Mechanical arm

Abstract

The invention discloses a mechanical arm which comprises a supporting frame and a supporting plate. The top ends of the supporting plates are slidably connected with the supporting frame, the two supporting plates are symmetrically arranged along the center of the supporting frame, clamping plates are fixedly arranged at the bottoms of the supporting plates, auxiliary plates are fixedly arranged at the ends, away from the supporting plates, of the clamping plates, the length of the auxiliary plates is equal to half of the length of the clamping plates, and strip-shaped grooves are formed in the auxiliary plates. During use, when the two sets of supporting plates move, the clamping plates are driven to get close to each other, so that material grabbing work is achieved, then the mounting base is driven to move through the baffle and the transmission assembly, the cutting knife is arranged on the mounting base, and the cutting knife is arranged on the mounting base. And the mounting base moves to drive the cutting knife to cut the bottoms of the materials, the effect of automatically opening the bags of the materials is achieved through the cutting knife, and manual bag opening work of workers is not needed.

Description

Technical Field

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

[0002] A manipulator is a multi-joint or multi-degree-of-freedom mechanical device that can automatically perform various tasks. It is widely used in many fields such as industrial manufacturing, logistics and warehousing to improve production efficiency.

[0003] Chinese Patent Publication No.: CN221821278U discloses a palletizing robot, including a base, a receiving groove is provided on the top of the base, a support shaft is connected to the center of the bottom wall of the receiving groove, the upper end of the support shaft is rotatably connected to a cylindrical seat, the top of the cylindrical seat is connected to a gantry, the top of the gantry is connected to a screw motor, the bottom output end of the screw motor is connected to a screw, the outer wall of the screw is threadedly connected to a lifting platform, a limit rod is movably inserted in the lifting platform, the two ends of the limit rod are respectively fixed to the gantry and the cylindrical seat, the outer wall of the lifting platform is connected to a hydraulic telescopic rod, and the free end of the hydraulic telescopic rod is connected to a clamping seat.

[0004] Currently in the field of dust suppressant spraying, a robot is used to feed bagged dust suppressant materials. However, in actual use, before the robot feeds the materials into the spray barrel, a person needs to open the material bags in advance and then feed the materials. Manual bag opening is inefficient, and errors in manual operation, such as failure to completely open the bags and material leakage, may occur.

[0005] Therefore, it is necessary to provide a kind of manipulator to solve the above-mentioned technical problems. Summary of the invention

[0006] The object of the present invention is to provide a robot arm to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator, comprising a support frame and a support plate; the top end of the support plate is slidably connected to the support frame, and the support plate is symmetrically arranged in two groups along the center of the support frame, a clamping plate is fixedly arranged at the bottom of the support plate, an auxiliary plate is fixedly arranged at one end of the clamping plate away from the support plate, the length of the auxiliary plate is equal to half the length of the clamping plate, a strip groove is arranged on the auxiliary plate, a mounting seat is slidably arranged in the strip groove, a cutting knife is arranged on the mounting seat, a transmission assembly is arranged on the side of the mounting seat away from the auxiliary plate, the transmission assembly is arranged in the side wall of the clamping plate, a baffle is slidably arranged on the top of the clamping plate, and the baffle is transmission-connected to the transmission assembly;

[0008] When the baffle moves toward the supporting plate, the baffle drives the mounting seat to slide in the strip groove through the transmission assembly.

[0009] As a further solution of the present invention: the transmission assembly includes a connecting plate; the connecting plate is fixedly connected to one side of the mounting seat, the connecting plate is slidably arranged in the side wall of the clamping plate, a first elastic column is fixedly arranged on one side of the connecting plate, a partition is fixedly arranged on the end of the first elastic column away from the connecting plate, the partition is arranged in the clamping plate, a second elastic column is fixedly arranged on the side of the partition away from the connecting plate, the end of the second elastic column away from the partition is fixedly connected to the inner wall of the clamping plate, a winding disk is rotatably arranged in the clamping plate on the side of the second elastic column away from the partition, and a pull rope is arranged between the winding disk and the partition.

[0010] As a further solution of the present invention: a transmission groove is provided on the side of the clamping plate away from the auxiliary plate, first rotating shafts are rotatably provided at both ends of the transmission groove, transmission belts are rotatably provided on the peripheries of two groups of the first rotating shafts, a second rotating shaft connected to the transmission belt is provided in the transmission belt, a transmission disk is fixedly provided at the top center of the winding disk, a belt is provided between the second rotating shaft and the transmission disk, a clamping plate is fixedly provided on the side of the transmission belt away from the winding disk, and one end of the clamping plate away from the transmission belt is fixedly connected to the baffle.

