A manipulator and its application in ammonium perchlorate packaging

Abstract

The present invention belongs to the technical field of manipulators and relates to a manipulator and its application in the packaging of ammonium perchlorate. The present invention includes an electric slide rail, a slide plate and a grasping mechanism; two clamping arms are slidably arranged on the electric slide rail, a slide plate is slidably arranged on each clamping arm, and a grasping mechanism is slidably arranged on each slide plate through a chute; the grasping mechanism includes a plurality of support units rotatably connected in sequence; both ends of the grasping mechanism are arranged on both sides of the slide plate, and one end of the grasping mechanism is fixedly connected to the clamping arm. By moving the slide plate on the clamping arm, the number of support units on the inner side of the slide plate is adjusted, so that the number of support units on the inner side of the slide plate adapts to the size of the packaging bag, which not only ensures stable grasping but also helps to improve the palletizing quality. In a narrow space, by moving the slide plate closer to the electric slide rail, and at the same time the support units on the inner side of the slide plate gradually move to the outer side of the slide plate, the grasping mechanism is gradually separated from the packaging bag, effectively improving the applicability of the present invention.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and relates to a manipulator and its application in the packaging of ammonium perchlorate. Background Art

[0002] Ammonium perchlorate is an inorganic compound and is a white crystalline powder. Ammonium perchlorate is a strong oxidizer, and it will explode when mixed with reducing agents, organic substances, flammable substances such as sulfur, phosphorus or metal powders, etc. It is used to make explosives, fireworks, and is used as an analytical reagent, etc.

[0003] On the packaging line of ammonium perchlorate, the bagged ammonium perchlorate after packaging needs to be palletized to facilitate transportation. The size of the manipulator for grasping the packaging bags of ammonium perchlorate is generally fixed and cannot be adjusted according to the size of the packaging bags. If the manipulator is small and the packaging bag is large, it is easy to grasp unstably when the manipulator grasps. And because ammonium perchlorate has a certain fluidity, when the manipulator grasps the packaging bag, the part of the packaging bag in contact with the manipulator is squeezed, which easily causes the ammonium perchlorate to move in the packaging bag, making the distribution of ammonium perchlorate in the packaging bag uneven, and then easily causing unstable palletization.

[0004] To solve the above problems, the present invention proposes a manipulator and its application in the packaging of ammonium perchlorate. Summary of the Invention

[0005] To solve the problems in the background art, the present invention proposes a manipulator and its application in the packaging of ammonium perchlorate.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: A manipulator includes an electric slide rail, a slide plate and a grasping mechanism; two clamping arms are slidably arranged on the electric slide rail, a slide plate is slidably arranged on each clamping arm, and a grasping mechanism is slidably arranged on each slide plate through a chute; the chute is U-shaped; the grasping mechanism includes a plurality of support units rotatably connected in sequence; both ends of the grasping mechanism are arranged on both sides of the slide plate, one end of the grasping mechanism is fixedly connected to the clamping arm, and the other end of the grasping mechanism is connected to a pull rod, and the pull rod is slidably connected to the clamping arm; when the slide plate slides along the clamping arm, the pull rod drives the grasping mechanism to move along the chute to adjust the distribution of the grasping mechanism on both sides of the slide plate.

[0007] Further, the support unit includes a chain block, a fixing plate and a rotating plate; the chain block is slidably arranged in the chute, the lower end of the fixing plate is fixedly connected to the chain block, one end of the rotating plate is rotatably connected to the lower end of the fixing plate, and adjacent chain blocks are rotatably connected.

[0008] Further, a sliding hole is formed in the link block, a first sliding rod is slidably arranged in the sliding hole, a clamping plate is fixedly connected to the first sliding rod, a waist-shaped groove is formed in the clamping plate, a clamping rod is movably arranged in the waist-shaped groove, the clamping rod is fixedly connected to a swinging rod, the swinging rod is fixedly connected to a rotating shaft, the rotating shaft is rotatably installed at the lower end of the fixing plate, and one end of the rotating plate is fixedly connected to the rotating shaft.

