Manipulator for loading and unloading of carrier

Abstract

The invention relates to the technical field of manipulators, in particular to a manipulator for loading and unloading a carrier. The technical problems that when an existing mechanical arm conducts feeding and discharging on a carrier, the carrier may fall off, the carrier is not convenient to clamp from multiple directions, feeding and discharging are not stable enough, and the feeding and discharging effect on the carrier is poor are solved. A mechanical arm for loading and unloading of a carrier comprises a connecting plate, the connecting plate is fixedly connected with a mechanical arm, and the two sides of the mechanical arm are each evenly connected with three suction cups. When the mechanical arm moves downwards to grab the carrier, the carrier is pushed to the middle position through the two sets of positioning frames, then the carrier is positioned, the mechanical arm can better grab the carrier subsequently, after the mechanical arm grabs the carrier and moves upwards, the bottom of the carrier is supported through the two supporting hands, and then the bottom of the carrier is supported; and therefore, the carrier is not prone to falling off in the feeding and discharging process, and the feeding and discharging effect of the carrier is further enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator used for loading and unloading materials on a carrier. Background Art

[0002] Nowadays, in the field of industrial production, industrial robots with the advantages of high precision, high speed and strong repeatability are usually used to load and unload carriers in order to adapt to the strict requirements of modern industry on production efficiency. When industrial robots load and unload carriers, it is necessary to install a manipulator that matches the carrier on the industrial robot. The industrial robot will then grab the carrier through the manipulator and grab and put down the carrier through the suction cup on the manipulator to load and unload the carrier.

[0003] Due to the wear on the surface of some carriers, there is a possibility of them falling off the suction cup during the loading and unloading process. The current robot is not convenient for supporting the bottom of the carrier when loading and unloading the carrier, resulting in the possibility of the carrier falling during the loading and unloading process. In addition, due to the inertia generated during the movement of the robot grasping the carrier, the carrier can easily slide and loosen. The current robot is not convenient for clamping the carrier from multiple directions during the loading and unloading process, resulting in the carrier being not stable on the robot after the robot grasps the carrier, resulting in poor loading and unloading effects of the carrier. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings, the present invention provides a robot arm for loading and unloading a carrier, which can support the bottom of the carrier so that the carrier is not easy to fall during the loading and unloading process and can clamp the carrier from multiple directions so that the carrier is more stable on the robot arm after the robot arm grabs the carrier, thereby enhancing the loading and unloading effect of the carrier.

[0005] The technical solution is as follows: A robot for loading and unloading materials on a carrier, comprising a connecting plate, to which the robot is fixedly connected, three suction cups are evenly connected on both sides of the robot, the three suction cups on each side of the robot form a group, and there are two groups of suction cups in total, the two groups of suction cups are symmetrically arranged, and diverters are connected between the six suction cups, a carrier is placed under the robot, and the robot is provided with a bottom supporting mechanism for supporting the bottom of the carrier, and the robot is provided with a positioning mechanism for positioning the carrier.

[0006] Furthermore, the bottom supporting mechanism includes a guide sleeve, and the four guide sleeves are respectively fixedly connected to the two sides of the manipulator, the two guide sleeves on each side of the manipulator form a group, and the guide sleeves are in total two groups, and the two guide sleeves in each group are symmetrically arranged, and the two groups of guide sleeves are symmetrically arranged, and the four guide sleeves are all slidably connected with contact feet, and the two contact feet on each group of guide sleeves form a group, and the contact feet are in total two groups, and the two contact feet in each group are symmetrically arranged, and the two groups of contact feet are symmetrically arranged, and a rod-shaped structure is provided on the side where the two contact feet in each group are close to each other, and the lower parts of the four contact feet are respectively connected to the four guide sleeves. There is a first pressure spring, and a lifting frame is slidably connected between the two contact feet of each group, and sliding grooves are opened at both ends of the bottom of the lifting frame. The two lifting frames are symmetrically arranged, and the rod-shaped structures of the two contact feet of each group are respectively in contact with the tops of the two lifting frames. The two contact feet of each group are respectively connected to the lifting frames with a first tension spring, and support blocks are fixedly connected to both sides of the manipulator, and the two support blocks are symmetrically arranged. Support hands are rotatably connected to the two support blocks, and the two support hands are symmetrically arranged, and the sides of the two support hands away from each other are slidably connected to the sliding grooves of the two lifting frames.

