Manipulator structure

Abstract

The invention relates to the technical field of manipulators, and provides a manipulator structure which comprises a mechanical arm, a mounting base frame and a detection part, the mounting base frame is arranged on a swing arm of the mechanical arm, and the detection part is arranged on the mounting base frame and used for detecting raw material information of a raw material bag; two rotating shafts are rotationally mounted at the bottom of the mounting base frame, each rotating shaft is provided with a grabbing rod, one end of each grabbing rod is connected to the peripheral wall of the corresponding rotating shaft, and the other end of each grabbing rod forms a tip for puncturing the upper surface of a raw material bag; the mounting base frame is provided with a driving part used for driving the two rotating shafts to rotate, and the rotating directions of the two rotating shafts are opposite. According to the mechanical arm structure, the convenience and stability of chemical fiber raw material transferring can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a manipulator structure. Background Art

[0002] In the process of chemical fiber production, it is necessary to transport the chemical fiber raw materials. For example, in the extrusion stage of chemical fiber, the chemical fiber raw materials need to be transported and put into the feeding port of the production equipment, heated and melted by the production equipment, and finally the chemical fiber products are produced through extrusion molding, mixing processing and other processes.

[0003] Chemical fiber raw materials are usually made into granules and packaged in raw material bags. Since the chemical fiber raw materials in the raw material bags are in a granular bulk state, the force is unstable and it is inconvenient to carry. They are usually transported by lifting. However, in actual production, multiple raw material bags are stacked and stored together. Each raw material bag is heavy, and the stacking gaps between the raw material bags are tight. It is difficult for ordinary lifting structures to lift and clamp the raw material bags through the stacking gaps for transportation. In addition, the bag is heavy, the chemical fiber raw materials in the bag are granular, and the center of gravity of the raw material bag is easy to tilt during transportation, which is not conducive to the stability of transportation. Therefore, there is an urgent need for a transfer structure that is suitable for the transportation of such chemical fiber raw materials to improve the stability of chemical fiber raw material transportation. Summary of the invention

[0004] In order to improve the convenience and stability of chemical fiber raw material transportation, the present application provides a manipulator structure.

[0005] The present application provides a manipulator structure adopting the following technical solution: A manipulator structure comprises a manipulator arm, a mounting base and a detection member, wherein the mounting base is arranged on the swing arm of the manipulator arm, and the detection member is arranged on the mounting base for detecting the raw material information of the raw material bag; two rotating shafts are rotatably mounted on the bottom of the mounting base, and each of the rotating shafts is provided with a grab bar, one end of the grab bar is connected to the peripheral wall of the rotating shaft, and the other end forms a pointed end for piercing the upper surface of the raw material bag; the mounting base is provided with a driving member for driving the two rotating shafts to rotate, and the rotation directions of the two rotating shafts are set to be opposite.

[0006] By adopting the above technical scheme, in the initial state, the tip of the grab bar is flipped to face downward, the mounting base is transferred to the upper part of the raw material bag by the mechanical arm, and then the mounting base is lowered to force the tip of the grab bar to be inserted into the raw material bag from the upper surface of the raw material bag, and then the two rotating shafts are driven to rotate by the driving member, and the rotation directions of the two rotating shafts are set to be opposite, so that the tips of the grab bars of the two rotating shafts inserted into the raw material bag can approach each other to grab the raw material bag, and then the raw material bag can be transferred to the loading port of the production equipment by the mechanical arm; the flexibility of the raw material bag transfer is greatly improved by utilizing the flexibility of the mechanical arm, so that the grab bar can grab raw material bags in different positions; when the mounting base is moved to the top of the raw material bag, the raw material information of the raw material bag is detected by the detection member, so as to determine the correct raw material bag to be grabbed, and it is also convenient to analyze the shape of the raw material bag to locate the center point of the raw material bag, thereby facilitating the positioning of the landing point of the grab bar and reducing the handling problem caused by the offset of the center of gravity of the raw material bag during the grabbing process.

[0007] Optionally, a push plate for pushing down the raw material bag is slidably mounted on the bottom wall of the mounting base, the push plate is located between two rotating shafts, and the mounting base is provided with a lifting member for driving the push plate to move up and down.

[0008] By adopting the above technical solution, when the grabbing rod grabs the raw material bag and transfers it to the loading port of the production equipment, the raw material bag is cut open by the lower surface of the raw material bag, so that the chemical fiber raw material in the raw material bag falls into the loading port of the production equipment; after the loading is completed, the mounting base is transferred to the waste bag collection area of ​​the workshop by the mechanical arm, and the tip of the grabbing rod is forced to reset to face downward, and then the push plate is forced to move downward by the lifting member, so that the push plate pushes down to move the waste bag off the grabbing rod and let it fall, thereby realizing the separation of the grabbing rod and the waste bag, so as to facilitate the next grabbing of the raw material bag, thereby improving the operational convenience of the overall structure.

[0009] Optionally, multiple grab rods are arranged at axial intervals along the rotating shaft. When the grab rod grabs the raw material bag, the length of the rotating shaft is consistent with the length direction of the raw material bag. A cutter for cutting the lower surface of the raw material bag is installed at the feeding port of the production equipment, and the cutter cuts the lower surface of the raw material bag along the length direction of the raw material bag.

