Pneumatic adsorption type manipulator

Abstract

The invention belongs to the technical field of mechanical arms, and particularly relates to a pneumatic adsorption type mechanical arm which comprises a mechanical arm controller and a grabbing assembly. One side wall of the manipulator controller is in transmission connection with a first driving arm, the top of the grabbing assembly is in transmission connection with a second driving arm, and one end of the second driving arm is in transmission connection with one end of the first driving arm; the manipulator controller is used for controlling lifting and horizontal rotation of the first driving arm and the second driving arm, the manipulator controller is further used for controlling the grabbing range of the grabbing assembly, and under the action of the first driving arm and the second driving arm, the grabbing assembly is driven to different stations for grabbing operation; a horizontal adsorption mechanism and an overturning adsorption mechanism in the grabbing assembly are utilized, switching is conducted according to different shapes of grabbed objects, the grabbing compatibility of a traditional mechanical arm for different types of objects is improved, and the application range of the mechanical arm is widened.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a pneumatic adsorption type manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate the movements of human hands and arms, and can grab, move objects or operate tools according to a fixed program. In many manufacturing and processing companies, the production and assembly process of products requires a large amount of sample delivery and retrieval work. The conventional method is to move samples from one processing position to another through manual transportation. When the distance is short, it can be moved directly to the designated position by hand; when the distance is far, it is circulated through turnover vehicles, etc., and a manipulator will be used.

[0003] After searching, in the prior art, Chinese patent publication number CN220463931U, authorization announcement date: 2024-02-09, discloses an adsorption type manipulator, including a connecting rod, a mounting frame is arranged at the bottom of the connecting rod, a first mounting box is arranged in the inner cavity of the mounting frame, a threaded screw is arranged in the inner cavity of the first mounting box, a first connecting block is arranged in front of the first connecting block, a connecting frame is arranged in front of the first telescopic rod, an adjustment mechanism is arranged on the connecting frame, an adsorption mechanism is connected to the bottom of the adjustment mechanism, and the bottom of the mounting frame is connected to the auxiliary mechanism. The adsorption type manipulator of the present application, after using the adsorption mechanism to suck up the product, can rotate the tray to the bottom of the product through the rotating shaft, contact with the bottom of the product, so as to support the product, so that during the movement, even if the vacuum state in the suction cup is destroyed due to shaking, the adsorbed product will not fall, so that the fixation is more reliable and the loss is avoided.

[0004] However, the device still has the following defects: although the adsorption mechanism can be used to suck up the product, the tray can be rotated to the bottom of the product through the rotating axis to contact the bottom of the product, thereby supporting the product, but when adsorbing objects of different shapes, it cannot match the shape of the object, which easily leads to poor adsorption compatibility and limits the scope of use of the robot. Summary of the invention

[0005] In view of the above problems, the present invention provides a pneumatic adsorption manipulator, comprising a manipulator controller and a grabbing assembly; a first driving arm is transmission-connected to a side wall of the manipulator controller, a second driving arm is transmission-connected to the top of the grabbing assembly, and one end of the second driving arm is transmission-connected to one end of the first driving arm;

[0006] The grabbing assembly comprises a reset mechanism, a horizontal adsorption mechanism and a flip adsorption mechanism; the horizontal adsorption mechanism is rotatably connected to the top of the reset mechanism, and the flip adsorption mechanism is rotatably connected to the bottom of the reset mechanism.

[0007] Furthermore, the reset mechanism includes a reinforcement plate; a high-definition camera is embedded in one side wall of the reinforcement plate, a first motor is fixedly connected to the bottom of the reinforcement plate, an extension rod is fixedly connected to the top of the reinforcement plate and on the side away from the high-definition camera, and the central axes of the extension rod, the high-definition camera and the first motor all coincide with the central axis of the reinforcement plate.