[0007] Further, the positioning mechanism includes a support frame, the four support frames are respectively fixedly connected to both sides of two ends of the manipulator, the two support frames at the same end form a group, the support frames are two groups in total, the two support frames in each group are symmetrically arranged, the two groups of support frames are symmetrically arranged, the four support frames are slidably connected with sliding rods, the two sliding rods on the same group of support frames form a group, the sliding rods are two groups in total, the two sliding rods in each group are symmetrically arranged, the two groups of sliding rods are symmetrically arranged, the four sliding rods are respectively connected to the four support frames with second pressure springs, the bottoms of the four sliding rods are slidably connected to the positioning frame, the top of the positioning frame is provided with a guide groove, the guide grooves of the four positioning frames are respectively slidably connected to the four support frames, the two positioning frames on the same group of sliding rods form a group, the positioning frames are two groups in total, the two positioning frames in each group are symmetrically arranged, and the two groups of positioning frames are symmetrically arranged.

[0008] Furthermore, the bottoms of the four positioning frames are rotatably connected with rollers.

[0009] Furthermore, it also includes an extrusion mechanism, which is arranged on the manipulator, and is used to extrude the carrier. The extrusion mechanism includes a rotating tube, and the two rotating tubes are respectively rotatably connected to the two ends of the manipulator, and a spiral groove is opened on the rotating tube. The two rotating tubes are symmetrically arranged, and the bottoms of the two rotating tubes are fixedly connected with eccentric wheels, and the two eccentric wheels are symmetrically arranged. Guide rods are slidably connected in the two rotating tubes, and the two guide rods are symmetrically arranged. A columnar structure is provided at the bottom of the two guide rods close to each other, and the columnar structures of the two guide rods are respectively slidably connected to the spiral grooves of the two rotating tubes, and a connecting frame is fixedly connected between the two sliding rods of each group, and the two connecting frames are symmetrically arranged, and the middle parts of the two connecting frames are respectively fixedly connected to the tops of the two guide rods.

[0010] Furthermore, the eccentric wheel is made of nylon.

[0011] Further, it also includes a clamping mechanism, which is arranged on the manipulator, and the clamping mechanism is used to stabilize the carrier. The clamping mechanism includes a stabilizing frame, and the two stabilizing frames are respectively fixedly connected to the two ends of the bottom of the manipulator, and the two stabilizing frames are symmetrically arranged. The middle parts of the two stabilizing frames are slidably connected to the sliding frames, and the two ends of the sliding frames are provided with sliding grooves. The two sliding frames are symmetrically arranged, and the tops of the two eccentric wheels are fixedly connected to cams, and the two cams are symmetrically arranged. The two cams are respectively in contact with the sides of the two sliding frames that are away from each other, and the ends of the two sliding frames that are close to each other are respectively connected to the sides of the two stabilizing frames that are close to each other. A second tension spring is connected, and the two second tension springs are symmetrically arranged. The two ends of the two stabilizing frames are rotatably connected to clamping arms, and the two clamping arms on the same stabilizing frame form a group. There are two groups of clamping arms in total, and the two clamping arms in each group are symmetrically arranged. The two groups of clamping arms are symmetrically arranged, and the tops of the two clamping arms in each group are slidably connected to the sliding grooves at the two ends of each sliding frame.

[0012] Furthermore, the bottoms of the ends of the two clamping arms in the same group that are away from each other are made of rubber material.

[0013] Furthermore, it also includes a pushing-away mechanism, which is arranged on the manipulator, and is used to press down the carrier from the top. The pushing-away mechanism includes a piston cylinder, and the piston cylinder is fixedly connected to the middle part of the manipulator, and the top of the piston cylinder is connected to the diverter. A piston rod is slidably connected in the piston cylinder, and a supporting foot is fixedly connected to the bottom of the piston rod. A third pressure spring is connected between the supporting foot and the piston cylinder, and the third pressure spring is sleeved on the piston rod.

[0014] Furthermore, it also includes a buffer pad. Two buffer pads are fixedly connected to the two support hands respectively. The two buffer pads on the same support hand form a group. There are two groups of buffer pads in total. The two buffer pads in each group are symmetrically arranged. The two groups of buffer pads are symmetrically arranged.

[0015] The beneficial effects are: 1. When the manipulator moves downward to grab the carrier, it will push the carrier to the middle position through two sets of positioning frames, and then position the carrier, so that the manipulator can better grab the carrier in the future, thereby enhancing the loading and unloading effect of the carrier. After the manipulator absorbs the carrier through the suction cup, it will drive the carrier, guide sleeve and support block to move upward together. After the manipulator grabs the carrier and moves upward, it will support the bottom of the carrier through two supporting hands, and then support the bottom of the carrier, so that the carrier is not easy to fall during the loading and unloading process, thereby further enhancing the loading and unloading effect of the carrier.