[0011] As a further solution of the present invention: a storage cavity is provided on the side of the auxiliary plate away from the strip groove, a push plate is slidably provided in the storage cavity, a first airbag is provided between the side of the push plate close to the strip groove and the storage cavity, a movable column is fixedly provided at the bottom of the cutting knife, a bottom plate is rotatably provided at the bottom of the movable column, the bottom plate is slidably provided in the mounting seat, and a telescopic tube is provided between the bottom of the bottom plate and the mounting seat, the movable column is slidably fitted with the mounting seat, and a first air tube is provided between the first airbag and the telescopic tube.

[0012] As a further solution of the present invention: a top column is fixedly arranged at the center of one side of the push plate away from the strip groove, and the end of the top column away from the push plate slides through the side wall of the auxiliary plate, and a groove that is slidably adapted to the end of the auxiliary plate is provided on the side of the clamping plate close to the auxiliary plate, and a fixing column corresponding to the top column is provided in the groove.

[0013] As a further solution of the present invention: one end of the storage cavity away from the groove is elastically connected with a buckle, and the end of the buckle away from the push plate slides into the strip groove and slidably cooperates with the mounting seat, a traction belt is fixedly arranged between the end of the buckle away from the strip groove and the end of the push plate, a round rod is fixedly arranged in the storage cavity, the round rod is arranged on the side of the storage cavity away from the strip groove and corresponds to the buckle, and the end of the traction belt away from the buckle passes around the round rod and is fixedly connected to the end of the push plate.

[0014] As a further solution of the present invention: a gear is rotatably provided on one side of the mounting seat close to the groove, the gear rotatably protrudes out of the side wall of the mounting seat close to the groove, and the gear is transmission-connected to the movable column.

[0015] As a further solution of the present invention: a rack is fixedly provided at one end of the push plate away from the buckle, and the rack is arranged on the side of the push plate close to the strip groove, and the end of the rack away from the push plate slides through the side wall of the auxiliary plate and the strip groove to extend into the clamping plate.

[0016] As a further solution of the present invention: a plurality of groups of positioning pins are arranged in an array on one side of the baffle plate close to the auxiliary plate.

[0017] As a further solution of the present invention: the inner wall of the clamping plate is elastically connected to a limiting plate, and the limiting plate is arranged on one side of the clamping plate close to the groove, a first protrusion is fixedly provided on the top of one end of the limiting plate, a second protrusion is fixedly provided on the top of the limiting plate away from the first protrusion, and the second protrusion is slidably matched with the bottom of the clamping plate, a limiting opening slidably matched with the first protrusion is provided on the side wall of the connecting plate, a second air bag is provided in the limiting opening, and a second air pipe is provided between the second air bag and the first air pipe.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: when in use, the cylinder is started to drive the two groups of support plates to approach each other, and when the two groups of support plates move, the clamping plates are driven to approach each other, thereby realizing the material grabbing work. In this process, both sides of the material will contact the baffle and move with the clamping plate, so that the baffle moves relative to the support plate on the clamping plate, and the movement of the baffle drives the mounting seat to move through the transmission assembly, and the movement of the mounting seat drives the cutting knife to cut the bottom of the material, and then the material is moved to the position to be fed through the mechanical arm, and the cylinder is started to reset to make the two groups of clamping plates move away, thereby completing the material feeding work, and the cutting knife is used to realize the automatic bag unpacking effect of the material, without the need for manual bag unpacking by personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the front three-dimensional structure of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the auxiliary plate in the present invention.

[0021] Figure 3 For the present invention Figure 2 Schematic diagram of the structure at A in the middle.

[0022] Figure 4 It is a schematic structural diagram of a top cross-section of the clamping plate in the present invention.

[0023] Figure 5 For the present invention Figure 4 Schematic diagram of the structure at C in the middle.

[0024] Figure 6 It is a structural schematic diagram of a cross-section of the middle part of the mounting seat in the present invention.

[0025] Figure 7 For the present invention Figure 2 Schematic diagram of the structure at B in the figure.

[0026] Figure 8 It is a structural schematic diagram of the storage cavity in the present invention.

[0027] Fig. 9 It is a schematic diagram of the structure of the buckle in the present invention.

[0028] Fig.10 It is a schematic structural diagram of the limiting plate in the present invention.