[0008] Furthermore, two groups of support arms are fixedly connected to the bottom of the reinforcement plate, and the two groups of support arms are symmetrically arranged with the central axis of the first motor as the center, the outer wall of one group of support arms is fixedly connected to the second motor, the output end of the first motor is transmission connected to the horizontal adsorption mechanism, and the horizontal adsorption mechanism is slidably connected to the top of the reinforcement plate, the two groups of support arms are rotationally connected to the flip adsorption mechanism, and the output end of the second motor is transmission connected to the flip adsorption mechanism.

[0009] Further, the horizontal adsorption mechanism includes a first guide portion; a first driving portion is fixedly connected to one side wall of the first guide portion, and two groups of first linkage portions are rotatably connected to the other side wall of the first guide portion, and the output end of the first driving portion passes through the first guide portion, and the output end of the first driving portion is transmission-connected to the two groups of first linkage portions;

[0010] The first guide portion comprises a guide seat; the cross section of the guide seat is a concave structure, and a guide groove is provided on one side of the outer wall of the guide seat.

[0011] Furthermore, the first driving part includes a cylinder bracket; a cylinder is fixedly connected to the inner wall of the cylinder bracket, the cylinder bracket is fixedly connected to the outer wall of the guide seat and close to the side of the guide groove, the output end of the cylinder is transmission-connected to a rack, the rack passes through the guide groove and extends to the inner wall of the guide seat, and one end of the rack is embedded with a distance measuring sensor.

[0012] Furthermore, the first linkage part includes a linkage arm; the linkage arm is a fan-shaped structure, and one end of the linkage arm is fixedly connected to a clamping block, a side wall of the clamping block is provided with a clamping groove greater than 160°, the other end of the clamping block is provided with a reserved groove, and one end of the inner wall of the reserved groove is fixedly connected to a gear.

[0013] Furthermore, the end of the linkage arm and the side close to the gear are rotatably connected to the inner wall of the cylinder bracket, the gear is meshingly connected to the rack, and the outer wall of the linkage arm is slidably connected with a plurality of groups of fitting units.

[0014] Furthermore, the fitting unit includes a guide wheel bracket; a guide wheel shell is rotatably connected inside the guide wheel bracket, and an axle pin is provided at the center of the central axis of the guide wheel shell; a U-shaped rod is fixedly connected to one side wall of the guide wheel bracket, and the U-shaped rod passes through and is slidably connected to the outer wall of the linkage arm.

[0015] Furthermore, a spring is sleeved on the outside of the U-shaped rod, and the spring is movably connected between the guide wheel bracket and the linkage arm. An inner cavity is opened on one side of the inner wall of the guide wheel housing, and a micro air pump and a vacuum pump are embedded and installed on the other side of the inner wall of the guide wheel housing.

[0016] Furthermore, the micro air pump and the vacuum pump are both interconnected with the inner cavity, the guide wheel housing is a cylindrical structure, and the outer wall of the guide wheel housing is provided with several groups of anti-slip steps, and several groups of through holes are opened around the outer wall of the guide wheel housing and close to the anti-slip steps.

[0017] The beneficial effects of the present invention are:

[0018] 1. The manipulator controller is used to control the lifting and horizontal rotation of the first driving arm and the second driving arm. The manipulator controller is also used to control the grasping range of the grasping component. Under the action of the first driving arm and the second driving arm, the grasping component is driven to different workstations for grasping operations. The horizontal adsorption mechanism and the flip adsorption mechanism in the grasping component are used to switch according to the different shapes of the grasped objects, thereby improving the grasping compatibility of traditional manipulators in facing different types of objects and improving the application range of the manipulator.

[0019] 2. A high-definition camera is used to monitor the shape of objects in the grasping direction of the grasping component. When the high-definition camera detects that the object to be grasped is a vertical plate-shaped structure, the output end of the second motor is controlled by the manipulator controller to drive the flip adsorption mechanism to rotate counterclockwise, and then the output end of the first motor is used to drive the horizontal adsorption mechanism to rotate, so that the horizontal adsorption mechanism moves to the left and right sides of the object to clamp and grasp it, thereby improving the grasping stability of the vertical plate-shaped objects.