[0016] 2. After the robot grabs the carrier, it uses two eccentric wheels and two sets of clamping arms to support the four sides of the carrier, and then clamps the carrier from multiple directions. This makes the carrier more stable on the robot after the robot grabs the carrier, thereby further enhancing the loading and unloading effect of the carrier.

[0017] 3. When the carrier needs to be placed down, downward pressure is applied to the carrier through the support feet, so that when the robot moves upward, the carrier will not be lifted up by the viscosity of the suction cup, causing the carrier to shift position, making the robot more stable when placing the carrier, thereby further enhancing the loading and unloading effect of the carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the cross-sectional three-dimensional structure of the present invention.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the bottom supporting mechanism of the present invention.

[0021] Figure 4 It is a partial three-dimensional structural schematic diagram of the bottom supporting mechanism of the present invention.

[0022] Figure 5 It is a three-dimensional structural schematic diagram of the positioning mechanism of the present invention.

[0023] Figure 6 It is a partial three-dimensional structural schematic diagram of the positioning mechanism of the present invention.

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure of the extrusion mechanism of the present invention.

[0025] Figure 8It is a schematic diagram of the split three-dimensional structure of the extrusion mechanism of the present invention.

[0026] Fig. 9 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention.

[0027] Fig.10 It is a partial three-dimensional structural schematic diagram of the clamping mechanism of the present invention.

[0028] Fig.11 It is a schematic diagram of the three-dimensional structure of the clamping arm of the present invention.

[0029] Fig.12 It is a schematic diagram of the three-dimensional structure of the push-off mechanism of the present invention.

[0030] Fig.13 It is a schematic cross-sectional three-dimensional structural diagram of the push-off mechanism of the present invention.

[0031] In the accompanying drawings: 1_connecting plate, 2_manipulator, 3_diverter, 4_suction cup, 5_carrier, 61_guide sleeve, 62_contact foot, 63_first pressure spring, 64_first tension spring, 65_lifting frame, 66_support block, 67_support hand, 71_support frame, 72_slide rod, 73_positioning frame, 74_roller, 75_second pressure spring, 81_rotating tube, 82_eccentric wheel, 83_guide rod, 84_connecting frame, 91_stabilizing frame, 92_sliding frame, 93_cam, 94_second tension spring, 95_clamping arm, 101_piston cylinder, 102_support foot, 103_piston rod, 104_third pressure spring, 11_buffer pad. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] Embodiment 1: A robot for loading and unloading a carrier, such as Figure 1-Figure 13 As shown, it includes a connecting plate 1, to which a manipulator 2 is connected by bolts, and three suction cups 4 are evenly connected on both sides of the manipulator 2, and the three suction cups 4 on each side of the manipulator 2 form a group, and there are two groups of suction cups 4 in total, and the two groups of suction cups 4 are symmetrically arranged, and a diverter 3 is connected between the six suction cups 4, and a carrier 5 is placed under the manipulator 2, and the manipulator 2 is used to load and unload the carrier 5 through the suction cup 4, and the manipulator 2 is provided with a bottom supporting mechanism for supporting the bottom of the carrier 5, and the manipulator 2 is provided with a positioning mechanism for positioning the carrier 5.

[0034] The bottom supporting mechanism includes a guide sleeve 61, and the four guide sleeves 61 are respectively connected to the two sides of the manipulator 2 by bolts, the two guide sleeves 61 on each side of the manipulator 2 form a group, and the guide sleeves 61 are in total two groups, and the two guide sleeves 61 in each group are symmetrically arranged, and the two groups of guide sleeves 61 are symmetrically arranged, and the four guide sleeves 61 are all slidably connected with contact feet 62, and the two contact feet 62 on each group of the guide sleeves 61 form a group, and the contact feet 62 are in total two groups, and the two contact feet 62 in each group are symmetrically arranged, and the two groups of contact feet 62 are symmetrically arranged, and a rod-shaped structure is provided on the side where the two contact feet 62 of each group are close to each other, and the lower parts of the four contact feet 62 are respectively connected to the four guide sleeves 61 with first pressure springs 63, and the two contact feet 62 in each group are slidably connected with a A lifting frame 65, both ends of the bottom of the lifting frame 65 are provided with sliding grooves, the two lifting frames 65 are symmetrically arranged, the rod-shaped structures of the two contact feet 62 in each group are in contact with the tops of the two lifting frames 65 respectively, and the two contact feet 62 in each group are respectively connected to the lifting frames 65 with a first tension spring 64, both sides of the manipulator 2 are connected with support blocks 66 by bolts, the two support blocks 66 are symmetrically arranged, and the two support blocks 66 are rotatably connected with support hands 67, the support hands 67 are used to hold the bottom of the carrier 5, the two support hands 67 are symmetrically arranged, and the sides of the two support hands 67 away from each other are respectively slidably connected to the sliding grooves of the two lifting frames 65, and the lifting frame 65 is used to drive the support hands 67 to rotate through the sliding grooves of the lifting frames 65.