[0009] Further, connecting plates are fixedly connected to both sides of the clamping arm, and the width of the connecting plate on the outer side of the clamping arm is greater than the width of the connecting plate on the inner side of the clamping arm; a limiting plate is installed on the side of the connecting plate away from the sliding plate, and the limiting plate on the inner side of the sliding plate and the limiting plate on the outer side of the sliding plate are connected by a connecting plate; the first sliding rod is connected to a second sliding rod, the second sliding rod is fixedly connected to a limiting ball, and the second sliding rod is slidably arranged on the limiting plate; when the supporting unit slides towards the inner side of the clamping arm, under the guidance of the connecting plate, the first sliding rod slides along the sliding hole and pushes the rotating shaft to rotate, so that the rotating plate rotates downward.

[0010] Further, the sliding groove includes a first straight section, a second straight section and an arc section; the first straight section and the second straight section are connected by the arc section, and the first straight section and the second straight section are arranged in parallel, the first straight section is arranged on the inner side of the sliding plate, and the second straight section is arranged on the outer side of the sliding plate; the arc section is located at one end of the sliding plate away from the electric slide rail; a pulley is rotatably installed at one end of the sliding plate away from the electric slide rail, and the pulley is coaxially arranged with the arc section.

[0011] Further, a first lead screw is rotatably installed in the clamping arm, a motor for driving the first lead screw to rotate is installed on the clamping arm, a first sliding block is arranged on the first lead screw, and the first sliding block is fixedly connected to the sliding plate.

[0012] Further, a second lead screw is rotatably installed in the clamping arm, a second sliding block is arranged on the second lead screw, and the second sliding block is connected to the pull rod.

[0013] Further, the first lead screw and the second lead screw are connected by belt drive, and the thread pitch of the first lead screw is half of the thread pitch of the second lead screw.

[0014] Further, a receiving groove for receiving the rotating plate is formed in the fixing plate.

[0015] The application of a manipulator in the packaging of ammonium perchlorate in the present invention includes the following:

[0016] S1. Move the skateboard away from the electric slide rail. At the same time, move the pull rod away from the electric slide rail. The grasping mechanism moves from the outside of the skateboard to the inside of the skateboard, increasing the number of support units on the inside of the skateboard; or move the skateboard closer to the electric slide rail. At the same time, move the pull rod closer to the electric slide rail. The grasping mechanism moves from the inside of the skateboard to the outside of the skateboard; so that the grasping mechanism on the inside of the skateboard adapts to the packaging bag.

[0017] S2. The two clamping arms move closer to each other to grasp the packaging bag.

[0018] S3. When the grasping mechanism is separated from the packaging bag, in a spacious place, move the two clamping arms away from each other, so that the grasping mechanism is separated from the packaging bag.

[0019] S4. In a narrow place, move the skateboard closer to the electric slide rail. At the same time, move the pull rod closer to the electric slide rail. The grasping mechanism moves from the inside of the skateboard to the outside of the skateboard, so that the grasping mechanism is separated from the packaging bag.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. Move the skateboard on the clamping arm, thereby adjusting the number of support units on the inside of the skateboard, making the number of support units on the inside of the skateboard adapt to the size of the packaging bag, ensuring stable grasping and conducive to improving the palletizing quality.

[0022] 2. The rotating plate on the inside of the skateboard is in a horizontal state, which is conducive to supporting the packaging bag and improving the stability of the packaging bag. When the support unit moves to the outside of the skateboard, the rotating plate is in a vertical state and retracts into the receiving groove, which is conducive to reducing the occupation of space.

[0023] 3. In a spacious space, by moving the clamping arms outward, the grasping mechanism can be separated from the packaging bag, which is conducive to improving the palletizing efficiency. In a narrow space, by moving the skateboard closer to the electric slide rail and gradually moving the support unit on the inside of the skateboard to the outside of the skateboard, the grasping mechanism is gradually separated from the packaging bag, and then the palletizing is completed, effectively improving the applicability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the overall structural schematic diagram of the present invention;

[0025] Figure 2 is the structural schematic diagram of the clamping arm in the present invention;

[0026] Figure 3 is in the present invention Figure 2 enlarged view of part A;

[0027] Figure 4 is the structural schematic diagram of the grasping mechanism in the present invention;

[0028] Figure 5 is the top view of the present invention;

[0029] Figure 6 In the present invention Figure 5 is an enlarged schematic view of part B;

[0030] Figure 7 is a schematic structural view of the support unit in the present invention;

[0031] Figure 8 In the present invention Figure 7 is an enlarged schematic view of part C;

[0032] Figure 9 is a schematic structural view of the slide plate in the present invention.

