Grabbing mechanism for spider hand robot stacking

Abstract

The invention relates to the technical field of grabbing mechanisms, in particular to a grabbing mechanism for spider hand robot stacking, an adsorption structure comprises a hard hollow pipe fixedly connected with a supporting plate, the bottom of the hollow pipe is connected with a main suction cup, and a hollow plate is fixed to the bottom of the supporting plate; a first magnet is slidably connected into the hollow plate, springs are fixed to the two ends of the hollow plate, one end of each spring is fixedly connected with the first magnet, and when air enters the right side of the hollow plate, the air pressure on the right side of the hollow plate is increased and is higher than the air pressure on the left side; when the magnet moves leftwards, the magnet drives an iron block and an auxiliary suction cup to move leftwards, then the auxiliary suction cup is matched with a main suction cup which leaks air on the left side, then a vacuum pump vacuumizes the auxiliary suction cup through a second suction pipe to adsorb materials, and the reduced adsorption force of the main suction cup on the left side is compensated for; therefore, the adsorption fixing effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping mechanisms, and in particular to a grasping mechanism for palletizing by a spider-hand robot. Background Art

[0002] In automated production and logistics systems, materials are palletized by spider-arm robots. The spider-arm grasping mechanism is widely used in grasping and handling materials. It is widely adopted due to its simple structure and controllable grasping force.

[0003] After searching, the patent number CN110816954B proposes an "online weight detection device with a spider-arm robotic arm", which is equipped with a grabbing and weighing mechanism. It uses a visual recognition head to identify flat parts on the conveyor belt and uses a grabbing suction cup to grab them. At the same time, it uses a weighing sensor to weigh the grabbed flat parts, making the weighing of the flat parts faster. After weighing, the flat parts can be placed in the corresponding packaging box according to whether the quality meets the requirements. The whole process greatly shortens the time for weight detection and packaging of flat parts, making the processing of flat parts after production faster and more efficient.

[0004] However, in actual application scenarios, the surface of the material being grasped often contains contaminants such as dust and debris. These contaminants will be deposited on the contact surface between the suction cup and the material, causing the suction cup to be unable to completely seal with the material surface, thereby reducing the vacuum formed inside the suction cup and ultimately reducing the suction force of the suction cup. The decrease in adsorption force may lead to problems such as grasping failure and material falling, seriously affecting production efficiency and product quality. Therefore, how to effectively solve the dust contamination problem between the suction cup and the material surface and improve the suction performance of the suction cup is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem in the background technology that there are often pollutants such as dust and debris on the surface of the material. These pollutants will be deposited on the contact surface between the suction cup and the material, resulting in the suction cup being unable to completely fit tightly with the surface of the material, thereby reducing the vacuum formed inside the suction cup and ultimately reducing the suction force of the suction cup. A gripping mechanism for spider hand robot palletizing is proposed.

[0006] In order to achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a grasping mechanism for spider hand robot palletizing, comprising: a grasping mechanism, a material, a vacuum pump is provided on one side of the grasping mechanism, a support plate is fixed to the bottom of the grasping mechanism, the grasping mechanism is provided with an adsorption structure, the adsorption structure is located at the bottom of the support plate, the adsorption structure comprises a hard hollow tube fixedly connected to the support plate, the bottom of the hollow tube is connected to a main suction cup, the bottom of the support plate is fixed with a hollow plate, the interior of the hollow plate is slidably connected to a No. 1 magnet, springs are fixed at both ends of the hollow plate, one end of the spring is fixedly connected to the No. 1 magnet, the bottom of the hollow plate is slidably connected to an iron block, the bottom of the iron block is installed with an auxiliary suction cup, the bottom of the vacuum pump is connected to a No. 1 suction pipe and a No. 2 suction pipe, the No. 1 suction pipe is connected to the hollow pipe, the No. 2 suction pipe is connected to the auxiliary suction cup, the hollow tube is connected to a through pipe, and one end of the through pipe is located inside the hollow plate.