[0035] The positioning mechanism includes a support frame 71, and the four support frames 71 are respectively connected to the two sides of the two ends of the manipulator 2 by bolts, and the two support frames 71 at the same end form a group, and there are two groups of support frames 71 in total, and the two support frames 71 in each group are symmetrically arranged, and the two groups of support frames 71 are symmetrically arranged, and the four support frames 71 are all slidably connected with slide bars 72, and the two slide bars 72 on the same group of support frames 71 form a group, and there are two groups of slide bars 72 in total, and the two slide bars 72 in each group are symmetrically arranged, and the two groups of slide bars 72 are symmetrically arranged, and the four slide bars 72 are respectively connected to the four support frames 71. A second pressure spring 75 is connected between the frames 71, and the bottoms of the four sliding rods 72 are slidably connected with positioning frames 73, and the positioning frames 73 are used to position the carrier 5. The top of the positioning frame 73 is provided with a guide groove, and the support frame 71 is used to squeeze the positioning frame 73 to move through the guide groove of the positioning frame 73, and the guide grooves of the four positioning frames 73 are slidably connected to the four support frames 71 respectively. The two positioning frames 73 on the same group of sliding rods 72 form a group, and there are two groups of positioning frames 73 in total. The two positioning frames 73 in each group are symmetrically arranged, and the two groups of positioning frames 73 are symmetrically arranged.

[0036] The bottoms of the four positioning frames 73 are rotatably connected to rollers 74 , and the rollers 74 are used to reduce the friction between the positioning frames 73 and the workbench.

[0037] It also includes a buffer pad 11. Two buffer pads 11 are respectively connected to the two support hands 67. The buffer pads 11 are used to reduce the pressure on the bottom of the carrier 5. The two buffer pads 11 on the same support hand 67 form a group. There are two groups of buffer pads 11 in total. The two buffer pads 11 in each group are symmetrically arranged. The two groups of buffer pads 11 are symmetrically arranged.

[0038] First, the operator installs the manipulator 2 on the industrial robot through the connecting plate 1, and connects the diverter 3 to the vacuum pump. When the industrial robot drives the manipulator 2 to move downward to grab the carrier 5 on the workbench, the manipulator 2 moves downward and drives the positioning frame 73 to move together through the support frame 71, so that the two groups of positioning frames 73 will respectively press against the workbench through the rollers 74, and the two groups of contact feet 62 will also press against the workbench. The manipulator 2 continues to move downward to drive the support frame 71 to move downward, the second pressure spring 75 is compressed, and the support frame 71 squeezes the guide groove of the positioning frame 73 to make the two groups of positioning frames 73 move towards each other, and the roller 74 rolls, thereby reducing the friction between the positioning frame 73 and the workbench. Moving in the direction of approaching each other will push the carrier 5 to each other. In this way, when the manipulator 2 moves downward to grab the carrier 5, it will push the carrier 5 to the middle position through the two sets of positioning frames 73, and then position the carrier 5, so that the manipulator 2 can better grab the carrier 5 in the future, thereby enhancing the loading and unloading effect of the carrier 5; when the manipulator 2 drives the support frame 71 to move downward, it will also drive the guide sleeve 61 and the support block 66 to move downward, the first pressure spring 63 is compressed, and at the same time, the first tension spring 64 pulls the two support hands 67 away from each other through the two lifting frames 65. At the same time, the downward movement of the support block 66 will drive the support hand 67 to move downward, so that the two support hands 67 rotate ninety degrees in the direction away from each other to open, and the manipulator 2 continues The support block 66 then drives the support hand 67 to move downward. The downward movement of the manipulator 2 will pull the lifting frame 65 downward, and the first tension spring 64 will be stretched. At the same time, the rod-shaped structure of the contact foot 62 will no longer contact the lifting frame 65. After the manipulator 2 moves downward for a certain distance, it will contact the carrier 5 through the suction cup 4. At the same time, the industrial robot controls the vacuum pump to start. The vacuum pump generates suction force on the suction cup 4 through the diverter 3, and then the carrier 5 is adsorbed on the suction cup 4, so that the manipulator 2 can grab the carrier 5. After the manipulator 2 adsorbs the carrier 5 through the suction cup 4, it will drive the carrier 5, the guide sleeve 61 and the support block 66 to move upward together. The upward movement of the support block 66 will drive the support hand 67 to move upward. After the support hand 67 moves upward for a certain distance, it will no longer pull The lifting frame 65, the first tension spring 64 is reset to drive the lifting frame 65 to move upward so that the rod-shaped structure of the slide bar 72 presses against the top of the lifting frame 65 again. After the manipulator 2 moves upward for a certain distance, the first pressure spring 63 is reset. At the same time, the first pressure spring 63 presses against the lifting frame 65 through the slide bar 72, so that the lifting frame 65 squeezes the support hand 67 to reset. The support hand 67 resets and contacts the bottom of the carrier 5 through the buffer pad 11, and then the buffer pad 11 reduces the pressure on the bottom of the carrier 5. In this way, after the manipulator 2 grabs the carrier 5 and moves upward, it will support the bottom of the carrier 5 through the two support hands 67, and then support the bottom of the carrier 5, so that the carrier 5 is not easy to fall during the loading and unloading process, thereby further enhancing the loading and unloading effect of the carrier 5;When the manipulator 2 moves upward, it will drive the support frame 71 to move upward, and the second pressure spring 75 will reset. At the same time, the support frame 71 will drive the positioning frame 73 to reset through the guide groove of the positioning frame 73. When the manipulator 2 needs to put down the carrier 5, the industrial robot moves the carrier 5 to the top of the target workbench through the manipulator 2 and then moves downward. Then the two sets of contact feet 62 will press against the workbench again, so that the two support hands 67 will rotate outward and open to no longer support the bottom of the carrier 5. Then the manipulator 2 will continue to drive the carrier 5 to move downward so that the carrier 5 contacts the target workbench. At the same time, the industrial robot turns off the vacuum pump so that the suction cup 4 no longer absorbs the carrier 5, and then the carrier 5 is placed on the target workbench. Then the manipulator 2 moves upward, and the support hand 67 will reset after moving upward a certain distance. Repeat this process, and the industrial robot can load and unload the remaining carriers 5 through the manipulator 2. ;