[0010] By adopting the above technical solution and setting a plurality of grab bars, the grabbing stability of the raw material bag is improved, and the possibility of the center of gravity of the raw material bag shifting during the grabbing process is reduced; in addition, when the grab bar grabs the raw material bag and transfers it to the loading port of the production equipment, the lower surface of the raw material bag is cut by the cutter at the loading port of the production equipment, so that the chemical fiber raw material falls into the loading port of the production equipment, thereby improving the convenience of unloading; and when the cutter cuts the raw material bag, the lower surface of the raw material bag is cut along the length direction of the raw material bag, and the opening of the raw material bag is enlarged as much as possible, so that the chemical fiber raw material can better fall into the loading port of the production equipment, and the possibility of part of the chemical fiber raw material remaining in the raw material bag after the lower surface of the raw material bag is cut is reduced, thereby improving the unloading stability.

[0011] Optionally, a connecting seat is provided at the bottom of the mounting base, an abutment block is provided at the bottom of the connecting seat, and an abutment arc groove is provided on the bottom wall of the abutment block. When the rotating shaft drives the grabbing rod to swing to grab the raw material bag, the grabbing rod is embedded in the abutment arc groove so that the inner peripheral wall of the abutment arc groove and the outer peripheral wall of the grabbing rod are jointly clamped on the raw material bag.

[0012] By adopting the above-mentioned technical solution, after the tip of the grabbing rod is inserted into the raw material bag, the rotating shaft is driven to rotate so that the grabbing rod tips of the two rotating shafts are close to each other to grab the raw material bag. At this time, the grabbing rod rotates into the abutting arc groove of the abutting block so that the inner peripheral wall of the abutting arc groove and the outer peripheral wall of the grabbing rod are clamped on the raw material bag together, thereby improving the grasping stability of the raw material bag and reducing the possibility of the raw material bag falling off during the transfer of the raw material bag by the robotic arm.

[0013] Optionally, a sliding groove is provided on the bottom wall of the connecting seat, a sliding rod is slidably installed in the sliding groove, one end of the sliding rod is connected to the abutment block, and the abutment block is slidably installed on the connecting seat through the sliding rod; a first spring is provided between the sliding rod and the connecting seat, and the first spring forces an extrusion gap to be formed between the abutment block and the connecting seat.

[0014] By adopting the above-mentioned technical solution, after the grab rod is rotated into the abutment arc groove of the abutment block, the abutment block is pushed, forcing the abutment block to move toward the side close to the connecting seat to squeeze the first spring, forcing the first spring to deform and form a clamping force against the abutment block, thereby improving the clamping effect of the raw material bag.

[0015] Optionally, a blade is provided on the bottom wall of the connecting seat, and a first avoidance groove for the blade to be embedded is formed on the peripheral wall of the grab rod, and both ends of the first avoidance groove are extended along the length direction of the grab rod; a connecting groove is formed on the side wall of the abutment block close to the connecting seat, and the connecting groove is connected to the abutment arc groove for the blade to pass through, and the connecting groove separates the inner peripheral wall of the abutment arc groove to form two abutment arc surfaces for abutting against the surface of the raw material bag, and when the grab rod forces the abutment block to abut against the connecting seat, the two abutment arc surfaces are respectively pressed against the surface of the raw material bag, and the blade passes through the connecting groove and cuts off the part of the raw material bag located between the two abutment arc surfaces.

[0016] By adopting the above technical solution, after the grab bar is rotated into the abutment arc groove of the abutment block, the abutment block is pushed to force the abutment block to abut against the connection seat. At this time, the two abutment arc surfaces abut against the surface of the raw material bag, thereby improving the grasping stability of the raw material bag and reducing the possibility of the raw material bag slipping during the transfer process. In addition, when the abutment block abuts against the connection seat, the blade passes through the connecting groove to cut off the part of the raw material bag located between the two abutment arc surfaces, and expands the socket on the upper surface of the raw material bag (this socket is the socket formed by the grab bar inserted into the upper surface of the raw material bag). When the unloading is completed, the mounting base is transferred to the waste bag collection area and the tip of the grab bar is forced to flip back to face downward. The expanded socket facilitates the waste bag to slide out under its own gravity, thereby improving the convenience of separation between the grab bar and the waste bag.

[0017] Optionally, the outer wall of the grab rod is provided with two second avoidance grooves, and the two second avoidance grooves are arranged corresponding to the two abutting arc surfaces. Each of the abutting arc surfaces is provided with a movable groove. When the grab rod is embedded in the abutting arc groove, the movable groove is opposite to the corresponding second avoidance groove. An extrusion block is slidably installed in the movable groove, and the extrusion block is connected to an extrusion rod. One end of the extrusion rod is connected to the extrusion block, and the other end extends to the extrusion gap. When the abutting block abuts against the connecting seat, the extrusion rod forces the extrusion block to be partially embedded in the corresponding second avoidance groove.

[0018] By adopting the above technical solution, when the grab bar rotates into the abutment arc groove of the abutment block and pushes the abutment block to abut against the connection seat, the two abutment arc surfaces abut against the surface of the raw material bag, and the connection seat pushes the extrusion block through the extrusion rod, driving the extrusion block to embed into the second avoidance groove. The setting of the extrusion block improves the tightening effect of the abutment arc surface on the surface of the raw material bag to a certain extent. In addition, when the extrusion block is embedded in the second avoidance groove, the surface of the raw material bag is pushed, thereby tightening the part of the raw material bag located between the two abutment arc surfaces, so that the blade can cut it, thereby improving the cutting effect of the blade.