[0007] As a further solution of the present invention, a material cleaning structure is provided at the bottom of the support plate, and the material cleaning structure includes a micro motor installed on the top of the support plate, the output end of the micro motor passes through the bottom of the support plate and is fixed with a hollow disk, the hollow disk is fixed with hollow fan blades, and a vent is provided at the connection between the fan blades and the hollow disk.

[0008] As a further solution of the present invention, a slide rail is fixed inside the fan blade, the slide rail is slidably connected to a slider, and the inside of the fan blade is provided with a frosted surface.

[0009] As a further solution of the present invention, a support rod No. 1 is fixed to the bottom of the support plate, and the support rod No. 1 is connected to an exhaust pipe. One end of the exhaust pipe passes through the interior of the hollow disk and is rotatably connected to the hollow disk, and the other end of the exhaust pipe is located inside the No. 2 empty slot.

[0010] As a further solution of the present invention, the material cleaning structure also includes a lightweight wedge-shaped block fixed to the outside of the fan blade, a No. 2 support rod is fixed to the bottom of the support plate, a hollow sleeve is fixed to one end of the No. 2 support rod, a retractable push rod is provided inside the hollow sleeve, a raised ring is fixed to the outside of the push rod, and a reset spring is provided inside the hollow sleeve.

[0011] As a further solution of the present invention, the vacuum pump draws vacuum through the second suction pipe to adsorb the material on the auxiliary suction cup, thereby compensating for the reduced adsorption force of the left main suction cup, thereby improving the adsorption and fixing effect of the suction cup.

[0012] As a further solution of the present invention, a suction cup cleaning structure is provided inside the hollow tube, and the suction cup cleaning structure includes a No. 1 empty slot provided in the wall cavity of the hollow tube, and a No. 2 empty slot connected to the No. 1 empty slot is provided in the wall cavity of the main suction cup, and an elastic sheet is provided between the No. 1 empty slot and the No. 2 empty slot, and a vibration spring is fixed on the elastic sheet, and the two ends of the vibration spring are fixedly connected to the inner wall of the No. 2 empty slot.

[0013] As a further solution of the present invention, the suction cup cleaning structure also includes a sealing iron plate rotatably connected to the inside of the hollow tube through a rotating shaft (the rotating shaft is reset by a torsion spring, not shown in the figure), and a plate-shaped No. 2 magnet is installed on the inner wall of the hollow tube.

[0014] As a further solution of the present invention, the four sides of the sealing iron sheet are wrapped with sealing rings.

[0015] The present invention proposes a gripping mechanism for spider-arm robot palletizing, which has the following beneficial effects:

[0016] 1. Through the adsorption structure set up, when there is dust on the surface of the material, the adsorption effect of the material will be reduced. The dust causes a gap between the main suction cup and the material. If there is a gap between the main suction cup on the left and the material, the external gas will enter the main suction cup through the gap of the main suction cup on the left, and then enter the right side of the hollow plate through the through pipe. Since both sides of the hollow plate are in the same negative pressure state, the magnet will not move. When the right side enters the air, the air pressure on the right side of the hollow plate will increase, and then higher than the air pressure on the left side. The air pressure on the right side will push the No. 1 magnet to move to the left (the setting of two sets of springs facilitates the reset of the magnet). When the No. 1 magnet moves to the left, it moves the iron block and the auxiliary suction cup to the left, and then the auxiliary suction cup cooperates with the leaking main suction cup on the left, and then the vacuum pump vacuums the auxiliary suction cup through the No. 2 suction pipe to adsorb the material, making up for the reduced adsorption force of the main suction cup on the left, thereby improving the adsorption and fixing effect.

[0017] 2. The material cleaning structure is set up and works before the adsorption structure. The micro motor is started to rotate the hollow disk. When the hollow disk rotates, the fan blades are driven to rotate, and the dust on the surface of the material is blown away by the rotation of the fan blades. At the same time, when the fan rotates, the slider moves back and forth along the slide rail and generates heat by friction with the frosted surface. The generated heat enters the interior of the hollow disk through the vent. Then, the hot air is injected into the interior of the No. 2 empty slot through the exhaust pipe to preheat the main suction cup. The hot air can increase the softness or flexibility of the main suction cup, so that the main suction cup can better fit the material surface. A tighter fit means a more effective seal, thereby forming a stronger vacuum inside the main suction cup, thereby increasing the adsorption force. Secondly, if there is a small amount of oil or residual moisture on the material surface, the hot air can accelerate the volatilization of these substances or reduce their viscosity, thereby improving the contact between the main suction cup and the material surface, reducing gas leakage, increasing the vacuum degree and enhancing the adsorption effect.