[0029] In the figure: 1. support frame; 2. support plate; 3. clamping plate; 4. baffle; 5. positioning pin; 6. auxiliary plate; 601. storage cavity; 7. transmission groove; 8. groove; 9. strip groove; 10. cutting knife; 101. movable column; 102. telescopic tube; 103. bottom plate; 11. transmission belt; 12. first rotating shaft; 13. limit plate; 14. fixed column; 15. winding disk; 16. second rotating shaft; 17. pull rope; 18. partition; 19. connecting plate; 20. limit port; 21. first air pipe; 22. top column; 23. first air bag; 24. push plate; 25. mounting seat; 26. gear; 27. buckle; 28. rack; 29. ​​clamping plate. DETAILED DESCRIPTION

[0030] See also Figure 1-Figure 10 In an embodiment of the present invention, a manipulator includes a support frame 1 and a support plate 2, the top of the support plate 2 is slidably connected to the support frame 1, and the support plate 2 is symmetrically arranged in two groups along the center of the support frame 1, a clamping plate 3 is fixedly arranged at the bottom of the support plate 2, an auxiliary plate 6 is fixedly arranged at one end of the clamping plate 3 away from the support plate 2, the length of the auxiliary plate 6 is equal to half the length of the clamping plate 3, a strip groove 9 is arranged on the auxiliary plate 6, a mounting seat 25 is slidably arranged in the strip groove 9, a cutting knife 10 is arranged on the mounting seat 25, a transmission assembly is arranged on the side of the mounting seat 25 away from the auxiliary plate 6, the transmission assembly is arranged in the side wall of the clamping plate 3, a baffle 4 is slidably arranged on the top of the clamping plate 3, the baffle 4 is transmission-connected to the transmission assembly, and when the baffle 4 moves toward the support plate 2, the baffle 4 drives the mounting seat 25 to slide in the strip groove 9 through the transmission assembly.

[0031] Preferably, a square groove slidably connected to the support plate 2 is provided on the support frame 1, and two groups of cylinders are provided on the top of the support frame 1, and the telescopic output ends of the cylinders are fixedly connected to the support plate 2, and the two groups of cylinders correspond to the two groups of support plates 2 respectively, and a connecting column is fixedly provided at the top center of the support frame 1, and the manipulator can be installed on the corresponding mechanical arm through the connecting column. The mechanical arm is specifically a common device commonly used in the prior art for installing and driving the manipulator, and the detailed mechanism and related working principle will not be described in detail here.

[0032] In actual use, the auxiliary plates 6 on the two groups of clamping plates 3 are installed in a staggered manner. In this way, when the two groups of clamping plates 3 are close to each other, the opposite ends of the two groups of auxiliary plates 6 can fit together, thereby avoiding conflict, resulting in a gap between the two groups of clamping plates 3. The two ends of the bottom of the baffle 4 are slidably connected to the clamping plates 3 through the support feet. In order to prevent the material from falling from the strip groove 9, the size of the strip groove 9 is set to be smaller than the material and slidably fit with the cutting knife 10; when it is necessary to grab and feed the stacked bagged dust suppressant (hereinafter referred to as: material), the robot arm is started to drive the robot to move above the stacked material, that is, the two groups of clamping plates 3 are moved to both sides of the material, and then the cylinder drive is started. The two groups of support plates 2 are moved closer to each other. When the two groups of support plates 2 move, the clamping plates 3 are driven closer to each other, thereby realizing the grabbing of the materials. In this process, both sides of the materials will contact the baffle plate 4 and move with the clamping plate 3, so that the baffle plate 4 moves relative to the support plate 2 on the clamping plate 3. The movement of the baffle plate 4 drives the mounting seat 25 to move through the transmission assembly. The movement of the mounting seat 25 drives the cutting knife 10 to cut the bottom of the material. Subsequently, the material is moved to the feeding position through the mechanical arm, and the cylinder is started to reset to move the two groups of clamping plates 3 away, thereby completing the feeding of the materials. The cutting knife 10 realizes the automatic bagging effect of the materials, and there is no need for personnel to manually unpack the bags.

[0033] See also Figure 2-Figure 5 , Fig.10Preferably, the transmission assembly includes a connecting plate 19; the connecting plate 19 is fixedly connected to one side of the mounting seat 25, the connecting plate 19 is slidably arranged in the side wall of the clamping plate 3, a first elastic column is fixedly arranged on one side of the connecting plate 19, a partition 18 is fixedly arranged on one end of the first elastic column away from the connecting plate 19, the partition 18 is arranged in the clamping plate 3, a second elastic column is fixedly arranged on the side of the partition 18 away from the connecting plate 19, one end of the second elastic column is fixedly arranged on the inner wall of the clamping plate 3, a winding disk 15 is rotatably arranged in the clamping plate 3 on the side of the second elastic column away from the partition 18, and a pull rope 17 is arranged between the winding disk 15 and the partition 18; the first elastic column and the second elastic column are both elastically retractable structures, the partition 18 is slidably connected to the inner wall of the clamping plate 3, one end of the pull rope 17 is fixedly connected to the winding disk 15, the other end of the pull rope 17 is fixedly connected to the partition 18, and the pull rope 17 slides through the side wall of the clamping plate 3.