[0019] Optionally, a ventilation cavity is provided in the abutment block, a plurality of ventilation holes connected to the ventilation cavity are provided on the inner peripheral wall of the abutment arc groove, and an air supply component for blowing air into the ventilation cavity is provided on the mounting base.

[0020] By adopting the above technical solution, after unloading is completed, when the rotating shaft is driven to rotate and the tip of the grab bar is forced to flip downward, air is blown into the ventilation cavity through the air supply component, and the gas is blown out from the ventilation hole to act on the upper surface of the waste bag, thereby reducing the possibility of the waste bag sticking to the abutting arc surface of the abutting block and improving the separation effect of the waste bag.

[0021] Optionally, the air supply assembly includes an air supply seat, an air supply pipe, a connecting pipe and an opening and closing piece. The air supply seat is arranged on the bottom wall of the mounting base, and an air supply cavity is opened in the air supply seat. The inlet end of the air supply pipe is used to connect the air supply equipment, and the outlet end of the air supply pipe is connected to the air supply cavity; the inlet end of the connecting pipe is connected to the air supply cavity, and the outlet end of the connecting pipe is connected to the ventilation cavity; the opening and closing piece is arranged between the air supply seat and the rotating shaft for opening and closing the air supply cavity.

[0022] Optionally, the opening and closing part includes a fixed plate, a movable plate, a return spring and a drive block, the fixed plate is installed in the air supply chamber, the fixed plate divides the air supply chamber into a first partition and a second partition, the outlet end of the air supply pipe is connected to the first partition, and the inlet end of the connecting pipe is connected to the second partition; the movable plate is slidably installed in the first partition, the plate surface of the fixed plate is provided with a first connecting hole, the plate surface of the movable plate is provided with a second connecting hole, and the first connecting hole and the second connecting hole are staggered; the return spring is installed between the fixed plate and the movable plate, and the return spring forces a connecting gap to be formed between the fixed plate and the movable plate; the movable plate is connected to a connecting rod, one end of the connecting rod passes through the air supply seat, and the drive block is arranged on the outer peripheral wall of the rotating shaft, and when the tip of the grab rod swings to the lowest position, the drive block pushes the movable plate through the connecting rod and forces the movable plate to abut against the fixed plate.

[0023] By adopting the above technical solution, when the tip of the grab bar flips to face downward, the grab bar pushes the connecting rod through the driving block, thereby driving the movable plate to abut against the fixed plate. The first connecting hole and the second connecting hole are staggered, so that when the movable plate abuts against the fixed plate, the first partition and the second partition can be disconnected to achieve the closure of the air supply cavity, that is, at this time, the gas cannot enter the ventilation cavity for blowing. When the rotating shaft is driven to rotate to force the grab bar to grab the raw material bag, the movable plate forms a connecting gap under the action of the reset spring, that is, at this time, the air supply cavity is connected to the ventilation cavity; when the unloading is completed, the tip of the grab bar is driven to flip downward to make the grab bar detach from the abutment arc groove. In this process, the gas in the ventilation cavity is blown out from the ventilation hole to act on the waste bag, forcing the waste bag to separate from the abutment block, thereby improving the separation effect of the waste bag.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the setting of the mechanical arm and the grabbing rod, in the initial state, the tip of the grabbing rod is turned downward, the mounting base is transferred to the upper part of the raw material bag by the mechanical arm, and then the mounting base is lowered, forcing the tip of the grabbing rod to be inserted into the raw material bag from the upper surface of the raw material bag, and then the two rotating shafts are driven to rotate by the driving member, and the rotation directions of the two rotating shafts are set to be opposite, so that the grabbing rod tips of the two rotating shafts inserted into the raw material bag can approach each other to grab the raw material bag, and then the raw material bag can be transferred to the loading port of the production equipment by the mechanical arm; the flexibility of the raw material bag transfer is greatly improved by utilizing the flexibility of the mechanical arm, so that the grabbing rod can grab the raw material bags at different positions; when the mounting base is moved to the upper part of the raw material bag, the raw material information of the raw material bag is detected by the detection member, so as to determine the correct raw material bag to be grabbed, and it is also convenient to analyze the shape of the raw material bag to locate the center point of the raw material bag, so as to facilitate the positioning of the landing point of the grabbing rod, and reduce the handling problem caused by the displacement of the center of gravity of the raw material bag during the grabbing process; 2. Through the setting of the blade, after the grab bar rotates into the abutment arc groove of the abutment block, the abutment block is pushed to force the abutment block to abut against the connecting seat. At this time, the two abutment arc surfaces abut against the surface of the raw material bag, thereby improving the grasping stability of the raw material bag and reducing the possibility of the raw material bag slipping during the transfer process. In addition, when the abutment block abuts against the connecting seat, the blade passes through the connecting groove to cut off the part of the raw material bag between the two abutment arc surfaces, and expands the socket on the upper surface of the raw material bag (this socket is the socket formed by the grab bar inserted into the upper surface of the raw material bag). When the unloading is completed, the installation base is transferred to the waste bag collection area and the tip of the grab bar is forced to flip back to face downward. The enlarged socket facilitates the waste bag to slide out under its own gravity, thereby improving the convenience of separation between the grab bar and the waste bag. 3. Through the setting of the extrusion block, when the grab bar rotates into the abutment arc groove of the abutment block and pushes the abutment block to abut against the connecting seat, the two abutment arc surfaces abut against the surface of the raw material bag, and the connecting seat pushes the extrusion block through the extrusion bar, driving the extrusion block to embed into the second avoidance groove. The setting of the extrusion block improves the tightening effect of the abutment arc surface on the surface of the raw material bag to a certain extent. In addition, when the extrusion block is embedded in the second avoidance groove, the surface of the raw material bag is pushed, thereby tightening the part of the raw material bag located between the two abutment arc surfaces, so that the blade can cut it, thereby improving the cutting effect of the blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the overall structure of Example 1; Figure 2 is a schematic diagram of the structure of the mounting base in Embodiment 1; Figure 3 is a schematic diagram of the structure of the rotating shaft and the grab bar in Example 1; Figure 4 This is a schematic diagram of the structure of the grab bar grabbing a raw material bag in Example 1; Figure 5 is a partial cross-sectional view of the abutment block embodied in Embodiment 2; Figure 6 is a partial cross-sectional view of the abutting arc groove of embodiment 2; Figure 7 is a partial cross-sectional view of a blade and an extrusion block according to Embodiment 3; Figure 8 is a partial cross-sectional view of the air supply assembly of embodiment 4; Fig. 9 is a partial cross-sectional view of the ventilation cavity of embodiment 4; Fig.10 It is a partial cross-sectional view of the fixed plate and the movable plate according to the fourth embodiment.