[0018] 3. Through the suction cup cleaning structure, when the material is grabbed, it is in the vacuum state. At this time, the sealing iron sheet rotates under the action of vacuum, and the two sealing iron sheets open the hollow tube. When the material is transferred and stacked through the grabbing mechanism, the vacuum stops, and then the torsion spring resets and rotates the shaft in the opposite direction to reset the sealing iron sheet. Then the two sealing iron sheets close the hollow tube to prevent the gas from flowing back into the main suction cup due to mechanical failure, causing the adsorption to loosen. The purpose is to improve stability. When the two sealing iron sheets are in the figure state, the No. 2 magnet is energized to generate a strong magnet, and then the sealing iron sheet is adsorbed to quickly hit the elastic sheet. Then the elastic sheet vibrates and transmits the vibration to the vibration spring. Through double vibration, the main suction cup vibrates to shake off the impurities adhering to the disc lip, thereby improving the adsorption force of the main suction cup.

[0019] 4. The adsorption force is maximized through the coordination of the adsorption structure, the suction cup cleaning structure and the suction cup cleaning structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the gripping mechanism proposed by the present invention;

[0021] Figure 2 This is a schematic diagram of the support plate structure proposed by the present invention;

[0022] Figure 3 The present invention proposes Figure 2 Schematic diagram of local structure;

[0023] Figure 4 The present invention proposes Figure 2 Schematic diagram of local structure;

[0024] Figure 5 The present invention proposes Figure 2 Schematic diagram of local structure;

[0025] Figure 6 This is a schematic diagram of the internal structure of the fan blade proposed by the present invention;

[0026] Figure 7 A cross-sectional view of the hollow sleeve proposed in the present invention;

[0027] Figure 8 This is a schematic diagram of the internal structure of the hollow slab proposed in the present invention;

[0028] Figure 9 This is a schematic diagram of the cross-sectional structure of the hollow tube and main suction cup proposed in the present invention;

[0029] Figure 10 This is a schematic diagram of the structure after the hollow tube is opened by the sealing iron sheet proposed by the present invention;

[0030] Figure 11This is an enlarged view of point A proposed by the present invention.

[0031] In the figure: 1. Grabbing mechanism; 2. Support plate; 3. Hollow tube; 4. Main suction cup; 5. Hollow plate; 6. Magnet No. 1; 7. Spring; 8. Iron block; 9. Vacuum pump; 10. Auxiliary suction cup; 11. Suction pipe No. 1; 12. Suction pipe No. 2; 13. Through pipe; 14. Micro motor; 15. Hollow disk; 16. Material; 17. Fan blade; 18. Vent; 19. Slide rail; 20. Slider; 21. Frosted surface; 22. Support rod No. 1; 23. Exhaust pipe; 24. Wedge block; 25. Support rod No. 2; 26. Hollow sleeve; 27. Push rod; 28. Raised ring; 29. ​​Return spring; 30. Empty slot No. 1; 31. Empty slot No. 2; 32. Elastic sheet; 33. Vibration spring; 34. Sealing iron sheet; 35. Magnet No. 2. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and should not be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following describes an embodiment of the present invention based on the overall structure of the present invention.