[0020] 3. When the object to be grasped is a horizontal plate-shaped structure monitored by a high-definition camera, the output end of the first motor is controlled by the manipulator controller to drive the horizontal adsorption mechanism to rotate, and then the output end of the second motor is used to drive the flip adsorption mechanism to rotate, so that the flip adsorption mechanism moves to the upper and lower sides of the object to clamp and grasp it, thereby improving the grasping stability of the horizontal plate-shaped object.

[0021] 4. The rack drives the distance sensor to move so that the two groups of linkage arms move away from each other. The distance sensor is used to detect the distance between the object and the two groups of linkage arms. The cylinder then drives the rack to retract, so that the two groups of linkage arms are closed and drive several groups of fitting units at the same time. The fitting units can be adjusted according to the different shapes of the objects, and can fit the objects according to their shapes while keeping the objects clamped tightly to prevent them from falling.

[0022] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0024] Figure 1 A schematic diagram of the structure of a pneumatic adsorption manipulator according to an embodiment of the present invention is shown;

[0025] Figure 2 A schematic diagram of the structure of a grabbing assembly according to an embodiment of the present invention is shown;

[0026] Figure 3 A schematic diagram showing the structure of a reset mechanism according to an embodiment of the present invention is shown;

[0027] Figure 4 A schematic diagram of the structure of the horizontal adsorption mechanism according to an embodiment of the present invention is shown;

[0028] Figure 5 It shows a schematic diagram of the structure explosion of the horizontal adsorption mechanism according to an embodiment of the present invention;

[0029] Figure 6 A schematic structural diagram of a bonding unit according to an embodiment of the present invention is shown;

[0030] Figure 7 A schematic diagram of the structure of a guide wheel housing according to an embodiment of the present invention is shown;

[0031] Figure 8 A schematic structural diagram of a flip adsorption mechanism according to an embodiment of the present invention is shown.

[0032] In the figure: 1, manipulator controller; 2, first driving arm; 3, second driving arm; 4, grab assembly; 41, reset mechanism; 411, reinforcement plate; 412, high-definition camera; 413, first motor; 414, support arm; 415, second motor; 416, extension rod; 42, horizontal adsorption mechanism; 421, first guide part; 4211, guide seat; 4212, guide groove; 422, first driving part; 4221, cylinder bracket; 4222, cylinder; 4223, rack; 4224, distance sensor; 423, first linkage part; 42 31. linkage arm; 4232. clamping block; 4233. reserved groove; 4234. gear; 4235. fitting unit; 42351. guide wheel bracket; 42352. guide wheel housing; 42353. axle pin; 42354. U-shaped rod; 42355. spring; 42356. inner cavity; 42357. micro air pump; 42358. vacuum pump; 42359. anti-slip step; 423510. through hole; 43. flip adsorption mechanism; 431. second guide part; 432. second driving part; 433. second linkage part; 434. center rod. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0034] The embodiment of the present invention provides a pneumatic adsorption manipulator, including a manipulator controller 1 and a gripping component 4; illustratively, as Figure 1 shown.

[0035] A first driving arm 2 is transmission-connected to one side wall of the manipulator controller 1 , a second driving arm 3 is transmission-connected to the top of the grabbing assembly 4 , and one end of the second driving arm 3 is transmission-connected to one end of the first driving arm 2 .

[0036] Furthermore, the robot controller 1 is electrically connected to the first driving arm 2 , the second driving arm 3 and the grabbing assembly 4 .

[0037] Specifically, the manipulator controller 1 is used to control the lifting and horizontal rotation of the first driving arm 2 and the second driving arm 3. The manipulator controller 1 is also used to control the grasping range of the grasping component 4, and under the action of the first driving arm 2 and the second driving arm 3, the grasping component 4 is driven to different workstations for grasping operations.

[0038] The grabbing assembly 4 includes a reset mechanism 41, a horizontal adsorption mechanism 42 and a flip adsorption mechanism 43; illustratively, Figure 2 shown.

[0039] The horizontal adsorption mechanism 42 is rotatably connected to the top of the reset mechanism 41 , and the flip adsorption mechanism 43 is rotatably connected to the bottom of the reset mechanism 41 .