[0039] Embodiment 2: Based on Embodiment 1, Figure 1-Figure 11 As shown, it also includes an extrusion mechanism, which is arranged on the manipulator 2 and is used to extrude the carrier 5. The extrusion mechanism includes a rotating tube 81, and the two rotating tubes 81 are respectively rotatably connected to the two ends of the manipulator 2. The rotating tube 81 has a spiral groove, and the two rotating tubes 81 are symmetrically arranged. The bottoms of the two rotating tubes 81 are connected to eccentric wheels 82 through key grooves. The eccentric wheels 82 are used to position the carrier 5. The two eccentric wheels 82 are symmetrically arranged, and the two rotating tubes 81 are slidably connected to guide wheels. Rod 83, the two guide rods 83 are symmetrically arranged, and a columnar structure is provided at the bottom of the side where the two guide rods 83 are close to each other. The columnar structure of the guide rod 83 is used to drive the eccentric wheel 82 to rotate through the spiral groove of the rotating tube 81, and the columnar structures of the two guide rods 83 are respectively slidably connected to the spiral grooves of the two rotating tubes 81, and a connecting frame 84 is connected between the two sliding rods 72 of each group by bolts. The two connecting frames 84 are symmetrically arranged, and the middle parts of the two connecting frames 84 are respectively connected to the tops of the two guide rods 83 by bolts.

[0040] The eccentric wheel 82 is made of nylon, and the eccentric wheel 82 made of nylon is used to avoid crushing the carrier 5 while applying a large pressure.

[0041] It also includes a clamping mechanism, which is arranged on the manipulator 2, and is used to stabilize the carrier 5. The clamping mechanism includes a stabilizing frame 91, and the two stabilizing frames 91 are respectively connected to the two ends of the bottom of the manipulator 2 by bolts, and the two stabilizing frames 91 are symmetrically arranged. The middle parts of the two stabilizing frames 91 are slidably connected to a sliding frame 92, and both ends of the sliding frame 92 are provided with sliding grooves. The two sliding frames 92 are symmetrically arranged, and the tops of the two eccentric wheels 82 are connected to cams 93 by bolts. The two cams 93 are symmetrically arranged, and the two cams 93 are respectively in contact with the sides of the two sliding frames 92 that are away from each other. One end of the moving frame 92 that is close to each other is respectively connected to the side of the two stabilizing frames 91 that are close to each other with a second tension spring 94, and the two second tension springs 94 are symmetrically arranged. Both ends of the two stabilizing frames 91 are rotatably connected with clamping arms 95, and the clamping arms 95 are used to clamp the carrier 5. The two clamping arms 95 on the same stabilizing frame 91 form a group, and there are two groups of clamping arms 95 in total. The two clamping arms 95 in each group are symmetrically arranged. The two groups of clamping arms 95 are symmetrically arranged, and the tops of the two clamping arms 95 in each group are respectively slidably connected to the sliding grooves at both ends of each sliding frame 92, and the sliding frame 92 is used to drive the clamping arms 95 to rotate.