[0034] A grasping mechanism for palletizing a spider hand robot, comprising: a grasping mechanism 1, a material 16, a vacuum pump 9 being provided on one side of the grasping mechanism 1, a support plate 2 being fixed to the bottom of the grasping mechanism 1, an adsorption structure being provided on the grasping mechanism 1, the adsorption structure being located at the bottom of the support plate 2, the adsorption structure comprising a hard hollow tube 3 fixedly connected to the support plate 2, a main suction cup 4 being connected to the bottom of the hollow tube 3, a hollow plate 5 being fixed to the bottom of the support plate 2, a magnet No. 1 being slidably connected to the inside of the hollow plate 5 6, springs 7 are fixed at both ends of the hollow plate 5, one end of the spring 7 is fixedly connected to the No. 1 magnet 6, the bottom of the hollow plate 5 is slidably connected to an iron block 8, the bottom of the iron block 8 is installed with an auxiliary suction cup 10, the bottom of the vacuum pump 9 is connected to a No. 1 suction pipe 11 and a No. 2 suction pipe 12, the No. 1 suction pipe 11 is connected to the hollow tube 3, the No. 2 suction pipe 12 is connected to the auxiliary suction cup 10, the hollow tube 3 is connected to a through pipe 13, and one end of the through pipe 13 is located inside the hollow plate 5, the through pipe 13 includes two groups (such as Figure 8 As shown), the through pipe 13 on the left is inside the hollow plate 5 and passes through the No. 1 magnet 6 to the right side of the hollow plate 5, and the through pipe 13 on the right is inside the hollow plate 5 and passes through the No. 1 magnet 6 to the left side of the hollow plate 5.

[0035] It should be noted that the spider hand of the gripping mechanism 1 moves with the support plate 2 to the top of the material 16, and then the support plate 2 descends to press the main suction cup 4 downward, and the vacuum pump 9 is started to evacuate the main suction cup 4 through the No. 1 suction pipe 11 to make it adsorb the material 16. Since the hollow plate 5 is connected to the hollow tube 3 through the through pipe 13, the interior of the hollow plate 5 is also in a vacuum state when the main suction cup 4 is evacuated. When there is dust on the surface of the material 16, the adsorption effect of the material 16 will be reduced, and the dust will cause a gap between the main suction cup 4 and the material 16, such as Figure 8 As shown, if there is a gap between the main suction cup 4 on the left and the material 16, the external gas will enter through the gap of the main suction cup 4 on the left, and then enter the right side of the hollow plate 5 through the through pipe 13. Since both sides of the hollow plate 5 are in the same negative pressure state, when the air enters the right side, the air pressure on the right side of the hollow plate 5 will increase, and then higher than the air pressure on the left side. Then the air pressure on the right side will push the No. 1 magnet 6 to move to the left (the setting of the two sets of springs 7 facilitates the reset of the No. 1 magnet 6). When the No. 1 magnet 6 moves to the left, it moves the iron block 8 and the auxiliary suction cup 10 to the left, and then the auxiliary suction cup 10 cooperates with the leaking main suction cup 4 on the left, and then the vacuum pump 9 vacuums the auxiliary suction cup 10 through the No. 2 suction pipe 12 to adsorb the material 16, thereby making up for the reduced adsorption force of the main suction cup 4 on the left, thereby improving the adsorption and fixing effect.

[0036] Furthermore, a material cleaning structure is provided at the bottom of the support plate 2, and the material cleaning structure includes a micro motor 14 installed on the top of the support plate 2, the output end of the micro motor 14 passes through the bottom of the support plate 2 and is fixed with a hollow disk 15, the hollow disk 15 is fixed with a hollow fan blade 17, and a vent 18 is provided at the connection between the fan blade 17 and the hollow disk 15, a slide rail 19 is fixed inside the fan blade 17, and the slide rail 19 is slidably connected with a slider 20, and a frosted surface 21 is provided inside the fan blade 17, and a No. 1 support rod 22 is fixed to the bottom of the support plate 2, and the No. 1 support rod 22 is connected to an exhaust pipe 23, one end of the exhaust pipe 23 passes through the interior of the hollow disk 15 and is rotatably connected to the hollow disk 15, and the other end of the exhaust pipe 23 is located inside the No. 2 slot 31.