[0040] The reset mechanism 41 includes a reinforcement plate 411; illustratively, as Figure 3 shown.

[0041] A high-definition camera 412 is embedded in one side wall of the reinforcement plate 411, a first motor 413 is fixedly connected to the bottom of the reinforcement plate 411, an extension rod 416 is fixedly connected to the top of the reinforcement plate 411 and the side away from the high-definition camera 412, the central axes of the extension rod 416, the high-definition camera 412 and the first motor 413 coincide with the central axis of the reinforcement plate 411, two groups of support arms 414 are fixedly connected to the bottom of the reinforcement plate 411, and the two groups of support arms 414 are symmetrically arranged with the central axis of the first motor 413 as the center, a second motor 415 is fixedly connected to the outer wall of one group of support arms 414, the output end of the first motor 413 is transmission connected to the horizontal adsorption mechanism 42, and the horizontal adsorption mechanism 42 is slidably connected to the top of the reinforcement plate 411, the two groups of support arms 414 are rotationally connected to the flip adsorption mechanism 43, and the output end of the second motor 415 is transmission connected to the flip adsorption mechanism 43.

[0042] Furthermore, the high-definition camera 412 is electrically connected to the robot controller 1 .

[0043] Specifically, the high-definition camera 412 is used to monitor the shape of the object in the grasping direction of the grasping component 4. When the high-definition camera 412 detects that the object to be grasped is a vertical plate-shaped structure, the manipulator controller 1 is used to control the output end of the second motor 415 to drive the flip adsorption mechanism 43 to rotate counterclockwise, and then the output end of the first motor 413 is used to drive the horizontal adsorption mechanism 42 to rotate, so that the horizontal adsorption mechanism 42 moves to the left and right sides of the object to clamp and grasp it;

[0044] When the high-definition camera 412 detects that the object to be grasped is a horizontal plate-shaped structure, the robot controller 1 is used to control the output end of the first motor 413 to drive the horizontal adsorption mechanism 42 to rotate, and then the output end of the second motor 415 is used to drive the flip adsorption mechanism 43 to rotate, so that the flip adsorption mechanism 43 moves to the upper and lower sides of the object to clamp and grasp it;

[0045] The reinforcing plate 411 utilizes the first motor 413 to drive the horizontal adsorption mechanism 42 to rotate, and the second motor 415 to drive the flip adsorption mechanism 43 to rotate, so as to reset and adjust the positions of the horizontal adsorption mechanism 42 and the flip adsorption mechanism 43 .

[0046] The horizontal adsorption mechanism 42 includes a first guide portion 421; illustratively, as Figure 4 shown.

[0047] A first driving part 422 is fixedly connected to one side wall of the first guide part 421, and two groups of first linkage parts 423 are rotatably connected to the other side wall of the first guide part 421. The output end of the first driving part 422 passes through the first guide part 421, and the output end of the first driving part 422 is transmission-connected to the two groups of first linkage parts 423.

[0048] The first guide portion 421 includes a guide seat 4211; illustratively, as Figure 5 shown.

[0049] The cross section of the guide seat 4211 is a concave structure, and a guide groove 4212 is formed on one side of the outer wall of the guide seat 4211 .

[0050] The first driving part 422 includes a cylinder support 4221; illustratively, as Figure 5 shown.

[0051] The inner wall of the cylinder bracket 4221 is fixedly connected to the cylinder 4222, and the cylinder bracket 4221 is fixedly connected to the outer wall of the guide seat 4211 and close to the side of the guide groove 4212. The output end of the cylinder 4222 is transmission-connected to the rack 4223, and the rack 4223 penetrates the guide groove 4212 and extends to the inner wall of the guide seat 4211. One end of the rack 4223 is embedded with a distance sensor 4224.

[0052] The first linkage part 423 includes a linkage arm 4231; illustratively, as Figure 5 shown.