[0034] During actual use, a torsion spring is provided at the rotating connection between the winding drum 15 and the clamping plate 3, so that the winding drum 15 can automatically rotate and reset after rotation. When the winding drum 15 rotates, the winding drum 15 reels the pull rope 17, thereby pulling the partition 18 toward the direction of the winding drum 15. The movement of the partition 18 is caused by the second elastic column being forced to contract, and at the same time, the connecting plate 19 is driven by the first elastic column to move with the partition 18, thereby allowing the mounting seat 25 to move, and then the automatic unpacking of the material bag is completed through the cutting knife 10.

[0035] Further, preferably, a transmission groove 7 is provided on the side of the clamping plate 3 away from the auxiliary plate 6, and first rotating shafts 12 are rotatably provided at both ends of the transmission groove 7, and a transmission belt 11 is provided for the peripheral transmission of the two groups of first rotating shafts 12, and a second rotating shaft 16 connected to the transmission belt 11 is provided in the transmission belt 11, a transmission disk is fixedly provided at the top center of the winding disk 15, and a belt is provided between the top periphery of the second rotating shaft 16 away from the transmission belt 11 and the transmission disk, a clamping plate 29 is fixedly provided on the side of the transmission belt 11 away from the winding disk 15, and one end of the clamping plate 29 away from the transmission belt 11 is fixedly connected to the baffle 4, and the transmission belt 11 can be arranged in a chain structure, the bottom of the second rotating shaft 16 is rotatably connected to the side wall of the clamping plate 3, and a sprocket is fixedly provided on the periphery of the second rotating shaft 16, so as to be transmission connected to the transmission belt 11.

[0036] In actual use, in the initial state, the mounting seat 25 is located at the end of the strip groove 9 away from the center of the clamping plate 3, that is, the connecting plate 19 and the cutting knife 10 are both located near one side of the clamping plate 3, and the baffle plate 4 is located at the top of the clamping plate 3 near the auxiliary plate 6, the pull rope 17 is spread out from the winding disk 15 at the maximum, and the clamping plate 29 is located at the end of the transmission groove 7 near the auxiliary plate 6. When the cylinder is started to drive the two groups of clamping plates 3 to approach each other to grab and feed the material, the baffle plate 4 is moved relative to the clamping plate 3 under the action of the material. When the support plate 2 moves and the baffle 4 moves, the transmission belt 11 is driven to rotate on the two sets of first rotating shafts 12 through the clamping plate 29, and then the second rotating shaft 16 is driven to rotate. The rotation of the second rotating shaft 16 drives the winding disk 15 to rotate through the cooperation of the belt and the transmission disk. The rotation of the winding disk 15 realizes the winding of the pull rope 17, and then drives the connecting plate 19, the mounting seat 25, and the cutting knife 10 to move through the partition 18 and the first elastic column, thereby completing the automatic unpacking of the materials, and facilitating the feeding of the materials.

[0037] See also Figure 4-Figure 9 In order to prevent the cutting knife 10 from protruding from the top of the auxiliary plate 6 before completing the material grabbing, thereby preventing the cutting knife 10 from being damaged or the material bag from being unpacked in advance, preferably, a storage cavity 601 is provided on the side of the auxiliary plate 6 away from the strip groove 9, and a push plate 24 is slidably provided in the storage cavity 601, and a first air bag 23 is provided between the side of the push plate 24 close to the strip groove 9 and the storage cavity 601, a movable column 101 is fixedly provided at the bottom of the cutting knife 10, a bottom plate 103 is rotatably provided at the bottom of the movable column 101, the bottom plate 103 is slidably provided in the mounting seat 25, and a telescopic tube 102 is provided between the bottom of the bottom plate 103 and the mounting seat 25, the movable column 101 is slidably fitted with the mounting seat 25, a first air pipe 21 is provided between the first air bag 23 and the telescopic tube 102, and a first air bag 23 and the telescopic tube 102 are provided between the first air bag 23 and the telescopic tube 102 It is connected through the first air pipe 21. It should be noted that the first air bag 23 is an elastic telescopic structure, so that when the push plate 24 moves toward the strip groove 9, the push plate 24 can move and reset under the elastic action of the first air bag 23, and when the push plate 24 moves toward the strip groove 9, the push plate 24 will compress the first air bag 23, and then the gas in the first air bag 23 is transported to the telescopic tube 102 through the first air pipe 21, so that the telescopic tube 102 expands, thereby pushing the movable column 101 to move upward, and then the cutting knife 10 moves up and protrudes from the top side wall of the auxiliary plate 6, so as to facilitate the unpacking of the material bag, and avoid the problem that when the two sets of clamping plates 3 approach each other to grab the material, the cutting knife 10 protrudes from the top side wall of the auxiliary plate 6, causing the cutting knife 10 to be damaged or the material bag is opened prematurely, resulting in the scattering of the material.