[0037] In addition, the material cleaning structure also includes a lightweight wedge block 24 fixed to the outside of the fan blade 17, a No. 2 support rod 25 is fixed to the bottom of the support plate 2, a hollow sleeve 26 is fixed to one end of the No. 2 support rod 25, a retractable push rod 27 is provided inside the hollow sleeve 26, a raised ring 28 is fixed to the outside of the push rod 27, and a return spring 29 is provided inside the hollow sleeve 26.

[0038] Specifically, the material cleaning structure works before the adsorption structure, and the micro motor 14 is started to rotate the hollow disk 15. When the hollow disk 15 rotates, the fan blades 17 are driven to rotate, and the dust on the surface of the material 16 is blown away by the rotation of the fan blades 17. At the same time, when the fan blades 17 rotate, the slider 20 moves back and forth along the slide rail 19 and generates heat by friction with the frosted surface 21. The generated heat enters the interior of the hollow disk 15 through the air vent 18, and then the hot air is injected into the interior of the second slot 31 through the exhaust pipe 23 to preheat the main suction cup 4. The hot air can increase the softness or flexibility of the main suction cup 4, so that the main suction cup 4 can better fit the surface of the material 16. A tighter fit means a more effective seal, thereby forming a stronger vacuum inside the main suction cup 4, thereby increasing the adsorption force. Secondly, if there is a small amount of oil or residual moisture on the surface of the material, the hot air can accelerate the volatilization of these substances or reduce their viscosity, thereby improving the contact between the main suction cup 4 and the surface of the material 16, reducing gas leakage, increasing the vacuum degree and enhancing the adsorption effect. When the fan blades 17 rotate, the wedge block 24 passes through the top of the push rod 27, and then forces the push rod 27 to descend inside the hollow sleeve 26. Then the raised ring 28 outside the push rod 27 presses the return spring 29, and the return spring 29 facilitates the rise of the push rod 27 after it descends, thereby realizing the reciprocating lifting of the push rod 27. The reciprocating lifting of the push rod 27 can knock on the material 16 before grabbing, so as to make impurities other than dust adhering to the surface of the material 16 fall off, and then be blown away by the rotation of the fan blades 17. In summary, through the knocking of the push rod 27, the rotation of the fan blades 17 to blow dust and the heating of the main suction cup 4, the three-in-one cleaning of the material 16 is achieved, thereby greatly realizing the stability of adsorption.

[0039] Next, a suction cup cleaning structure is provided inside the hollow tube 3, and the suction cup cleaning structure includes a No. 1 slot 30 provided in the wall cavity of the hollow tube 3, and a No. 2 slot 31 connected to the No. 1 slot 30 is provided in the wall cavity of the main suction cup 4, and an elastic sheet 32 ​​is provided between the No. 1 slot 30 and the No. 2 slot 31, and the elastic sheet 32 ​​is fixed with a vibration spring 33, and the two ends of the vibration spring 33 are fixedly connected to the inner wall of the No. 2 slot 31. The suction cup cleaning structure also includes a sealing iron sheet 34 rotatably connected to the inside of the hollow tube 3 by a rotating shaft (the rotating shaft is reset by a torsion spring, not shown in the figure), and a plate-shaped No. 2 magnet 35 (an electromagnet that generates magnetism when powered on) is installed on the inner wall of the hollow tube 3, and the four sides of the sealing iron sheet 34 are wrapped with sealing rings.

[0040] For example, when the material 16 is being grabbed, it is in the state of exhausting air. At this time, the sealing iron sheet 34 rotates under the action of exhausting air (the shaft rotates and acts on the torsion spring). Figure 10 As shown, the two sealing iron sheets 34 open the hollow tube 3. When the material 16 is transported and stacked through the grabbing mechanism 1, the air pumping stops, and then the torsion spring resets and drives the shaft to rotate in the opposite direction to reset the sealing iron sheet 34. Figure 9 As shown, the two sealing iron sheets 34 seal the hollow tube 3 to prevent the gas from flowing back into the main suction cup 4 due to mechanical failure, which causes the adsorption to loosen. The purpose is to improve the stability. When the two sealing iron sheets 34 are in Figure 10 When in the state, the second magnet 35 is energized to generate a strong magnet, and then the sealing iron sheet 34 is attracted to make it quickly hit the elastic sheet 32, and then the elastic sheet 32 ​​vibrates and transmits the vibration to the vibration spring 33. Through the double vibration, the main suction cup 4 vibrates to shake off the impurities adhering to the disc lip, thereby improving the adsorption force of the main suction cup 4.