[0053] The linkage arm 4231 is a fan-shaped structure, and one end of the linkage arm 4231 is fixedly connected to a clamping block 4232, a side wall of the clamping block 4232 is provided with a clamping groove greater than 160°, the other end of the clamping block 4232 is provided with a reserved groove 4233, and one end of the inner wall of the reserved groove 4233 is fixedly connected to a gear 4234, the end of the linkage arm 4231 and the side close to the gear 4234 are rotatably connected to the inner wall of the cylinder bracket 4221, the gear 4234 is meshed with the rack 4223, and the outer wall of the linkage arm 4231 is slidably connected to a plurality of groups of fitting units 4235.

[0054] Specifically, the output end of the cylinder 4222 pushes the rack 4223, so that the rack 4223 is meshed and connected with the two sets of gears 4234, and is used to rotate the two sets of linkage arms 4231 around the gears 4234, so that the two sets of linkage arms 4231 can clamp the object during the closing process;

[0055] The rack 4223 drives the distance sensor 4224 to move, so that the two groups of linkage arms 4231 move away from each other. The distance sensor 4224 is used to detect the distance between the object and the two groups of linkage arms 4231, and then the cylinder 4222 is used to retract the rack 4223, so that the two groups of linkage arms 4231 are closed and drive several groups of bonding units 4235 at the same time. The bonding units 4235 can be adjusted according to the different shapes of the objects, and can keep the objects clamped tightly while bonding according to the shape of the objects to prevent the objects from falling.

[0056] The laminating unit 4235 includes a guide wheel bracket 42351; illustratively, Figure 6 and Figure 7 shown.

[0057] The guide wheel bracket 42351 is rotatably connected with a guide wheel housing 42352, and an axle pin 42353 is provided at the center of the central axis of the guide wheel housing 42352. A U-shaped rod 42354 is fixedly connected to one side wall of the guide wheel bracket 42351, and the U-shaped rod 42354 penetrates and is slidably connected to the outer wall of the linkage arm 4231. A spring 42355 is sleeved on the outside of the U-shaped rod 42354, and the spring 42355 is movably connected between the guide wheel bracket 42351 and the linkage arm 4231. An inner cavity 42356 is opened on one side of the inner wall, and a micro air pump 42357 and a vacuum pump 42358 are embedded and installed on the other side of the inner wall of the guide wheel housing 42352. The micro air pump 42357 and the vacuum pump 42358 are interconnected with the inner cavity 42356. The guide wheel housing 42352 is a cylindrical structure, and the outer wall of the guide wheel housing 42352 is provided with a plurality of groups of anti-slip steps 42359, and a plurality of groups of through holes 423510 are opened around the outer wall of the guide wheel housing 42352 and close to the anti-slip steps 42359.

[0058] Specifically, the U-shaped rod 42354 is used to be slidably connected to the outer wall of the linkage arm 4231. When the plurality of guide wheel housings 42352 are close to an object, the micro air pumps 42357 in the plurality of guide wheel housings 42352 continuously work to inject air into the inner cavity 42356, and the air is discharged from the plurality of through holes 423510, so that the plurality of guide wheel housings 42352 can clean the position to be clamped when they are close to the object, thereby avoiding slipping after clamping.

[0059] After the guide wheel housing 42352 comes into contact with the object, when the object continues to squeeze the guide wheel housing 42352, it resists the spring 42355, thereby increasing the fit between the guide wheel housing 42352 and the object. By continuously operating the vacuum pump 42358, negative pressure is generated near the through hole 423510, thereby adsorbing the connection between the guide wheel housing 42352 and the object. The anti-slip structure of the anti-slip step 42359 can also be used to increase the anti-slip property of the object after clamping.

[0060] The flipping adsorption mechanism 43 includes a second guide portion 431; illustratively, as Figure 8 shown.