[0038] Furthermore, preferably, a top column 22 is fixedly provided at the center of one side of the push plate 24 away from the strip groove 9, and one end of the top column 22 away from the push plate 24 slides through the side wall of the auxiliary plate 6, that is, the side wall of the auxiliary plate 6 is provided with a circular hole for the sliding of the top column 22, and a groove 8 is provided on the side of the clamping plate 3 close to the auxiliary plate 6 for slidingly adapting to the end of the auxiliary plate 6, and a fixing column 14 corresponding to the top column 22 is provided in the groove 8. It should be noted that the size of the fixing column 14 is the same as that of the top column 22, and the grooves 8 are also staggered at the ends of the clamping plate 3, and are respectively adapted to the auxiliary plates 6 one by one, so that when the two groups of clamping plates 3 are close, the ends of the auxiliary plates 6 can extend into the grooves 8 accordingly, so that the fixing column 14 conflicts with the top column 22 and then pushes the top column 22 to move in the direction of the strip groove 9.

[0039] Furthermore, preferably, the end of the storage chamber 601 away from the groove 8 is elastically connected with a buckle 27 through a spring, and the end of the buckle 27 away from the push plate 24 slides into the strip groove 9 and slides with the mounting seat 25. A traction belt is fixedly arranged between the end of the buckle 27 away from the strip groove 9 and the end of the push plate 24, and a round rod is fixedly arranged in the storage chamber 601. The round rod is arranged on the side of the storage chamber 601 away from the strip groove 9 and corresponds to the buckle 27. The end of the traction belt away from the buckle 27 passes around the round rod and is fixedly connected with the end of the push plate 24, and the end of the buckle 27 extending into the strip groove 9 is provided with an inclined surface facing the groove 8. When the push plate 24 moves toward the strip groove 9, the push plate 24 pulls the buckle 27 into the storage chamber 601 through the traction belt and separates from the mounting seat 25, so that the mounting seat 25 can then move under the action of the transmission assembly and unpack the material bag.

[0040] When in use, in the initial state when the two groups of clamping plates 3 are separated, the push plate 24 is on the side of the storage chamber 601 away from the strip groove 9, the top column 22 is in the circular hole, the first airbag 23 is in a normal expansion state, the mounting seat 25 is at one end of the strip groove 9 away from the fixed column 14, and the buckle 27 extends into the strip groove 9 to limit the position of the mounting seat 25, and the cutting knife 10 shrinks in the strip groove 9; when the two groups of clamping plates 3 are close to each other to complete the grabbing of the material, in this process, the baffle plate 4 moves toward the support plate 2 to cause the transmission assembly to be stressed, but at this time the position of the mounting seat 25 is limited and cannot move, and then the auxiliary plate 6 moves and extends into the corresponding groove 8 respectively, and the push plate 24 moves toward the strip groove 9 through the cooperation of the fixed column 14 and the top column 22, and the movement of the push plate 24 squeezes the first airbag 23 so that the gas therein is transported to the telescopic tube 102 through the first air pipe 21, and then the telescopic tube 102 expands and pushes the movable column 10 1 moves up, and the movable column 101 moves up, so that the cutting knife 10 moves up to protrude the side wall of the auxiliary plate 6 and extend into the material bag. At the same time, when the push plate 24 moves toward the strip groove 9, the buckle 27 is pulled apart from the mounting seat 25 by the action of the traction belt, and then the transmission component drives the mounting seat 25 to move toward the fixed column 14 in the strip groove 9, thereby completing the bag unpacking work of the material bag (it should be noted that: the end of the cutting knife 10 close to the groove 8 protrudes from the side wall of the mounting seat 25, and the distance of the protruding mounting seat 25 is equal to the distance between the end of the strip groove 9 close to the groove 8 and the end of the auxiliary plate 6 close to the groove 8. In this way, when the cutting knife 10 moves up and completely extends out of the strip groove 9, and then moves toward the groove 8, the two groups of cutting knives 10 can completely cut the bottom of the material bag, thereby achieving a complete bag unpacking effect). Then, when the clamping plate 3 drives the material to move to the feeding position, the clamping plates 3 are started to move away from each other, and then the material in the material bag falls through the bag unpacking position.