[0041] It should be noted that the main reason why dust on the surface of the material affects the suction force of the suction cup is that it hinders the effective fit between the suction cup and the surface of the material. The presence of dust particles will form gaps between the suction cup and the surface of the material. These gaps allow air to enter the interior of the suction cup, destroying the vacuum environment inside the suction cup and reducing the vacuum degree. The reduction in vacuum degree directly leads to a decrease in the suction force, making the suction cup unable to withstand sufficient force to stably grasp and move materials. Therefore, the presence of dust is like setting up a "leakage" barrier between the suction cup and the material, thereby significantly reducing the suction effect of the suction cup. The improved structure of this case can significantly solve this problem.

[0042] Working Principle: The spider-hand grasping mechanism has been made public. The following is a working description of the improved position of the existing spider-hand grasping mechanism.

[0043] Through the provided adsorption structure, the spider hand of the grasping mechanism 1 moves with the support plate 2 to the top of the material 16, and then the support plate 2 descends and presses down with the main suction cup 4, and starts the vacuum pump 9 to evacuate the main suction cup 4 through the No. 1 suction pipe 11 so that it adsorbs the material 16. Since the hollow plate 5 is connected to the hollow tube 3 through the through pipe 13, the interior of the hollow plate 5 is also in a vacuum state when the main suction cup 4 is evacuated.

[0044] When there is dust on the surface of the material 16, the effect of adsorption of the material 16 will be reduced, and the dust will cause a gap between the main suction cup 4 and the material 16, such as Figure 8 As shown, if there is a gap between the main suction cup 4 on the left and the material 16, then the external gas will enter through the gap of the main suction cup 4 on the left, and then enter the right side of the hollow plate 5 through the through pipe 13. Since both sides of the hollow plate 5 are in the same negative pressure state, the No. 1 magnet 6 will not move. When the air enters the right side, the air pressure on the right side of the hollow plate 5 will increase, and then be higher than the air pressure on the left side.

[0045] Then the air pressure on the right side will push the No. 1 magnet 6 to move to the left (the setting of the two sets of springs 7 facilitates the reset of the No. 1 magnet 6). When the No. 1 magnet 6 moves to the left, it moves the iron block 8 and the auxiliary suction cup 10 to the left. Then the auxiliary suction cup 10 cooperates with the main suction cup 4 on the left that is leaking. Then the vacuum pump 9 vacuums the auxiliary suction cup 10 through the No. 2 suction pipe 12 to adsorb the material 16, making up for the reduced adsorption force of the main suction cup 4 on the left, thereby improving the adsorption and fixing effect.

[0046] By setting the material cleaning structure, the material cleaning structure works before the adsorption structure, starting the micro motor 14 to rotate the hollow disk 15, and when the hollow disk 15 rotates, the fan blades 17 are driven to rotate, and the dust on the surface of the material 16 is blown away by the rotation of the fan blades 17. At the same time, when the fan blades 17 rotate, the slider 20 moves back and forth along the slide rail 19 and generates heat by friction with the frosted surface 21. The generated heat enters the interior of the hollow disk 15 through the vent 18, and then the hot air is injected into the interior of the second slot 31 through the exhaust pipe 23 to preheat the main suction cup 4.

[0047] Hot air can increase the softness or flexibility of the main suction cup 4, allowing it to better adhere to the surface of the material 16. A tighter fit means a more effective seal, thereby forming a stronger vacuum inside the main suction cup 4, thereby increasing the adsorption force. Secondly, if there is a small amount of oil or residual moisture on the surface of the material, the hot air can accelerate the volatilization of these substances or reduce their viscosity, thereby improving the contact between the main suction cup 4 and the surface of the material 16, reducing gas leakage, increasing the vacuum degree and enhancing the adsorption effect.