[0026] Explanation of reference numerals: 1. mechanical arm; 2. mounting base; 21. lighting lamp; 22. driving cylinder; 23. guide bushing; 3. detection member; 4. rotating shaft; 41. grab bar; 411. first avoidance groove; 412. second avoidance groove; 42. hinge block; 5. push plate; 51. guide bar; 52. third avoidance groove; 53. fourth avoidance groove; 6. connecting seat; 61. sliding groove; 62. sliding bar; 63. first spring; 64. blade; 7. abutment block; 71. abutment arc groove; 72. connecting Groove; 73, abutting arc surface; 74, movable groove; 75, extrusion block; 751, extrusion rod; 752, second spring; 76, ventilation cavity; 761, ventilation hole; 8, air supply assembly; 81, air supply seat; 811, air supply cavity; 812, first partition; 813, second partition; 82, air supply pipe; 83, connecting pipe; 84, fixed plate; 841, first connecting hole; 85, movable plate; 851, second connecting hole; 86, reset spring; 87, drive block; 88, connecting rod; 9, raw material bag. DETAILED DESCRIPTION

[0027] The following combination Figure 1-Figure 10 This application is described in further detail. Example 1

[0028] The embodiment of the present application discloses a manipulator structure.

[0029] Reference Figure 1 , Figure 2 , Figure 3A robot structure includes a robot arm 1, a mounting base 2 and a detection member 3. The robot arm 1 is used to be set on one side of a feeding port of a production device (not shown in the figure), and the top wall of the mounting base 2 is installed on the swing arm of the robot arm 1 (the robot arm 1 is a prior art, and its structure is not elaborated on here); the detection member 3 is set on the mounting base 2 to detect the raw material information of a raw material bag 9. In this embodiment, the detection member 3 is set as a camera, and a label for camera recognition is pasted on the middle position of the upper surface of the raw material bag 9, and the label is used to record the chemical fiber raw material information in the raw material bag 9; lighting lamps 21 are installed on both sides of the mounting base, and the lighting lamps 21 are used to illuminate the label on the surface of the raw material bag 9 for easy recognition by the camera.

[0030] Two rotating shafts 4 are rotatably installed at the bottom of the mounting base 2. The two rotating shafts 4 are arranged in parallel. The outer wall of each rotating shaft 4 is provided with multiple grab bars 41. The multiple grab bars 41 are arranged at intervals along the axial direction of the rotating shaft 4. One end of the grab bar 41 is fixedly connected to the outer wall of the rotating shaft 4, and the other end forms a pointed end for piercing the upper surface of the raw material bag 9.

[0031] Reference Figure 3 , Figure 4 The mounting base 2 is provided with a driving member for driving the two rotating shafts 4 to rotate, and the rotation directions of the two rotating shafts 4 are set to be opposite; a hinge block 42 is installed on the outer peripheral wall of each rotating shaft 4, and the driving member includes two driving cylinders 22, and the two driving cylinders 22 are arranged corresponding to the two rotating shafts 4. The cylinder body of the driving cylinder 22 is hinged to the side wall of the mounting base 2, and the piston rod of the driving cylinder 22 is hinged to the hinge block 42 corresponding to the rotating shaft 4. When the piston rod of the driving cylinder 22 contracts inward, the driving cylinder 22 pulls the rotating shaft 4 to rotate through the hinge block 42, so that the tip of the grabbing rod 41 is flipped to face downward, and when the grabbing rod 41 is inserted into the raw material bag 9 and forces the piston rod of the driving cylinder 22 to extend outward, the tips of the grabbing rods 41 of the two rotating shafts 4 approach each other to grab the raw material bag 9.