[0041] See also Figure 1-Figure 2 In order to prevent the bag of material from falling at the feeding place when the two groups of clamping plates 3 are moved away from each other for feeding, preferably, a plurality of groups of positioning pins 5 are arranged in an array on one side of the baffle plate 4 close to the auxiliary plate 6, and the positioning pins 5 are arranged at a position where the baffle plate 4 is away from the clamping plate 3. In actual use, the number, length and position of the positioning pins 5 can be adjusted according to the size of the material bag. When the material bag is grabbed, the end of the positioning pin 5 first pierces into the upper layer of the material bag. When the bag is unpacked and the feeding is carried out, the two groups of clamping plates 3 are moved away from each other. At this time, due to the setting of the positioning pins 5, the material bag will not fall to the feeding place, and the material in the material bag can be effectively dropped.

[0042] See also Figure 5-Figure 6When the two groups of clamping plates 3 move away from each other, since the cutting knife 10 is still at the top of the protruding auxiliary plate 6, and the cutting knife 10 is in a state parallel to the groove 8, when the clamping plates 3 move away from each other, the side wall of the cutting knife 10 conflicts with the material bag, which may cause the cutting knife 10 to be damaged. Preferably, a gear 26 is rotatably provided on the side of the mounting seat 25 close to the groove 8, and the gear 26 rotates and protrudes from the side wall of the mounting seat 25 close to the groove 8, and the gear 26 is transmission-connected to the movable column 101. It should be noted that: the periphery of the movable column 101 is provided with a tooth groove that meshes with the gear 26, and a torsion spring is provided at the rotation connection between the bottom of the movable column 101 and the bottom plate 103. The torsion spring is provided to ensure that the cutting knife 10 always remains parallel to the groove 8.

[0043] See also Figure 4 , Figure 8 A rack 28 is fixedly provided at one end of the push plate 24 away from the buckle 27, and the rack 28 is arranged on the side of the push plate 24 close to the strip groove 9, and the end of the rack 28 away from the push plate 24 slides through the side wall of the auxiliary plate 6 and the strip groove 9 to extend into the clamping plate 3, and a spring is arranged between the rack 28 and the clamping plate 3. It should be noted that: the rack 28 is at one end close to the groove 8 in the strip groove 9, and the teeth on the rack 28 face the gear 26, and the end of the first air pipe 21 away from the first airbag 23 passes through the push plate 24, the rack 28, the connecting plate 19, the mounting seat 25, and the bottom plate 103 in sequence and then communicates with the telescopic tube 102.

[0044] In actual use, when the two groups of clamping plates 3 are in a fitted state, the cutting knife 10 is in a state parallel to the groove 8 and protrudes from the top of the auxiliary plate 6 under the action of the corresponding torsion spring, the gear 26 is meshed with the rack 28, and the push plate 24 is with the side of the storage chamber 601 close to the strip groove 9; when the two groups of clamping plates 3 are moved and separated from the fitted state, the fixed column 14 is separated from the top column 22, and then the push plate 24 moves and resets, thereby driving the rack 28 to move and reset, and the movement of the rack 28 drives the gear 26 to rotate a certain angle, so that the cutting knife 10 is rotated to a state perpendicular to the groove 8, and then the clamping plate 3 continues to move, and the cutting knife 10 perpendicular to the groove 8 can cut the material bag again, so that the bottom of the material bag is in a cross-shaped disassembled state, thereby accelerating the falling speed of the material, avoiding the possible damage of the cutting knife 10 and the problem of the material falling completely from its bag.