[0033] In the figure: 1, electric slide rail; 2, mounting seat; 3, clamping arm; 4, first lead screw; 5, second lead screw; 6, belt; 7, motor; 8, first sliding block; 9, slide plate; 10, pulley; 11, chute; 12, connecting plate; 13, limiting plate; 14, connecting plate; 15, limiting rod; 16, chain block; 17, sliding hole; 18, first sliding rod; 19, clamping plate; 20, waist-shaped groove; 21, clamping rod; 22, swing rod; 23, rotating shaft; 24, rotating plate; 25, fixing plate; 26, connecting column; 27, second sliding rod; 28, limiting ball; 29, second sliding block; 30, pull rod. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] As Figures 1 - 9 shown, the technical solution adopted by the present invention is as follows: A manipulator includes an electric slide rail 1, a slide plate 9 and a grasping mechanism.

[0036] One side of the electric slide rail 1 is connected with a mounting seat 2, and the electric slide rail 1 is mounted on the robotic arm through the mounting seat 2. Two slide tables are arranged on the electric slide rail 1, and each slide table is fixedly connected with a clamping arm 3. The two clamping arms 3 move closer to or away from each other.

[0037] A slide plate 9 is slidably arranged on each clamping arm 3, and the slide plate 9 slides along the length direction of the clamping arm 3. An installation groove is formed in the clamping arm 3. A first lead screw 4 is rotatably installed in the installation groove of the clamping arm 3. A first sliding block 8 is sleeved on the first lead screw 4, and the first sliding block 8 is fixedly connected to the slide plate 9. A motor 7 for driving the first lead screw 4 to rotate is installed on the clamping arm 3. When the first lead screw 4 rotates, the first sliding block 8 moves along the first lead screw 4, and further the slide plate 9 moves. In this embodiment, balls are arranged between the first sliding block 8 and the first lead screw 4, and the first sliding block 8, the first lead screw 4 and the balls form a ball screw pair.

[0038] A chute 11 is formed in the slide plate 9. The chute 11 is U-shaped. The chute 11 includes a first straight section, a second straight section and an arc section. The first straight section and the second straight section are connected by the arc section, and the first straight section and the second straight section are arranged in parallel. The first straight section is arranged on the inner side of the slide plate 9, and the second straight section is arranged on the outer side of the slide plate 9. The arc section is located at one end of the slide plate 9 away from the electric slide rail 1.

[0039] A pulley 10 is rotatably installed at one end of the slide plate 9 away from the electric slide rail 1, and the pulley 10 is coaxially arranged with the arc section.

[0040] The grasping mechanism is slidably arranged in the chute 11. One end of the grasping mechanism is fixedly connected to the clamping arm 3, and the other end of the grasping mechanism is slidably connected to the clamping arm 3. In this embodiment, one end of the grasping mechanism is arranged on the inner side of the slide plate 9 and fixedly connected to the clamping arm 3, and the other end of the grasping mechanism bypasses the pulley 10 and is arranged on the outer side of the slide plate 9 and is slidably connected to the clamping arm 3.

[0041] A pull rod 30 is fixedly connected to the end of the grasping mechanism located on the outer side of the slide plate 9. A second lead screw 5 is rotatably installed in the installation groove of the clamping arm 3. A second sliding block 29 is sleeved on the second lead screw 5, and the second sliding block 29 is fixedly connected to the pull rod 30. When the second lead screw 5 rotates, the second sliding block 29 moves along the second lead screw 5, and the second sliding block 29 drives the pull rod 30 to move, so as to further move the grasping mechanism, and further adjust the distribution of the grasping mechanism on both sides of the slide plate 9. In this embodiment, balls are arranged between the second lead screw 5 and the second sliding block 29, and the second lead screw 5, the second sliding block 29 and the balls form a ball screw pair.

[0042] The second lead screw 5 and the first lead screw 4 are linked. Specifically, the second lead screw 5 and the first lead screw 4 are drivingly connected by a belt 6. The thread pitch on the first lead screw 4 is half of the thread pitch on the second lead screw 5. When the first lead screw 4 rotates, the first lead screw 4 drives the second lead screw 5 to rotate synchronously through the belt 6, that is, the angular velocities of the first lead screw 4 and the second lead screw 5 are the same. Since the thread pitch on the first lead screw 4 is half of the thread pitch on the second lead screw 5, the moving speed of the first slider 8 is half of the moving speed of the second slider 29, and further the moving speed of the slide plate 9 is half of the moving speed of the pull rod 30. Therefore, as the slide plate 9 moves, one side of the grasping mechanism moves to the other side, adjusting the distribution of the grasping mechanism on both sides of the slide plate 9 so that the grasping mechanism on the inner side of the slide plate 9 is adapted to the size of the packaging bag to be grasped.

