;

[0024] The clamping drive assembly 11 is arranged on the upper surface of the cross fixing frame 1. The position of the piston 18 in the air pressure regulating chamber 6 is adjusted by the clamping drive assembly 11, that is, the air pressure of the clamping airbag 8 is adjusted. At the same time, the clamping drive assembly 11 can change the angle of the clamping claw 7, that is, the clamping drive assembly 11 is the clamping power output unit of the entire manipulator.

[0025] In one case of this embodiment, when the end of the clamping jaw 7 with the clamping airbag 8 moves toward the center of the cross fixing frame 1, the air pressure inside the clamping airbag 8 increases. That is to say, when the clamping jaws 7 are close to each other for clamping, the clamping airbag 8 is also pressurized for clamping, so that the clamping operation of the two parts is synchronously completed to fix the display screen, and by designing the deflection of the clamping jaw 7, the clamping airbag 8 only needs a small deformation to achieve the pressing of the display screen, which reduces the volume of the clamping airbag 8 and also requires a smaller deformation range of the clamping airbag 8, that is, the performance requirements of the rubber material of the clamping airbag 8 are reduced. On the contrary, when the lower end of the clamping jaw 7 is away from the center of the cross fixing frame 1 and is in an unfolded state, the air pressure of the clamping airbag 8 will also decrease.

[0026] In one case of this embodiment, the middle part of the piston 18 is fixedly connected with a lifting slide rod 10 which is slidably connected to the cross fixing frame 1, the lower end of the lifting slide rod 10 is fixedly connected to the upper surface of the piston 18, and the lifting slide rod 10 is also slidably connected to the upper top plate of the air pressure regulating chamber 6, and a cylinder 13 is vertically arranged on the left and right sides above the cross fixing frame 1, the piston rod of the cylinder 13 is extended upward, and the upper end of the piston rod of the cylinder 13 is fixedly connected to the horizontally arranged cross push-pull frame 12, and a slider 14 is arranged on the outer side of the cross push-pull frame 12, and the slider 14 is rotatably connected to the connecting rod 1 6, and the other end of the connecting rod 16 is rotatably connected to the upper end of the clamping jaw 7. Since the clamping airbag 8 needs to be tightened while the lower end of the clamping jaw 7 also moves toward the center of the manipulator, the upper end of the first air pipe 9 needs to be connected to the bottom of the air pressure regulating chamber 6. At this time, the outer side of the connecting rod 16 is tilted downward, that is, the lower end of the connecting rod 16 is connected to the clamping jaw 7. At this time, after the piston 18 moves downward, the clamping airbag 8 is inflated, and at the same time, the connecting rod 16 pushes the upper end of the clamping jaw 7 to move away from the center of the cross fixing frame 1, and the lower ends of the clamping jaws 7 are brought close to each other to complete the clamping action.

[0027] In one case of the present embodiment, the slider 14 is slidably connected to the cross push-pull frame 12, and a locking bolt 15 is threadedly connected above the slider 14. When the locking bolt 15 is tightened, the end of the locking bolt 15 will press against the cross push-pull frame 12. At this time, the position of the slider 14 on the cross push-pull frame 12 is locked, thereby achieving the effect of free adjustment of the position of the slider 14. On the one hand, since the sizes of display screens to be clamped are different, the position of the clamping claw 7 can be rotated by adjusting the position of the slider 14, thereby clamping display screens of different sizes. On the other hand, in order to ensure that the clamping airbag 8 has sufficient pressure to achieve clamping, the clamping claw 7 also brings the clamping airbag 8 to close to the side of the display screen. At this time, it is necessary To adjust the rotation angle of the clamp 7, it is also achieved by adjusting the position of the slider 14. For example, if the side of the display screen is thicker, the clamping airbag 8 needs a larger deformation to complete the wrapping. Therefore, the air pressure of the clamping airbag 8 itself cannot be too large, otherwise it is difficult to achieve a larger deformation. At this time, the distance moved by the piston 18 will become smaller. At this time, it is necessary to adjust the position of the slider 14 so that the clamp 7 can still be rotated to the target angle to complete the clamping process. For some display screens whose center of gravity is not at the center of the entire size, the clamping angle of the clamp 7 can be changed by the slider 14, so that after the display screen is clamped, the center of the display screen can be located at the center of the manipulator, thereby ensuring the stability of the clamping.