[0045] See also Figure 4 , Fig.10In order to ensure that after the first airbag 23 moves and resets, the cutting knife 10 will not reset with it, thereby achieving the effect of cross-cutting the bottom of the material bag, and at the same time, the cutting knife 10 does not quickly reset after moving to the end of the strip groove 9 close to the groove 8, preferably, the inner wall of the clamping plate 3 is elastically connected to the limiting plate 13 through a spring, and the limiting plate 13 is arranged on one side of the clamping plate 3 close to the groove 8, and the limiting plate 13 is arranged parallel to the groove 8, and a first protrusion is fixedly arranged on the top of one end of the limiting plate 13 The top of the first protrusion is provided with an inclined surface toward the connecting plate 19, and a second protrusion is fixedly provided on the top of the limiting plate 13 away from the first protrusion. The second protrusion is arranged in a relatively vertical state relative to the groove 8, and inclined surfaces are provided at both ends of its top, and it slides with the bottom of the clamping plate 29. A limiting opening 20 that slides with the first protrusion is provided on the side wall of the connecting plate 19, and a second air bag is provided in the limiting opening 20, and a second air pipe is provided between the second air bag and the first air pipe 21 (the second air bag and the second air pipe are not shown in the figure).

[0046] In actual use, in the initial state, the top of the second protrusion is in contact with the bottom of the card plate 29. When the second protrusion is adapted to the card plate 29, the second protrusion does not extend into the transmission groove 7. Similarly, the top height of the first protrusion is below the connecting plate 19 in the clamping plate 3. At this time, the second airbag is in a normal expansion state; when the two groups of clamping plates 3 move close to each other and complete the grabbing of the entire bag of materials, that is, the two groups of clamping plates 3 are in contact, in this process, the baffle plate 4 moves to drive the card plate 29 to move toward the support plate 2, and the card plate 29 moves and separates from the second protrusion, so that the second protrusion moves up and extends into the transmission groove 7 under the corresponding elastic action of the limit plate 13, thereby allowing the first protrusion to move up and maintain the same level with the side wall of the connecting plate 19. Afterwards, the winding disk 15 is rotated through the cooperation of the transmission belt 11, the second rotating shaft 16 and the transmission disk. The rotation of the winding disk 15 causes the pull rope 17 to be wound up and then pulls the partition 18 to move toward the winding disk 15. At this time, the mounting seat 25 is adapted to the buckle 27, so the second elastic column is forced to contract, and the first elastic column is forced to extend. When the fixed column 14 pushes the top column 22 to move, the push plate 24 moves and drives the buckle 27 to contract in the storage chamber 601. Then, the mounting seat 25 moves toward the direction of the winding disk 15 under the action of the resetting and contraction of the first elastic column. At this time, the moving connecting plate 19 will slide with the first protrusion to make the first protrusion slide into the limit opening 20, thereby passing the gas in the second airbag through the second air pipe and The first air pipe 21 is transported to the telescopic tube 102. Then, when the two groups of clamping plates 3 are separated, the fixed column 14 is separated from the top column 22 first, which will cause the push plate 24, the rack 28, and the first air bag 23 to move and reset. Since the second air bag is compressed, the first air bag 23 will not shrink in the strip groove 9 even if the cutting knife 10 is reset, and the bottom of the cutting knife 10 is kept slightly higher than the top of the auxiliary plate 6. In this way, the bottom of the material bag is continuously cut open during the gradual separation of the two groups of clamping plates 3, allowing the material in the material bag to fall completely. When the clamping plates 3 are separated and the material bag becomes empty, the baffle 4 is moved and reset under the action of the automatic rotation and reset of the winding disk 15, so that the clamping plate 29 is again connected with the second air bag 23, so that the clamping plate 29 is re-engaged with the second air bag 23. The two protrusions slide and fit to squeeze it downward to reset, and then the first protrusion is separated from the limit opening 20. Then, since the pull rope 17 has dissipated the rotation reset effect of the winding disk 15, the second elastic column will elastically reset and push the partition 18 to reset, and the first elastic column indirectly pushes the connecting plate 19 to move and reset. The reset of the connecting plate 19 causes the mounting seat 25 to move and reset, thereby separating the gear 26 from the rack 28, and then the cutting knife 10 rotates and resets under the action of the corresponding torsion spring between the movable column 101 and the bottom plate 103. Then the cutting knife 10 is parallel to the strip groove 9, and then the bottom plate 103 shrinks and resets so that the cutting knife 10 is retracted in the strip groove 9 through the movable column 101, so as to be ready for the next use.

Claims

1. A manipulator, comprising a support frame and a support plate; characterized in that: The top end of the support plate is slidably connected to the support frame, and two groups of support plates are symmetrically arranged along the center of the support frame, a clamping plate is fixedly arranged at the bottom of the support plate, an auxiliary plate is fixedly arranged at one end of the clamping plate away from the support plate, the length of the auxiliary plate is equal to half the length of the clamping plate, a strip groove is arranged on the auxiliary plate, a mounting seat is slidably arranged in the strip groove, a cutting knife is arranged on the mounting seat, a transmission assembly is arranged on the side of the mounting seat away from the auxiliary plate, the transmission assembly is arranged in the side wall of the clamping plate, a baffle is slidably arranged on the top of the clamping plate, and the baffle is transmission-connected to the transmission assembly; When the baffle moves toward the supporting plate, the baffle drives the mounting seat to slide in the strip groove through the transmission assembly.