[0043] The grasping mechanism includes a plurality of support units that are sequentially rotationally connected.

[0044] The support unit includes a chain block 16, a fixing plate 25, and a rotating plate 24. The chain block 16 is slidably arranged in the chute 11, the fixing plate 25 is vertically and fixedly installed on the chain block 16, one end of the rotating plate 24 is rotatably connected to the lower end of the fixing plate 25, and the chain blocks 16 between adjacent support units are rotationally connected. When the support unit is on the outer side of the slide plate 9, the rotating plate 24 is in a vertical state, reducing the occupation of the external space. When the support unit is on the inner side of the slide plate 9, the rotating plate 24 is in a horizontal state to support the packaging bag.

[0045] Specifically, a connecting column 26 is fixedly connected to the lower end of the chain block 16, the connecting column 26 is fixedly connected with a limiting rod 15, and the limiting rod 15 is slidably arranged in the chute 11 in a limited manner. A sliding hole 17 is formed in the chain block 16, and a first sliding rod 18 is slidably arranged in the sliding hole 17. A clamping plate 19 is fixedly installed on the first sliding rod 18, and a waist-shaped groove 20 is formed in the clamping plate 19. A clamping rod 21 is movably arranged in the waist-shaped groove 20. The clamping rod 21 is fixedly connected with a swinging rod 22, and one end of the swinging rod 22 far from the clamping rod 21 is fixedly connected with a rotating shaft 23. The rotating shaft 23 is rotatably installed at the lower end of the fixing plate 25, and one end of the rotating plate 24 is fixedly connected with the rotating shaft 23.

[0046] The first sliding rod 18 slides along the sliding hole 17, the first sliding rod 18 drives the clamping rod 21 to move through the clamping plate 19, the clamping rod 21 drives the rotating shaft 23 to rotate through the swinging rod 22, and further rotates the rotating plate 24.

[0047] The fixing plate 25 is provided with a receiving groove for receiving the rotating plate 24. When the rotating plate 24 is in a vertical state, the rotating plate 24 is received in the receiving groove.

[0048] On both sides of the skateboard 9, there are connecting plates 12 fixedly connected. The width of the connecting plate 12 on the inner side of the skateboard 9 is smaller than that of the connecting plate 12 on the outer side of the skateboard 9. On the side of the connecting plate 12 away from the skateboard 9, there is a limiting plate 13 fixedly connected. The limiting plate 13 on the inner side of the skateboard 9 and the limiting plate 13 on the outer side of the skateboard 9 are transitionally connected by a connecting plate 14, and the connecting plate 14 is located at one end of the skateboard 9 away from the electric slide rail 1.

[0049] One end of the first sliding rod 18 is connected with a second sliding rod 27, and the second sliding rod 27 is slidably arranged on the limiting plate 13. At the end of the second sliding rod 27 away from the first sliding rod 18, there is a limiting ball 28 fixedly connected.

[0050] When the limiting rod 15 slides along the sliding groove 11, the second sliding rod 27 slides along the limiting plate 13. When the second sliding rod 27 moves onto the connecting plate 14, the second sliding rod 27 slides along the sliding hole 17, and the first sliding rod 18 slides along the sliding hole 17. The first sliding rod 18 drives the rotating shaft 23 to rotate through the clamping rod 21 and the swinging rod 22, and then drives the rotating plate 24 to rotate.

[0051] Working principle: The electric slide rail 1 is installed on the robotic arm through the mounting base 2, and the robotic arm drives the electric slide rail 1 to move.

[0052] The rotating plate 24 on the supporting unit on the inner side of the skateboard 9 is in a horizontal state. The rotating plate 24 on the supporting unit on the outer side of the skateboard 9 is in a vertical state and is located in the receiving groove.

[0053] Adjust the distribution of the grasping mechanism on both sides of the skateboard 9 according to the packaging bags to be transported.