[0042] The bottoms of the ends of the two clamping arms 95 in the same group that are away from each other are made of rubber material. The rubber bottoms of the clamping arms 95 are used to apply pressure to the carrier 5 through elasticity.

[0043] Initially, the cam 93 abuts against the sliding frame 92, and the second tension spring 94 is in a stretched state, so that the sliding frame 92 abuts against the clamping arm 95. When the positioning frame 73 abuts against the workbench through the roller 74, the positioning frame 73 abuts against the slide bar 72, so that the slide bar 72 moves upward on the support frame 71, so that the two sets of slide bars 72 respectively drive the two connecting frames 84 to move upward, and the upward movement of the connecting frame 84 drives the guide rod 83 to move upward, so that the columnar structure of the guide rod 83 drives the rotating tube 81 to rotate half a circle through the spiral groove of the rotating tube 81, so that the rotating tube 81 drives The eccentric wheel 82 rotates half a circle, and at the same time, the eccentric wheel 82 drives the cam 93 to rotate half a circle and no longer resists the sliding frame 92. The reset of the second tension spring 94 will drive the two sliding frames 92 to move away from each other. The movement of the two sliding frames 92 will respectively drive the two groups of clamping arms 95 to rotate outward and open. When the manipulator 2 grabs the carrier 5 and moves upward, the positioning frame 73 no longer resists the slide bar 72, so that the slide bar 72 moves downward on the support frame 71 and resets. The reset of the two groups of slide bars 72 will drive the two connecting frames 84 to reset. The reset of the two connecting frames 84 will be through the two guide rods 8 3 drives the two rotating tubes 81 to reset, and the reset of the two rotating tubes 81 will drive the two nylon eccentric wheels 82 to reset and contact the carrier 5, and then the nylon eccentric wheels 82 contact the carrier 5, so that the carrier 5 can be pressed without being damaged while applying a large pressure, so that the two eccentric wheels 82 press against the carrier 5 from both sides of the carrier 5, and at the same time, the reset of the eccentric wheels 82 will drive the cam 93 to reset, and the reset of the two cams 93 will re-press the two sliding frames 92 to move in a direction close to each other, and the second tension spring 94 returns to the initial state, and the movement of the two sliding frames 92 will drive each group The two clamping arms 95 rotate in the direction of approaching each other. After the four clamping arms 95 rotate, the rubber bottom of the clamping arms 95 will press against the other two sides of the carrier 5, and then the rubber bottom of the clamping arms 95 applies pressure to the carrier 5 through elasticity. In this way, after the manipulator 2 grabs the carrier 5, it presses against the four sides of the carrier 5 through the two eccentric wheels 82 and the two groups of clamping arms 95, and then clamps the carrier 5 from multiple directions, so that after the manipulator 2 grabs the carrier 5, the carrier 5 is more stable on the manipulator 2, thereby further enhancing the loading and unloading effect of the carrier 5.

[0044] Embodiment 3 is based on embodiment 2, as Figure 1-Figure 13As shown, it also includes a pushing mechanism, which is arranged on the manipulator 2, and is used to press down the carrier 5 from the top. The pushing mechanism includes a piston cylinder 101, and the piston cylinder 101 is connected to the middle part of the manipulator 2 by bolts. The top of the piston cylinder 101 is connected to the diverter 3, and a piston rod 103 is slidably connected in the piston cylinder 101. The bottom of the piston rod 103 is connected to a supporting foot 102 by bolts, and the supporting foot 102 is used to push away the carrier 5. A third pressure spring 104 is connected between the supporting foot 102 and the piston cylinder 101, and the third pressure spring 104 is sleeved on the piston rod 103.