2. A robot according to claim 1, characterized in that: The transmission assembly includes a connecting plate; the connecting plate is fixedly connected to one side of the mounting seat, the connecting plate is slidably arranged in the side wall of the clamping plate, a first elastic column is fixedly arranged on one side of the connecting plate, a partition is fixedly arranged on the end of the first elastic column away from the connecting plate, the partition is arranged in the clamping plate, a second elastic column is fixedly arranged on the side of the partition away from the connecting plate, the end of the second elastic column away from the partition is fixedly connected to the inner wall of the clamping plate, a winding disk is rotatably arranged in the clamping plate on the side of the second elastic column away from the partition, and a pull rope is arranged between the winding disk and the partition.

3. A robot according to claim 2, characterized in that: A transmission groove is provided on the side of the clamping plate away from the auxiliary plate, first rotating shafts are rotatably provided at both ends of the transmission groove, transmission belts are rotatably provided on the peripheries of two groups of the first rotating shafts, a second rotating shaft connected to the transmission belt is provided in the transmission belt, a transmission disk is fixedly provided at the top center of the winding disk, a belt is provided between the second rotating shaft and the transmission disk, a clamping plate is fixedly provided on the side of the transmission belt away from the winding disk, and one end of the clamping plate away from the transmission belt is fixedly connected to the baffle.

4. A robot according to claim 3, characterized in that: A storage cavity is provided on a side of the auxiliary plate away from the strip groove, a push plate is slidably provided in the storage cavity, a first air bag is provided between a side of the push plate close to the strip groove and the storage cavity, a movable column is fixedly provided at the bottom of the cutting knife, a bottom plate is rotatably provided at the bottom of the movable column, the bottom plate is slidably provided in the mounting seat, a telescopic tube is provided between the bottom of the bottom plate and the mounting seat, the movable column is slidably fitted with the mounting seat, and a first air tube is provided between the first air bag and the telescopic tube.

5. A robot according to claim 4, characterized in that: A top column is fixedly arranged at the center of one side of the push plate away from the strip groove, and the end of the top column away from the push plate slides through the side wall of the auxiliary plate, and a groove slidingly adapted to the end of the auxiliary plate is arranged on the side of the clamping plate close to the auxiliary plate, and a fixing column corresponding to the top column is arranged in the groove.

6. A robot according to claim 5, characterized in that: The end of the storage cavity away from the groove is elastically connected with a buckle, and the end of the buckle away from the push plate slides into the strip groove and slidably cooperates with the mounting seat, a traction belt is fixedly arranged between the end of the buckle away from the strip groove and the end of the push plate, a round rod is fixedly arranged in the storage cavity, the round rod is arranged on the side of the storage cavity away from the strip groove and corresponds to the buckle, and the end of the traction belt away from the buckle bypasses the round rod and is fixedly connected to the end of the push plate.

7. A robot according to claim 4, characterized in that: A gear is rotatably arranged on one side of the mounting seat close to the groove, and the gear rotatably protrudes out of the side wall of the mounting seat on one side close to the groove, and the gear is transmission-connected with the movable column.

8. A robot according to claim 7, characterized in that: A rack is fixedly provided at one end of the push plate away from the buckle, and the rack is arranged on one side of the push plate close to the strip groove, and the end of the rack away from the push plate slides through the side wall of the auxiliary plate and the strip groove to extend into the clamping plate.

9. A robot according to claim 1, characterized in that: A plurality of groups of positioning pins are arranged in an array on one side of the baffle plate close to the auxiliary plate.

10. A robot according to claim 4, characterized in that: The inner wall of the clamping plate is elastically connected to a limiting plate, and the limiting plate is arranged on one side of the clamping plate close to the groove. A first protrusion is fixedly provided on the top of one end of the limiting plate, and a second protrusion is fixedly provided on the top of the limiting plate away from the first protrusion, and the second protrusion is slidably matched with the bottom of the clamping plate. A limiting opening slidably matched with the first protrusion is provided on the side wall of the connecting plate, and a second air bag is provided in the limiting opening, and a second air pipe is provided between the second air bag and the first air pipe.

Images