[0032] It should be noted that, in the present embodiment, when grabbing the raw material bag 9, the robot arm 1 is used to control the orientation of the mounting base 2 so that the length direction of the rotating shaft 4 in the mounting base 2 is consistent with the length direction of the raw material bag 9, so as to improve the grabbing effect of the multiple grab bars 41 on the raw material bag 9; in addition, a cutter (not shown in the figure) is installed at the feeding port of the production equipment, and the cutter is used to cut the lower surface of the raw material bag 9, and in the present embodiment, the cutter cuts the lower surface of the raw material bag 9 along the length direction of the raw material bag 9; in specific operation, the grab bar 41 grabs the raw material bag 9 and transfers it to the feeding port of the production equipment, drives the mounting base 2 to move downward so that the cutter contacts the lower surface of the raw material bag 9, and then drives the mounting base 2 to slide along the length direction of the rotating shaft 4 through the robot arm 1, so that the cutter can be forced to cut the lower surface of the raw material bag 9 along the length direction of the raw material bag 9, so that the chemical fiber raw material in the raw material bag 9 falls into the feeding port of the production equipment.

[0033] Reference Figure 2 , Figure 3 A push plate 5 is provided on the bottom wall of the mounting base 2. For the convenience of description, the raw material bag 9 after unloading is defined as a waste bag below. The push plate 5 is used to push down the waste bag so that the waste bag is separated from the grab bar 41; a plurality of guide rods 51 are fixedly installed on the upper surface of the push plate 5, and the mounting base 2 is installed with guide sleeves 23. The number of guide sleeves 23 is set corresponding to the number of guide rods 51. Each guide rod 51 is penetrated by the corresponding guide sleeve 23. The push plate 5 is slidably installed on the mounting base 2 through a plurality of guide rods 51 so as to be able to be lifted and lowered; a third avoidance groove 52 is provided on the surface of the push plate 5. The third avoidance groove 52 is used to avoid the camera so that the camera can detect the raw material information of the raw material bag 9; a plurality of fourth avoidance grooves 53 are provided on the side wall of the push plate 5. The fourth avoidance groove 53 is used to avoid the grab bar 41.

[0034] The mounting base 2 is provided with a lifting member for driving the push plate 5 to move up and down. The lifting member can be a lifting cylinder (not shown in the figure). The cylinder body of the lifting cylinder is fixedly mounted on the mounting base 2, and the piston rod of the lifting cylinder is fixedly connected to the push plate 5 to drive the push plate 5 to move up and down.

[0035] The implementation principle of Example 1 of the present application is as follows: in the initial state, the tip of the grabbing rod 41 is flipped downward, the mounting base 2 is transferred to the upper part of the raw material bag 9 by the robot arm 1, and then the mounting base 2 is lowered, forcing the tip of the grabbing rod 41 to be inserted into the raw material bag 9 from the upper surface of the raw material bag 9, and then the two rotating shafts 4 are driven to rotate by the driving member, and the rotation directions of the two rotating shafts 4 are set to be opposite, so that the tips of the grabbing rods 41 of the two rotating shafts 4 inserted into the raw material bag 9 can approach each other to grab the raw material bag 9, and then the raw material bag 9 can be transferred to the loading port of the production equipment by the robot arm 1.

[0036] By utilizing the flexibility of the robotic arm 1, the flexibility of transferring the raw material bag 9 is greatly improved, so that the grabbing rod 41 can grab the raw material bags 9 at different positions; when the mounting base 2 is moved above the raw material bag 9, the detection part 3 is used to detect the raw material information of the raw material bag 9, so as to determine whether to grab the correct raw material bag 9, and it is also convenient to analyze the shape of the raw material bag 9 and locate the center point of the raw material bag 9, thereby facilitating the positioning of the landing point of the grabbing rod 41, and reducing the handling problems caused by the offset of the center of gravity of the raw material bag 9 during the grabbing process. Example 2

[0037] The embodiment of the present application discloses a manipulator structure.

[0038] The difference between the manipulator structure disclosed in the embodiment of the present application and the embodiment 1 is that: Reference Figure 5 , Figure 6 In this embodiment, a connecting seat 6 is installed at the bottom of the mounting base 2, and the number of the connecting seats 6 is set corresponding to the number of the rotating shafts 4; a plurality of abutment blocks 7 are installed at the bottom of each connecting seat 6, and the plurality of abutment blocks 7 are set corresponding to the plurality of grab bars 41 of the rotating shaft 4, and an abutment arc groove 71 is opened on the bottom wall of the abutment block 7. When the rotating shaft 4 drives the grab bar 41 to swing to grab the raw material bag 9, the grab bar 41 is embedded in the abutment arc groove 71 so that the inner peripheral wall of the abutment arc groove 71 and the outer peripheral wall of the grab bar 41 are clamped on the raw material bag 9 together.

[0039] A sliding groove 61 is provided on the bottom wall of the connecting seat 6, and a sliding rod 62 is slidably installed in the sliding groove 61. The abutment block 7 is fixedly installed on one end of the sliding rod 62, and the abutment block 7 is slidably installed on the connecting seat 6 through the sliding rod 62; a first spring 63 is sleeved on the peripheral wall of the sliding rod 62, and one end of the first spring 63 is fixedly connected to the sliding rod 62, and the other end is fixedly connected to the top wall of the connecting seat 6. The first spring 63 forces an extrusion gap to be formed between the abutment block 7 and the connecting seat 6.