[0045] When the manipulator 2 moves downward, it will drive the piston cylinder 101 to move downward together, and then the supporting foot 102 will press against the middle of the carrier 5. The manipulator 2 drives the piston cylinder 101 to continue to move downward, and the third pressure spring 104 is compressed, so that the third pressure spring 104 continues to apply downward pressure to the supporting foot 102. When it is necessary to grab the carrier 5, the industrial robot will turn on the vacuum pump to make the suction cup 4 adsorb the carrier 5. At the same time, the vacuum pump will suck out the air in the piston cylinder 101 through the diverter 3, so that negative pressure is generated in the piston cylinder 101. Then the piston cylinder 101 drives the supporting foot 102 to move upward, and the third pressure spring 104 continues to be compressed, and at the same time, the supporting foot 102 no longer squeezes the middle of the carrier 5. When the manipulator 2 needs to put down the carrier 5, the industrial robot will turn off the vacuum pump to restore the air pressure in the piston cylinder 101, and the third pressure spring 104 will reset so that the support foot 102 drives the piston rod 103 to move downward and press against the middle of the carrier 5. Then the manipulator 2 moves upward, and the third pressure spring 104 continues to press against the carrier 5 through the support foot 102. In this way, when it is necessary to put down the carrier 5, downward pressure is applied to the carrier 5 through the support foot 102, and then when the manipulator 2 moves upward, the carrier 5 will not be lifted up by the viscosity of the suction cup 4, causing the carrier 5 to shift its position, thereby making the manipulator 2 more stable when putting down the carrier 5, thereby further enhancing the loading and unloading effect of the carrier 5.

[0046] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A manipulator for loading and unloading materials on a carrier, characterized in that: The invention comprises a connecting plate (1), to which a manipulator (2) is fixedly connected, and three suction cups (4) are evenly connected to the two sides of the manipulator (2), the three suction cups (4) on each side of the manipulator (2) form a group, and there are two groups of suction cups (4) in total, and the two groups of suction cups (4) are symmetrically arranged, and a diverter (3) is connected between the six suction cups (4), and a carrier (5) is placed under the manipulator (2), and a bottom supporting mechanism for supporting the bottom of the carrier (5) is provided on the manipulator (2), and a positioning mechanism for positioning the carrier (5) is provided on the manipulator (2).

2. A manipulator for loading and unloading a carrier according to claim 1, characterized in that: The bottom supporting mechanism comprises a guide sleeve (61), wherein four guide sleeves (61) are respectively fixedly connected to two sides of the manipulator (2), wherein two guide sleeves (61) on each side of the manipulator (2) form a group, wherein there are two groups of guide sleeves (61), wherein the two guide sleeves (61) in each group are symmetrically arranged, and wherein the two groups of guide sleeves (61) are symmetrically arranged, wherein the four guide sleeves (61) are all slidably connected to contact feet (62), wherein the two contact feet (62) on each group of guide sleeves (61) form a group, wherein there are two groups of contact feet (62), wherein the two contact feet (62) in each group are symmetrically arranged, and wherein the two contact feet (62) in the two groups are symmetrically arranged, wherein a rod-shaped structure is provided on one side where the two contact feet (62) in each group are close to each other, and wherein the lower parts of the four contact feet (62) are respectively connected to the four guide sleeves (61) by a first contact foot (62). A pressure spring (63), a lifting frame (65) is slidably connected between the two contact feet (62) of each group, and sliding grooves are provided at both ends of the bottom of the lifting frame (65). The two lifting frames (65) are symmetrically arranged. The rod-shaped structures of the two contact feet (62) of each group are respectively in contact with the tops of the two lifting frames (65). A first tension spring (64) is connected between the two contact feet (62) of each group and the lifting frames (65). Support blocks (66) are fixedly connected to both sides of the manipulator (2). The two support blocks (66) are symmetrically arranged. Support hands (67) are rotatably connected to the two support blocks (66). The two support hands (67) are symmetrically arranged. The two sides of the two support hands (67) that are away from each other are respectively slidably connected to the sliding grooves of the two lifting frames (65).

3. A manipulator for loading and unloading a carrier according to claim 2, characterized in that: The positioning mechanism comprises a support frame (71), wherein four support frames (71) are respectively fixedly connected to two sides of two ends of the manipulator (2), and two support frames (71) at the same end form a group. There are two groups of support frames (71) in total, and the two support frames (71) in each group are symmetrically arranged. The two groups of support frames (71) are symmetrically arranged. The four support frames (71) are all slidably connected to a slide bar (72), and the two slide bars (72) on the same group of support frames (71) form a group. There are two groups of slide bars (72) in total, and the two slide bars (72) in each group are symmetrically arranged. The four slide bars (72) are symmetrically arranged, and second pressure springs (75) are connected between the four slide bars (72) and the four support frames (71) respectively. The bottoms of the four slide bars (72) are slidably connected with positioning frames (73). The tops of the positioning frames (73) are provided with guide grooves. The guide grooves of the four positioning frames (73) are slidably connected with the four support frames (71) respectively. The two positioning frames (73) on the same group of slide bars (72) form a group. There are two groups of positioning frames (73) in total. The two positioning frames (73) in each group are symmetrically arranged. The two groups of positioning frames (73) are symmetrically arranged.