[0054] If the packaging bag is large and more supporting units are needed to clamp and fix the packaging bag, start the motor 7. The motor 7 drives the first lead screw 4 to rotate. The first lead screw 4 drives the skateboard 9 to move through the first sliding block 8, so that the skateboard 9 moves in a direction away from the electric slide rail 1.

[0055] At the same time, the first lead screw 4 drives the second lead screw 5 to rotate through the belt 6. The second lead screw 5 drives the second sliding block 29 to move. The second sliding block 29 drives the pull rod 30 to move in a direction away from the electric slide rail 1. As the skateboard 9 and the pull rod 30 move in a direction away from the electric slide rail 1, one end of the grasping mechanism on the outer side of the skateboard 9 moves in a direction away from the electric slide rail 1, and the grasping mechanism moves from the outer side to the inner side of the skateboard 9. This increases the number of supporting units on the inner side of the skateboard 9, so that the packaging bag can be fully supported and clamped and fixed. It can prevent the packaging bag from accidentally falling during transportation, is beneficial to keeping the bottom of the packaging bag horizontal, and is beneficial to making the packaging bag receive uniform force, so that the ammonium perchlorate in the packaging bag is evenly distributed in the bag, making the stacked packaging bags keep horizontal, thereby improving the quality of stacking and making the stacked packaging bags more stable.

[0056] When the support unit moves along the chute 11, the limit rod 15 slides within the chute 11, and the second sliding rod 27 slides along the limit plate 13. The second sliding rod 27 moves from the limit plate 13 outside the sliding plate 9 towards the limit plate 13 inside the sliding plate 9. When the second sliding rod 27 cooperates with the connecting plate 14, under the guidance of the connecting plate 14, the first sliding rod 18 slides along the sliding hole 17. The first sliding rod 18 drives the rotating shaft 23 to rotate through the clamping plate 19, the clamping rod 21, and the swinging rod 22. The rotating shaft 23 drives the rotating plate 24 to rotate downward, causing the rotating plate 24 to gradually move towards the horizontal state. When the second sliding rod 27 moves past the connecting plate 14 and reaches the limit plate 13 inside the sliding plate 9, the rotating plate 24 is in the horizontal state and abuts against the chain block 16.

[0057] If the packaging bag is relatively small and it is necessary to reduce the support units inside the sliding plate 9, move the support units inside the sliding plate 9 towards the outside of the sliding plate 9 to reduce the number of support units inside the sliding plate 9.

[0058] The first lead screw 4 drives the first sliding block 8, causing the first sliding block 8 to move closer to the electric slide rail 1, and the sliding plate 9 to move in the direction closer to the electric slide rail 1. At the same time, the first lead screw 4 drives the second lead screw 5 to rotate through the belt 6. The second lead screw 5 drives the second sliding block 29 to move in the direction closer to the electric slide rail 1, and the pull rod 30 to move in the direction closer to the electric slide rail 1. Consequently, one end of the grasping mechanism located outside the sliding plate 9 moves in the direction closer to the electric slide rail 1, causing the support units inside the sliding plate 9 to gradually move towards the outside of the sliding plate 9, and thus reducing the number of support units inside the sliding plate 9.

[0059] When the support unit moves towards the outside of the sliding plate 9, when the second sliding rod 27 on the support unit slides along the connecting plate 14, the second sliding rod 27 pulls the first sliding rod 18 to slide outwards. The first sliding rod 18 drives the rotating shaft 23 to rotate through the clamping plate 19, the clamping rod 21, and the swinging rod 22, causing the rotating shaft 23 to rotate and the rotating plate 24 to rotate upwards. When the second sliding rod 27 moves onto the limit plate 13 outside the sliding plate 9, the rotating plate 24 retracts into the receiving groove, thereby reducing the occupation of external space.

[0060] After the adjustment is completed, move the two clamping arms 3 closer to each other to grasp the packaging bag. The support units inside the sliding plate 9 fix the packaging bag. The rotating plate 24 supports the bottom of the packaging bag, and the fixing plate 25 clamps the packaging bag, thereby stably grasping the packaging bag and reducing the risk of accidental dropping of the packaging bag.

[0061] After driving the electric slide rail 1 and the clamping arms 3 to move by the robotic arm and palletizing the packaging bags to a predetermined position, when it is necessary to extract the rotating plate 24 from the bottom of the packaging bag, if the space on both sides of the packaging bag is wide, only by moving the two clamping arms 3 away from each other can the rotating plate 24 be moved out from the bottom of the packaging bag, so that the grasping mechanism is separated from the packaging bag.