[0040] The implementation principle of Example 2 of the present application is as follows: after the tip of the grabbing rod 41 is inserted into the raw material bag 9, the rotating shaft 4 is driven to rotate so that the tips of the grabbing rods 41 of the two rotating shafts 4 are close to each other to grab the raw material bag 9. At this time, the grabbing rod 41 rotates into the abutting arc groove 71 of the abutting block 7. As the grabbing rod 41 rotates, the grabbing rod 41 forces the abutting block 7 to abut against the connecting seat 6, thereby forcing the first spring 63 to deform. The elastic force of the first spring 63 reacts on the abutting block 7 so that the inner peripheral wall of the abutting arc groove 71 and the outer peripheral wall of the grabbing rod 41 are clamped together on the raw material bag 9, thereby improving the grasping stability of the raw material bag 9 and reducing the possibility of the raw material bag 9 falling off during the transfer of the raw material bag 9 by the robot arm 1. Example 3

[0041] The embodiment of the present application discloses a manipulator structure.

[0042] The difference between the manipulator structure disclosed in the embodiment of the present application and the embodiment 2 is that: Reference Figure 7 In this embodiment, a blade 64 is fixedly installed on the side wall of the connecting seat 6 close to the abutment block 7 (i.e., the bottom wall of the connecting seat 6), and a first avoidance groove 411 is provided on the peripheral wall of the grab rod 41 for the blade 64 to be embedded, and both ends of the first avoidance groove 411 are extended along the length direction of the grab rod 41; a connecting groove 72 is provided on the side wall of the abutment block 7 close to the connecting seat 6, and the connecting groove 72 is connected to the abutment arc groove 71 for the blade 64 to pass through, and one side of the connecting groove 72 passes through the side wall of the abutment block 7 close to the rotating shaft 4.

[0043] The connecting groove 72 separates the inner circumferential wall of the abutting arc groove 71 to form two abutting arc surfaces 73, and the two abutting arc surfaces 73 are both used to abut the surface of the raw material bag 9. When the grab rod 41 forces the abutting block 7 to abut against the connecting seat 6, the two abutting arc surfaces 73 are respectively pressed against the surface of the raw material bag 9, and the blade 64 passes through the connecting groove 72 and is embedded in the first avoidance groove 411 to cut off the portion of the raw material bag 9 located between the two abutting arc surfaces 73.

[0044] Reference Figure 7 The outer peripheral wall of the grab bar 41 is provided with two second avoidance grooves 412, and the two second avoidance grooves 412 are arranged corresponding to the two abutting arc surfaces 73. Both ends of each second avoidance groove 412 are extended along the length direction of the grab bar 41, and each abutting arc surface 73 is provided with a moving groove 74, which penetrates the side wall of the abutting block 7 close to the connecting seat 6. When the grab bar 41 is embedded in the abutting arc groove 71, the moving groove 74 is directly opposite to the corresponding second avoidance groove 412; an extrusion block 75 is slidably installed in the moving groove 74, and the extrusion block 75 is connected to an extrusion rod 751. A second spring 752 is installed in the moving groove 74, one end of the second spring 752 is fixedly connected to the inner wall of the moving groove 74, and the other end is fixedly connected to the extrusion block 75. The second spring 752 forces the extrusion rod 751 to extend away from one end of the extrusion block 75 to the extrusion gap. When the abutting block 7 abuts against the connecting seat 6, the extrusion rod 751 forces the extrusion block 75 to partially embed into the corresponding second avoidance groove 412.

[0045] The implementation principle of Example 3 of the present application is as follows: after the grabbing rod 41 rotates into the abutting arc groove 71 of the abutting block 7, the abutting block 7 is pushed to force the abutting block 7 to abut against the connecting seat 6. At this time, the two abutting arc surfaces 73 press against the surface of the raw material bag 9, and the connecting seat 6 pushes the extrusion block 75 through the extrusion rod 751, driving the extrusion block 75 to embed into the second avoidance groove 412. The setting of the extrusion block 75 improves the pressing effect of the abutting arc surface 73 on the surface of the raw material bag 9 to a certain extent, and reduces the possibility of the raw material bag 9 slipping during the transfer process.

[0046] In addition, when the abutment block 7 abuts against the connecting seat 6, the blade 64 passes through the connecting groove 72, cuts off the portion of the raw material bag 9 between the two abutment arc surfaces 73, and expands the insertion opening on the upper surface of the raw material bag 9 (this insertion opening is the insertion opening formed by inserting the grab rod 41 into the upper surface of the raw material bag 9). When the unloading is completed, the mounting base 2 is transferred to the waste bag collection area and the tip of the grab rod 41 is forced to flip back to face downward. The expanded insertion opening makes it easier for the waste bag to slide out under its own gravity, thereby improving the convenience of separation between the grab rod 41 and the waste bag. Example 4

[0047] The embodiment of the present application discloses a manipulator structure.