4. A manipulator for loading and unloading a carrier according to claim 3, characterized in that: The bottoms of the four positioning frames (73) are all rotatably connected to rollers (74).

5. The robot for loading and unloading a carrier according to claim 3, characterized in that: The invention also comprises an extrusion mechanism, the extrusion mechanism being arranged on the manipulator (2), the extrusion mechanism being used to extrude the carrier (5), the extrusion mechanism comprising a rotating tube (81), the two rotating tubes (81) being rotatably connected to the two ends of the manipulator (2), the rotating tubes (81) being provided with spiral grooves, the two rotating tubes (81) being symmetrically arranged, the bottoms of the two rotating tubes (81) being fixedly connected with eccentric wheels (82), the two eccentric wheels (82) being symmetrically arranged, and the two rotating tubes (81) being symmetrically arranged. The two guide rods (83) are slidably connected to each other, the two guide rods (83) are symmetrically arranged, a columnar structure is provided at the bottom of the side where the two guide rods (83) are close to each other, and the columnar structures of the two guide rods (83) are respectively slidably connected to the spiral grooves of the two rotating tubes (81), and a connecting frame (84) is fixedly connected between the two sliding rods (72) in each group, the two connecting frames (84) are symmetrically arranged, and the middle parts of the two connecting frames (84) are respectively fixedly connected to the tops of the two guide rods (83).

6. A manipulator for loading and unloading a carrier according to claim 5, characterized in that: The eccentric wheel (82) is made of nylon.

7. A robot for loading and unloading a carrier according to claim 5, characterized in that: The invention also comprises a clamping mechanism, wherein the clamping mechanism is arranged on the manipulator (2), and the clamping mechanism is used to stabilize the carrier (5), and the clamping mechanism comprises a stabilizing frame (91), wherein the two stabilizing frames (91) are respectively fixedly connected to the two ends of the bottom of the manipulator (2), and the two stabilizing frames (91) are symmetrically arranged, and the middle parts of the two stabilizing frames (91) are slidably connected to a sliding frame (92), and the two ends of the sliding frame (92) are provided with sliding grooves, and the two sliding frames (92) are symmetrically arranged, and the tops of the two eccentric wheels (82) are respectively fixedly connected to a cam (93), and the two cams (93) are symmetrically arranged, and the two cams (93) are respectively connected to the two sliding frames. The two sliding frames (92) are in contact with one side away from each other, and the ends of the two sliding frames (92) that are close to each other are respectively connected to the sides of the two stabilizing frames (91) that are close to each other with a second tension spring (94), and the two second tension springs (94) are symmetrically arranged. Both ends of the two stabilizing frames (91) are rotatably connected with clamping arms (95), and the two clamping arms (95) on the same stabilizing frame (91) form a group. There are two groups of clamping arms (95), and the two clamping arms (95) in each group are symmetrically arranged. The two groups of clamping arms (95) are symmetrically arranged, and the tops of the two clamping arms (95) in each group are respectively slidably connected to the sliding grooves at both ends of each sliding frame (92).

8. A robot for loading and unloading a carrier according to claim 7, characterized in that: The bottoms of the ends of the two clamping arms (95) in the same group that are away from each other are made of rubber material.

9. A robot for loading and unloading a carrier according to claim 7, characterized in that: The invention also comprises a push-off mechanism, which is arranged on the manipulator (2) and is used to press down the carrier (5) from the top. The push-off mechanism comprises a piston cylinder (101), which is fixedly connected to the middle part of the manipulator (2), the top of the piston cylinder (101) is connected to the diverter (3), a piston rod (103) is slidably connected inside the piston cylinder (101), a supporting foot (102) is fixedly connected to the bottom of the piston rod (103), a third pressure spring (104) is connected between the supporting foot (102) and the piston cylinder (101), and the third pressure spring (104) is sleeved on the piston rod (103).

10. A robot for loading and unloading a carrier according to claim 9, characterized in that: It also comprises a buffer pad (11), wherein two buffer pads (11) are respectively fixedly connected to the two support hands (67), and the two buffer pads (11) on the same support hand (67) form a group. There are two groups of buffer pads (11) in total, and the two buffer pads (11) in each group are symmetrically arranged. The two groups of buffer pads (11) are symmetrically arranged.

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