[0062] If in a narrow space where the clamping arms 3 cannot move outwards, the support unit inside the slide plate 9 can be moved to the outside of the slide plate 9, so that the grasping mechanism is separated from the packaging bag.

[0063] Specifically, start the motor 7, the motor 7 drives the first lead screw 4 to rotate, and the first lead screw 4 drives the slide plate 9 to move towards the electric slide rail 1 through the first sliding block 8. At the same time, the first lead screw 4 drives the second lead screw 5 to rotate through the belt 6, so that the second sliding block 29 moves towards the electric slide rail 1, and the pull rod 30 moves towards the electric slide rail 1. Furthermore, one end of the grasping mechanism on the outside of the slide plate 9 moves towards the electric slide rail 1, and the support unit inside the slide plate 9 gradually moves to the outside of the slide plate 9.

[0064] When the support unit moves to the outside of the slide plate 9, the corresponding second sliding rod 27 gradually moves to the outside of the slide plate 9 along the limiting plate 13. When the second sliding rod, 27 moves along the connecting plate 14, under the guiding action of the connecting plate 14, the second sliding rod 27 pulls the first sliding rod 18 to slide outwards along the sliding hole 17. The first sliding rod 18 drives the rotating shaft 23 to rotate through the clamping plate 19, the clamping rod 21 and the swing rod 22, so that the rotating plate 24 rotates upwards around the rotating shaft 23, and further makes the rotating plate 24 move towards the vertical state.

[0065] When the second sliding rod 27 moves to the limiting plate 13 on the outside of the slide plate 9, the rotating plate 24 is in a vertical state and is received in the receiving groove. As the slide plate 9 gradually moves closer to the electric slide rail 1 and the support unit inside the slide plate 9 gradually moves to the outside of the slide plate 9, the grasping mechanism gradually moves away from the packaging bag and is separated from the packaging bag. Furthermore, the manipulator can also complete the palletizing work in a narrow space, improving the applicability.

[0066] The present invention also includes an application of the manipulator in ammonium perchlorate packaging, including the following:

[0067] S1. Move the slide plate 9 away from the electric slide rail 1. At the same time, the pull rod 30 moves away from the electric slide rail 1, and the grasping mechanism moves from the outside of the slide plate 9 to the inside of the slide plate 9, so that the number of support units inside the slide plate 9 increases; or move the slide plate 9 closer to the electric slide rail 1, and at the same time the pull rod 30 moves closer to the electric slide rail 1, and the grasping mechanism moves from the inside of the slide plate 9 to the outside of the slide plate 9; so that the grasping mechanism inside the slide plate 9 adapts to the packaging bag.

[0068] S2. The two clamping arms 3 approach each other to grasp the packaging bag.

[0069] S3. When the grasping mechanism is disengaged from the packaging bag, in a wide place, the two clamping arms 3 move away from each other, so that the grasping mechanism is disengaged from the packaging bag.

[0070] S4. In a narrow place, the slide plate 9 moves close to the electric slide rail 1, and at the same time the pull rod 30 moves close to the electric slide rail 1, and the grasping mechanism moves from the inner side of the slide plate 9 to the outer side of the slide plate 9, so that the grasping mechanism is disengaged from the packaging bag.