[0028] In one case of the present embodiment, a sliding sleeve 20 is provided on the side of the air pressure regulating chamber 6 away from the cross fixing frame 1, the sliding sleeve 20 is slidably connected to the sliding rod 21, a suction cup 22 is provided at the end of the sliding rod 21, and a spring or air cavity is provided inside the sliding sleeve 20 to drive the sliding rod 21 to move away from the air pressure regulating chamber 6. If a spring is provided inside the sliding sleeve 20, when the suction cup 22 is attached to the upper surface of the display screen, the spring will be deformed and compressed, so that the suction cup 22 can always be closely attached to the outside of the display screen through the elastic force of the spring during the entire clamping process, or the air tightness of the sliding sleeve 20 and the sliding rod 21 can be improved, at this time, an air cavity is formed inside the sliding sleeve 20, when the sliding rod 21 moves upward, the air pressure inside the air cavity increases, so that the sliding rod 21 always maintains a downward pressure, and the effect of the suction cup 22 pressing against the surface of the display screen is achieved. The inner cavity of the suction cup 22 is connected to the inside of the air pressure regulating chamber 6 through the second air pipe 23, and the first air pipe 9 and the second air pipe 23 are respectively connected to the cavities of the air pressure regulating chamber 6 on both sides of the piston 18. The negative pressure caused by the deformation of the suction cup 22 itself is sometimes not enough to effectively adsorb the display screen, so the internal space of the suction cup 22 can be connected to the air pressure regulating chamber 6 for active pressure regulation. In the present application, the first air pipe 9 is connected to the lower cavity of the air pressure regulating chamber 6, and the second air pipe 23 is connected to the upper cavity of the air pressure regulating chamber 6, so that when the clamping airbag 8 clamps the display screen, the piston 18 descends, and the air pressure in the lower part of the air pressure regulating chamber 6 increases. At this time, the air pressure above the air pressure regulating chamber 6 will decrease, so that the air inside the suction cup 22 The pressure drop means that the suction cup 22 can better adsorb the upper surface of the display screen under the action of atmospheric pressure, and when the piston 18 moves in the opposite direction, the air pressure of the clamping airbag 8 is reduced and becomes soft, and the clamping airbag 8 will be separated from the display screen. At the same time, the air pressure above the air pressure regulating chamber 6 increases, and the suction cup 22 can be smoothly separated from the display screen. The ordinary suction cup structure that causes air pressure changes through deformation still needs to be removed manually, but the suction cup 22 of the present application that actively changes the internal pressure can be more smoothly installed on an automated manipulator.

[0029] In one case of the present embodiment, the outer side of the cross fixing frame 1 is fixedly connected with an auxiliary support frame 2, and a hanging rod 3 is provided at the corner of the auxiliary support frame 2 on the side away from the clamping airbag 8, and the hanging rod 3 is fixedly connected with a mounting flange 4. The auxiliary support frame 2 is a U-shaped structure, and the four sides of the auxiliary support frame 2 are respectively fixedly connected with the four protruding rods of the cross fixing frame 1, so that the structural strength of the entire cross fixing frame 1 is improved by the auxiliary support frame 2, and the hanging rod 3 is provided at the four corners of the upper surface of the auxiliary support frame 2, and the hanging rod 3 is an L-shaped structure extending toward the center direction of the cross fixing frame 1. The upper end of the hanging rod 3 is connected to the mounting flange 4, and the manipulator can be connected to some existing multi-degree-of-freedom manipulators through the mounting flange 4, thereby achieving the effect of the manipulator moving in space.

[0030] During the implementation of this embodiment, firstly, the mounting flange 4 is connected to the connecting head of the relevant robot arm, and the air source of the cylinder 13 is connected to the relevant control components. The position of the slider 14 is adjusted according to the size of the display screen to be clamped, and the locking bolt 15 is tightened. At this time, the preparation work of the entire robot arm is completed, and the transportation of the display screen can begin.

[0031] Pretreatment, start the cylinder 13, the piston rod of the cylinder 13 extends, and the cross push-pull frame 12 moves upward. At this time, the lower end of the clamping claw 7 opens, and the air pressure inside the clamping airbag 8 decreases, and the clamping airbag 8 is in a loose state. The manipulator is moved by the mechanical arm to the top of the display screen that needs to be grasped, and the suction cup 22 is pressed against the upper surface of the display screen.