[0048] The difference between the manipulator structure disclosed in the embodiment of the present application and the embodiment 2 is that: Reference Figure 8 , Fig. 9 , Fig.10 In this embodiment, a ventilation cavity 76 is provided in the abutting block 7, and a plurality of ventilation holes 761 are provided on the inner peripheral wall of the abutting arc groove 71, each ventilation hole 761 is connected to the ventilation cavity 76, and the mounting base 2 is provided with an air supply assembly 8 for blowing air into the ventilation cavity 76; the air supply assembly 8 includes an air supply seat 81, an air supply pipe 82, a connecting pipe 83 and an opening and closing member, the air supply seat 81 is fixedly mounted on the bottom wall of the mounting base 2, an air supply cavity 811 is provided in the air supply seat 81, the inlet end of the air supply pipe 82 is used to connect an air supply device (not shown in the figure), the air supply device can be a blower, and the outlet end of the air supply pipe 82 is connected to the air supply cavity 811; the inlet end of the connecting pipe 83 is connected to the air supply cavity 811, and the outlet end of the connecting pipe 83 is connected to the ventilation cavity 76, and the ventilation cavity 76 and the air supply cavity 811 are connected to each other through the connecting pipe 83.

[0049] Reference Figure 8 , Fig.10 The opening and closing member is arranged between the air supply seat 81 and the rotating shaft 4 for opening and closing the air supply chamber 811. In this embodiment, the opening and closing member includes a fixed plate 84, a movable plate 85, a reset spring 86 and a driving block 87. The fixed plate 84 is fixedly installed in the air supply chamber 811. The fixed plate 84 divides the air supply chamber 811 into a first partition 812 and a second partition 813. The second partition 813 is located on the side of the first partition 812 away from the rotating shaft 4. The outlet end of the air supply pipe 82 is connected to the first partition 812, and the inlet end of the connecting pipe 83 is connected to the second partition 813.

[0050] The movable plate 85 is slidably installed on the first partition 812, the plate surface of the fixed plate 84 is provided with a first connecting hole 841, and the plate surface of the movable plate 85 is provided with a second connecting hole 851. The first connecting hole 841 and the second connecting hole 851 are staggered. When the fixed plate 84 and the movable plate 85 are in contact with each other, the connection between the first partition 812 and the second partition 813 is disconnected; one end of the return spring 86 is fixedly connected to the fixed plate 84, and the other end is fixedly connected to the movable plate 85. The return spring 86 forces the movable plate 85 to move toward the side away from the fixed plate 84, so that a connecting gap is formed between the fixed plate 84 and the movable plate 85.

[0051] The movable plate 85 is fixedly connected to the plate surface away from the fixed plate 84 with a connecting rod 88, one end of the connecting rod 88 passes through the air supply seat 81, and the driving block 87 is fixedly installed on the outer peripheral wall of the rotating shaft 4. When the rotating shaft 4 drives the tip of the grab rod 41 to swing to the lowest position, the driving block 87 pushes the movable plate 85 through the connecting rod 88 and forces the movable plate 85 to abut against the fixed plate 84.

[0052] The implementation principle of Example 4 of the present application is as follows: after the unloading of the raw material bag 9 is completed, the rotating shaft 4 is driven to rotate, forcing the tip of the grabbing rod 41 to flip downward, and the grabbing rod 41 pushes the connecting rod 88 through the driving block 87, thereby driving the movable plate 85 to abut against the fixed plate 84, and the first connecting hole 841 and the second connecting hole 851 are staggered, so that when the movable plate 85 abuts against the fixed plate 84, the first partition 812 and the second partition 813 can be disconnected, thereby realizing the closure of the air supply cavity 811, that is, at this time, the gas cannot enter the ventilation cavity 76 for blowing.

[0053] When the rotating shaft 4 is driven to rotate to force the grabbing rod 41 to grab the raw material bag 9, the movable plate 85 forms a connecting gap under the action of the reset spring 86, that is, the air supply chamber 811 is connected to the ventilation chamber 76; when the unloading is completed, the tip of the grabbing rod 41 is driven to flip downward to make the grabbing rod 41 separate from the abutting arc groove 71. During this process, the gas in the ventilation chamber 76 is blown out from the ventilation hole 761 to act on the waste bag, thereby reducing the possibility of the waste bag adhering to the abutting block 7 and improving the separation effect of the waste bag.

[0054] The above are preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot structure, characterized in that: The invention comprises a mechanical arm (1), a mounting base (2) and a detection member (3), wherein the mounting base (2) is arranged on the swing arm of the mechanical arm (1), and the detection member (3) is arranged on the mounting base (2) for detecting the raw material information of the raw material bag (9); two rotating shafts (4) are rotatably mounted at the bottom of the mounting base (2), and each of the rotating shafts (4) is provided with a grab bar (41), one end of the grab bar (41) is connected to the peripheral wall of the rotating shaft (4), and the other end forms a tip for piercing the upper surface of the raw material bag (9); the mounting base (2) is provided with a driving member for driving the two rotating shafts (4) to rotate, and the rotation directions of the two rotating shafts (4) are arranged to be opposite; a connecting seat (6) is arranged at the bottom of the mounting base (2), and an abutment block (7) is arranged at the bottom of the connecting seat (6). The bottom wall of the abutment block (7) is provided with an abutment arc groove (71). When the rotating shaft (4) drives the grabbing rod (41) to swing to grab the raw material bag (9), the grabbing rod (41) is embedded in the abutment arc groove (71) so that the inner peripheral wall of the abutment arc groove (71) and the outer peripheral wall of the grabbing rod (41) are clamped on the raw material bag (9) together; the bottom wall of the connecting seat (6) is provided with a sliding groove (61). A sliding rod (62) is slidably installed in the sliding groove (61). One end of the sliding rod (62) is connected to the abutment block (7). The abutment block (7) is slidably installed on the connecting seat (6) through the sliding rod (62); a first spring (63) is provided between the sliding rod (62) and the connecting seat (6). The first spring (63) forces the abutment block (7) and the connecting seat (6) to form an extrusion gap.