[0071] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A manipulator, characterized in that: It includes an electric slide rail (1), a sliding plate (9) and a grasping mechanism; two clamping arms (3) are slidably arranged on the electric slide rail (1), a sliding plate (9) is slidably arranged on each clamping arm (3), and a grasping mechanism is slidably arranged on each sliding plate (9) through a chute (11); the chute (11) is U-shaped; the grasping mechanism includes a plurality of support units rotatably connected in sequence; both ends of the grasping mechanism are arranged on both sides of the sliding plate (9), one end of the grasping mechanism is fixedly connected to the clamping arm (3), the other end of the grasping mechanism is connected with a pull rod (30), and the pull rod (30) is slidably connected to the clamping arm (3); when the sliding plate (9) slides along the clamping arm (3), the pull rod (30) drives the grasping mechanism to move along the chute (11) to adjust the distribution of the grasping mechanism on both sides of the sliding plate (9). The support unit includes a chain block (16), a fixing plate (25) and a rotating plate (24); the chain block (16) is slidably arranged in the chute (11), the lower end of the fixing plate (25) is fixedly connected to the chain block (16), one end of the rotating plate (24) is rotatably connected to the lower end of the fixing plate (25), and adjacent chain blocks (16) are rotatably connected to each other. A sliding hole (17) is formed in the chain block (16), a first sliding rod (18) is slidably arranged in the sliding hole (17), a clamping plate (19) is fixedly connected to the first sliding rod (18), a waist-shaped groove (20) is formed in the clamping plate (19), a clamping rod (21) is movably arranged in the waist-shaped groove (20), the clamping rod (21) is fixedly connected to a swinging rod (22), the swinging rod (22) is fixedly connected to a rotating shaft (23), the rotating shaft (23) is rotatably installed at the lower end of the fixing plate (25), and one end of the rotating plate (24) is fixedly connected to the rotating shaft (23). Connecting plates (12) are fixedly connected to both sides of the clamping arm (3), the width of the connecting plate (12) on the outer side of the clamping arm (3) is greater than the width of the connecting plate (12) on the inner side of the clamping arm (3); a limiting plate (13) is installed on the side of the connecting plate (12) away from the sliding plate (9), and the limiting plates (13) on the inner side and the outer side of the sliding plate (9) are connected through a connecting plate (14); the first sliding rod (18) is connected with a second sliding rod (27), the second sliding rod (27) is fixedly connected to a limiting ball (28), and the second sliding rod (27) is slidably arranged on the limiting plate (13); when the support unit slides towards the inner side of the clamping arm (3), under the guidance of the connecting plate (14), the first sliding rod (18) slides along the sliding hole (17) and pushes the rotating shaft (23) to rotate, thereby causing the rotating plate (24) to rotate downward.

2. The manipulator according to claim 1, wherein: The slide groove (11) includes a first straight section, a second straight section and an arc section; the first straight section and the second straight section are connected by the arc section, and the first straight section and the second straight section are arranged in parallel, the first straight section is arranged on the inner side of the slide plate (9), and the second straight section is arranged on the outer side of the slide plate (9); the arc section is located at the end of the slide plate (9) away from the electric slide rail (1); a pulley (10) is rotatably mounted on the end of the slide plate (9) away from the electric slide rail (1), and the pulley (10) is coaxially arranged with the arc section.

3. The manipulator according to claim 1, wherein: A first lead screw (4) is rotatably mounted in the clamping arm (3), a motor (7) for driving the first lead screw (4) to rotate is mounted on the clamping arm (3), a first sliding block (8) is provided on the first lead screw (4), and the first sliding block (8) is fixedly connected to the slide plate (9).

4. The manipulator according to claim 3, wherein: A second lead screw (5) is rotatably mounted in the clamping arm (3), a second sliding block (29) is provided on the second lead screw (5), and the second sliding block (29) is connected to the pull rod (30).

5. The manipulator according to claim 4, wherein: The first lead screw (4) and the second lead screw (5) are connected via a belt (6), and the thread pitch of the first lead screw (4) is half of the thread pitch of the second lead screw (5).

6. The manipulator according to claim 1, wherein: The fixed plate (25) is provided with a receiving groove for receiving the rotating plate (24).

7. Use of a manipulator as described in claim 1 in the packaging of ammonium perchlorate, characterized in that, These include: S1, the slide plate (9) is moved away from the electric slide rail (1), and the pull rod (30) is moved away from the electric slide rail (1), and the grabbing mechanism is moved from the outside of the slide plate (9) to the inside of the slide plate (9), so that the number of support units inside the slide plate (9) increases; or, the slide plate (9) is moved close to the electric slide rail (1), and the pull rod (30) is moved close to the electric slide rail (1), and the grabbing mechanism is moved from the inside of the slide plate (9) to the outside of the slide plate (9); so that the grabbing mechanism inside the slide plate (9) is adapted to the packaging bag; S2, the two clamping arms (3) move closer to each other and grab the packaging bag; S3, when the grabbing mechanism is separated from the packaging bag, the two clamping arms (3) are moved away from each other in a wide area, thereby separating the grabbing mechanism from the packaging bag; S4. In a narrow space, the slide plate (9) is moved close to the electric slide rail (1), and at the same time, the pull rod (30) is moved close to the electric slide rail (1), and the grabbing mechanism moves from the inner side of the slide plate (9) to the outer side of the slide plate (9), thereby separating the grabbing mechanism from the packaging bag.

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