[0032] During the clamping process, the cylinder 13 is started in reverse, the cross push-pull frame 12 moves down, and the piston 18 moves down. At this time, the air pressure inside the suction cup 22 is first reduced, and the suction cup 22 and the display screen complete the preliminary adsorption process. The display screen will not shake left and right at this time. At the same time, the cross push-pull frame 12 drives the lower ends of the clamping claws 7 to move closer to each other, and the outer wall of the clamping airbag 8 contacts the side of the display screen. At this time, the air pressure inside the clamping airbag 8 increases, and the side wall of the clamping airbag 8 wraps the side of the display screen. At this time, the display screen completes the clamping process, and during the clamping process, the air pressure inside the suction cup 22 continues to decrease. At this time, the suction cup 22 itself can be deformed to offset part of the air pressure change to prevent the suction cup 22 from damaging the display screen.

[0033] During the claw loosening process, the robot arm moves the display screen to the target position through the robot arm, and then the cylinder 13 is started in reverse, the air pressure of the clamping airbag 8 is reduced, and the clamping claws 7 are separated, so that the clamping airbag 8 becomes loose and disengaged from the side of the display screen, and in the process of the clamping airbag 8 being disengaged from the display screen, the internal air pressure of the suction cup 22 changes slowly and continuously, that is to say, the suction cup 22 always maintains a certain adsorption force, so that the display screen will not shake during the separation of the clamping claws 7. After the clamping airbag 8 is disengaged from the display screen, the internal air pressure of the suction cup 22 increases to the same state as the external atmospheric pressure, and the suction cup 22 is separated from the display screen. At this time, the robot arm can be removed, and the display screen transfer process is completed.

[0034] The present invention is applicable to a display screen grabbing and transporting robot. By arranging a clamping airbag 8 on the clamping claw 7 to contact the side of the display screen, the flexible contact of the clamping airbag 8 during the clamping process can avoid damaging the display screen. The deformation of the clamping airbag 8 can wrap the side of the display screen to improve the clamping efficiency. In addition, by arranging a suction cup 22 with variable internal pressure, the suction cup 22 adsorbs the display screen during the process of clamping and releasing the display screen by the clamping claw 7, thereby avoiding the shaking of the display screen position caused by the clamping process, and can further protect the display screen.

[0035] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A display screen grabbing and transporting robot, comprising a cross fixing frame, the ends of which are rotatably connected with clamping claws, characterized in that: It also includes a clamping airbag, an air pressure regulating chamber and a clamping drive assembly; The clamping airbag is arranged on one side of the clamping claw close to the center of the cross fixing frame, and the clamping airbag is made of flexible material; The air pressure regulating chamber is arranged in the middle of the cross fixing frame, and a piston is slidably connected to the inside of the air pressure regulating chamber, and the piston divides the inside of the air pressure regulating chamber into two cavities, and one cavity of the air pressure regulating chamber is communicated with the clamping airbag through a first air pipe, and a sliding sleeve is arranged on the side of the air pressure regulating chamber away from the cross fixing frame, and the sliding sleeve is slidably connected to a sliding rod, and a suction cup is arranged at the end of the sliding rod, and a spring or an air cavity for driving the sliding rod to move away from the air pressure regulating chamber is arranged inside the sliding sleeve, and the inner cavity of the suction cup is communicated with the inside of the air pressure regulating chamber through a second air pipe, and the first air pipe and the second air pipe are respectively communicated with the cavities of the air pressure regulating chamber on both sides of the piston; The clamping drive assembly is arranged on the side of the cross fixing frame away from the air pressure regulating chamber, and is used to adjust the position of the piston in the air pressure regulating chamber and change the angle of the clamping jaws. When the end of the clamping jaw with the clamping airbag moves toward the center of the cross fixing frame, the air pressure inside the clamping airbag increases.

2. A display screen grabbing and transporting robot according to claim 1, characterized in that: The middle part of the piston is fixedly connected to a lifting slide rod slidably connected to a cross fixing frame, cylinders are arranged on both sides of the cross fixing frame, the piston rod of the cylinder is fixedly connected to a cross push-pull frame, the middle part of the cross push-pull frame is fixedly connected to the lifting slide rod, a slider is arranged on the outer side of the cross push-pull frame, the slider is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to one end of the clamping claw away from the clamping airbag.

3. A display screen grabbing and transporting robot according to claim 2, characterized in that: The slide block is slidably connected to the cross push-pull frame, and the side surface of the slide block is threadedly connected with a locking bolt that matches the cross push-pull frame.

4. A display screen grabbing and transporting robot according to claim 1, characterized in that: An auxiliary support frame is fixedly connected to the outer side of the cross fixing frame, and a hanging rod is arranged at the corner of the auxiliary support frame, and the hanging rod is fixedly connected to the mounting flange.

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