2. A robot structure according to claim 1, characterized in that: A push plate (5) for pushing down a raw material bag (9) is slidably mounted on the bottom wall of the mounting base (2); the push plate (5) is located between two rotating shafts (4); and a lifting member is provided on the mounting base (2) for driving the push plate (5) to move up and down.

3. A robot structure according to claim 1, characterized in that: A plurality of grab bars (41) are arranged at intervals along the axial direction of the rotating shaft (4); when the grab bars (41) grab the raw material bag (9), the length direction of the rotating shaft (4) is consistent with the length direction of the raw material bag (9); a cutter for cutting the lower surface of the raw material bag (9) is installed at the feeding port of the production equipment, and the cutter cuts the lower surface of the raw material bag (9) along the length direction of the raw material bag (9).

4. A robot structure according to claim 1, characterized in that: The bottom wall of the connecting seat (6) is provided with a blade (64), and the peripheral wall of the grab bar (41) is provided with a first avoidance groove (411) for the blade (64) to be embedded, and the two ends of the first avoidance groove (411) are extended along the length direction of the grab bar (41); the side wall of the abutting block (7) close to the connecting seat (6) is provided with a connecting groove (72), and the connecting groove (72) is connected to the abutting arc groove (71) for allowing the blade (64) to pass through, and the connecting groove (72) separates the inner peripheral wall of the abutting arc groove (71) to form two abutting arc surfaces (73) for abutting against the surface of the raw material bag (9); when the grab bar (41) forces the abutting block (7) to abut against the connecting seat (6), the two abutting arc surfaces (73) are respectively pressed against the surface of the raw material bag (9), and the blade (64) passes through the connecting groove (72) and cuts off the portion of the raw material bag (9) located between the two abutting arc surfaces (73).

5. A robot structure according to claim 4, characterized in that: The outer peripheral wall of the grab bar (41) is provided with two second avoidance grooves (412), and the two second avoidance grooves (412) are arranged corresponding to the two abutting arc surfaces (73). Each of the abutting arc surfaces (73) is provided with a movable groove (74). When the grab bar (41) is embedded in the abutting arc groove (71), the movable groove (74) is directly opposite to the corresponding second avoidance groove (412). An extrusion block (75) is slidably installed in the movable groove (74). The extrusion block (75) is connected to an extrusion rod (751). One end of the extrusion rod (751) is connected to the extrusion block (75), and the other end extends to the extrusion gap. When the abutting block (7) abuts against the connecting seat (6), the extrusion rod (751) forces the extrusion block (75) to partially embed into the corresponding second avoidance groove (412).

6. A robot structure according to claim 1, characterized in that: A ventilation cavity (76) is provided in the abutting block (7), a plurality of ventilation holes (761) communicating with the ventilation cavity (76) are provided on the inner peripheral wall of the abutting arc groove (71), and the mounting base (2) is provided with an air supply component (8) for blowing air into the ventilation cavity (76).

7. A robot structure according to claim 6, characterized in that: The air supply assembly (8) comprises an air supply seat (81), an air supply pipe (82), a connecting pipe (83) and an opening and closing member. The air supply seat (81) is arranged on the bottom wall of the mounting base (2). An air supply cavity (811) is provided in the air supply seat (81). The inlet end of the air supply pipe (82) is used to connect to an air supply device, and the outlet end of the air supply pipe (82) is connected to the air supply cavity (811); the inlet end of the connecting pipe (83) is connected to the air supply cavity (811), and the outlet end of the connecting pipe (83) is connected to the ventilation cavity (76); the opening and closing member is arranged between the air supply seat (81) and the rotating shaft (4) to open and close the air supply cavity (811).

8. A robot structure according to claim 7, characterized in that: The opening and closing member comprises a fixed plate (84), a movable plate (85), a reset spring (86) and a driving block (87); the fixed plate (84) is installed in the air supply cavity (811); the fixed plate (84) divides the air supply cavity (811) into a first partition (812) and a second partition (813); the outlet end of the air supply pipe (82) is connected to the first partition (812); the inlet end of the connecting pipe (83) is connected to the second partition (813); the movable plate (85) is slidably installed in the first partition (812); the plate surface of the fixed plate (84) is provided with a first connecting hole (841); the plate surface of the movable plate (85) is provided with a second connecting hole (851); The first connecting hole (841) and the second connecting hole (851) are arranged in an offset manner; the reset spring (86) is installed between the fixed plate (84) and the movable plate (85), and the reset spring (86) forces a connecting gap to be formed between the fixed plate (84) and the movable plate (85); the movable plate (85) is connected to a connecting rod (88), one end of the connecting rod (88) passes through the air supply seat (81), and the driving block (87) is arranged on the outer peripheral wall of the rotating shaft (4). When the tip of the grab bar (41) swings to the lowest position, the driving block (87) pushes the movable plate (85) through the connecting rod (88) and forces the movable plate (85) to abut against the fixed plate (84).

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