[0061] A second driving portion 432 is fixedly connected to one side wall of the second guide portion 431, and two groups of second linkage portions 433 are rotatably connected to the other side wall of the second guide portion 431. The output end of the second driving portion 432 passes through the second guide portion 431, and the output end of the second driving portion 432 is transmission-connected to the two groups of second linkage portions 433. Two groups of center rods 434 are fixedly connected to the outer wall of the second guide portion 431. The two groups of center rods 434 are rotatably connected between the support arms 414, and the ends of the center rods 434 are transmission-connected to the output end of the second motor 415. The second guide portion 431 has the same structure and shape as the first guide portion 421, the second driving portion 432 has the same structure and shape as the first driving portion 422, and the second linkage portion 433 has the same structure and shape as the first linkage portion 423.

[0062] The pneumatic adsorption manipulator proposed in the embodiment of the present invention has the following working principle:

[0063] The high-definition camera 412 is used to monitor the shape of the object in the grasping direction of the grasping component 4. When the high-definition camera 412 detects that the object to be grasped is a vertical plate-shaped structure, the robot controller 1 is used to control the output end of the second motor 415 to drive the flipping adsorption mechanism 43 to rotate counterclockwise, and then the output end of the first motor 413 is used to drive the horizontal adsorption mechanism 42 to rotate, so that the horizontal adsorption mechanism 42 moves to the left and right sides of the object to clamp and grasp it;

[0064] When the high-definition camera 412 monitors that the object to be grasped is a horizontal plate-shaped structure, the robot controller 1 is used to control the output end of the first motor 413 to drive the horizontal adsorption mechanism 42 to rotate, and then the output end of the second motor 415 is used to drive the flip adsorption mechanism 43 to rotate, so that the flip adsorption mechanism 43 moves to the upper and lower sides of the object to clamp and grasp it;

[0065] The first motor 413 drives the horizontal adsorption mechanism 42 to rotate through the reinforcement plate 411, and the second motor 415 drives the flip adsorption mechanism 43 to rotate, so as to reset and adjust the positions of the horizontal adsorption mechanism 42 and the flip adsorption mechanism 43;

[0066] The output end of the cylinder 4222 pushes the rack 4223, so that the rack 4223 is meshed and connected with the two sets of gears 4234, so as to rotate the two sets of linkage arms 4231 around the gears 4234, so that the two sets of linkage arms 4231 can clamp the object during the closing process;

[0067] By driving the distance measuring sensor 4224 to move the two groups of linkage arms 4231 away from each other through the rack 4223, the distance measuring sensor 4224 is used to detect the distance between the object and the two groups of linkage arms 4231, and then the cylinder 4222 is used to drive the rack 4223 to retract, so that the two groups of linkage arms 4231 are closed and at the same time drive a plurality of groups of bonding units 4235, the bonding units 4235 can be adjusted according to the different shapes of the objects, and can keep the objects clamped tightly while bonding according to the shapes of the objects to prevent the objects from falling.

[0068] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pneumatic adsorption manipulator, characterized in that: The invention comprises a manipulator controller (1) and a gripping assembly (4); a first driving arm (2) is transmission-connected to a side wall of the manipulator controller (1); a second driving arm (3) is transmission-connected to the top of the gripping assembly (4); and one end of the second driving arm (3) is transmission-connected to one end of the first driving arm (2); The grabbing assembly (4) comprises a reset mechanism (41), a horizontal adsorption mechanism (42) and a flip adsorption mechanism (43); the horizontal adsorption mechanism (42) is rotatably connected to the top of the reset mechanism (41), and the flip adsorption mechanism (43) is rotatably connected to the bottom of the reset mechanism (41).

2. The pneumatic adsorption manipulator according to claim 1 is characterized in that: The reset mechanism (41) comprises a reinforcement plate (411); a high-definition camera (412) is embedded and installed on one side wall of the reinforcement plate (411); a first motor (413) is fixedly connected to the bottom of the reinforcement plate (411); an extension rod (416) is fixedly connected to the top of the reinforcement plate (411) and on a side away from the high-definition camera (412); and the central axes of the extension rod (416), the high-definition camera (412) and the first motor (413) all coincide with the central axis of the reinforcement plate (411).

3. The pneumatic adsorption manipulator according to claim 2 is characterized in that: Two groups of support arms (414) are fixedly connected to the bottom of the reinforcement plate (411), and the two groups of support arms (414) are symmetrically arranged with the central axis of the first motor (413) as the center; the outer wall of one group of support arms (414) is fixedly connected to the second motor (415); the output end of the first motor (413) is transmission-connected to the horizontal adsorption mechanism (42), and the horizontal adsorption mechanism (42) is slidably connected to the top of the reinforcement plate (411); the two groups of support arms (414) are rotationally connected to the flip adsorption mechanism (43), and the output end of the second motor (415) is transmission-connected to the flip adsorption mechanism (43).

4. The pneumatic adsorption manipulator according to claim 1, characterized in that: The horizontal adsorption mechanism (42) comprises a first guide portion (421); a first driving portion (422) is fixedly connected to one side wall of the first guide portion (421); two groups of first linkage portions (423) are rotatably connected to the other side wall of the first guide portion (421); an output end of the first driving portion (422) passes through the first guide portion (421), and the output end of the first driving portion (422) is transmission-connected to the two groups of first linkage portions (423); The first guide portion (421) comprises a guide seat (4211); the cross section of the guide seat (4211) is a concave structure, and a guide groove (4212) is provided on one side of the outer wall of the guide seat (4211).

5. The pneumatic adsorption manipulator according to claim 4 is characterized in that: The first driving part (422) comprises a cylinder support (4221); the inner wall of the cylinder support (4221) is fixedly connected to a cylinder (4222); the cylinder support (4221) is fixedly connected to the outer wall of the guide seat (4211) and close to the side of the guide groove (4212); the output end of the cylinder (4222) is drivingly connected to a rack (4223); the rack (4223) penetrates the guide groove (4212) and extends to the inner wall of the guide seat (4211); one end of the rack (4223) is embedded with a distance measuring sensor (4224).

6. The pneumatic adsorption manipulator according to claim 4, characterized in that: The first linkage part (423) includes a linkage arm (4231); the linkage arm (4231) is a fan-shaped structure, and one end of the linkage arm (4231) is fixedly connected to a clamping block (4232), a side wall of the clamping block (4232) is provided with a clamping groove greater than 160°, the other end of the clamping block (4232) is provided with a reserved groove (4233), and one end of the inner wall of the reserved groove (4233) is fixedly connected to a gear (4234).

7. The pneumatic adsorption manipulator according to claim 6, characterized in that: The end of the linkage arm (4231) and one side close to the gear (4234) is rotatably connected to the inner wall of the cylinder bracket (4221), the gear (4234) is meshingly connected to the rack (4223), and the outer wall of the linkage arm (4231) is slidably connected to a plurality of groups of fitting units (4235).

8. The pneumatic adsorption manipulator according to claim 7, characterized in that: The fitting unit (4235) includes a guide wheel bracket (42351); a guide wheel housing (42352) is rotatably connected inside the guide wheel bracket (42351), and an axle pin (42353) is provided at the center of the central axis of the guide wheel housing (42352); a U-shaped rod (42354) is fixedly connected to one side wall of the guide wheel bracket (42351), and the U-shaped rod (42354) passes through and is slidably connected to the outer wall of the linkage arm (4231).

9. The pneumatic adsorption manipulator according to claim 8, characterized in that: The outside of the U-shaped rod (42354) is sleeved with a spring (42355), and the spring (42355) is movably connected between the guide wheel bracket (42351) and the linkage arm (4231). An inner cavity (42356) is provided on one side of the inner wall of the guide wheel housing (42352), and a micro air pump (42357) and a vacuum pump (42358) are embedded and installed on the other side of the inner wall of the guide wheel housing (42352).

10. The pneumatic adsorption manipulator according to claim 9, characterized in that: The micro air pump (42357) and the vacuum pump (42358) are both interconnected with the inner cavity (42356), the guide wheel housing (42352) is a cylindrical structure, and the outer wall of the guide wheel housing (42352) is provided with a plurality of groups of anti-slip steps (42359), and a plurality of groups of through holes (423510) are provided around the outer wall of the guide wheel housing (42352) and close to the anti-slip steps (42359).

Images