[0048] At the same time, when the fan blades 17 rotate, the wedge block 24 passes over the top of the push rod 27, and then forces the push rod 27 to descend inside the hollow sleeve 26. After that, the raised ring 28 outside the push rod 27 presses the return spring 29, which facilitates the rise of the push rod 27 after it descends, thereby realizing the reciprocating lifting of the push rod 27. The reciprocating lifting of the push rod 27 can knock on the material 16 before grabbing it, so that impurities other than dust adhering to the surface of the material 16 fall off, and then are blown away by the rotation of the fan blades 17. In summary, through the knocking of the push rod 27, the rotation of the fan blades 17 to blow away the dust and the heating of the main suction cup 4, the three-in-one cleaning of the material 16 is achieved, thereby greatly realizing the stability of adsorption.

[0049] By setting the suction cup cleaning structure, when the material 16 is grabbed, it is in the exhaust state. At this time, the sealing iron sheet 34 rotates under the action of the exhaust (the shaft rotates and acts on the torsion spring). Figure 10 As shown, the two sealing iron sheets 34 open the hollow tube 3. When the material 16 is transported and stacked through the grabbing mechanism 1, the air pumping stops, and then the torsion spring resets and rotates the shaft in the opposite direction to reset the sealing iron sheet 34. Figure 9As shown, two sealing iron sheets 34 then seal the hollow tube 3 to prevent the gas from flowing back into the main suction cup 4 due to mechanical failure, which causes the adsorption to loosen. The purpose is to improve stability.

[0050] The lip of the main suction cup 4 is in direct contact with the material 16. If impurities generated during the stacking of the material 16 adhere to the lip, they will form a tiny gap between the lip and the material surface. Even a small gap can cause air to leak into the interior of the main suction cup 4, thereby reducing the vacuum level. Therefore, the solution in this case is as follows:

[0051] When the two sealing iron sheets 34 are in Figure 10 When the main suction cup 4 is in the state of being sucked, the second magnet 35 is energized to generate a strong magnetism, which then attracts the sealing iron sheet 34 and makes it quickly hit the elastic sheet 32. Then the elastic sheet 32 ​​vibrates and transmits the vibration to the vibration spring 33. Through the double vibration, the main suction cup 4 vibrates to shake off the impurities adhering to the disc lip, thereby improving the adsorption force of the main suction cup 4.

[0052] The adsorption force is maximized by the coordination of the adsorption structure, the suction cup cleaning structure, and the suction cup cleaning structure.

[0053] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A grasping mechanism for palletizing a spider-hand robot, comprising: A gripping mechanism (1), a material (16), a vacuum pump (9) being provided on one side of the gripping mechanism (1), characterized in that: a support plate (2) is fixed at the bottom of the gripping mechanism (1), the gripping mechanism (1) is provided with an adsorption structure, the adsorption structure is located at the bottom of the support plate (2), the adsorption structure comprises a hard hollow tube (3) fixedly connected to the support plate (2), the bottom of the hollow tube (3) is connected to a main suction cup (4), a hollow plate (5) is fixed to the bottom of the support plate (2), the interior of the hollow plate (5) is slidably connected to a No. 1 magnet (6), springs (7) are fixed at both ends of the hollow plate (5), one end of the spring (7) is fixedly connected to the No. 1 magnet (6), and the bottom of the support plate (2) is provided with a fixedly connected hard hollow tube (3). The bottom of the hollow plate (5) is slidably connected to an iron block (8), and a secondary suction cup (10) is installed at the bottom of the iron block (8). The bottom of the vacuum pump (9) is connected to a No. 1 suction pipe (11) and a No. 2 suction pipe (12), the No. 1 suction pipe (11) is connected to the hollow tube (3), the No. 2 suction pipe (12) is connected to the secondary suction cup (10), the hollow tube (3) is connected to a through pipe (13), and one end of the through pipe (13) is located inside the hollow plate (5), and the through pipe (13) includes two groups, the through pipe (13) on the left side passes through the No. 1 magnet (6) and is located on the right side of the hollow plate (5), and the through pipe (13) on the right side passes through the No. 1 magnet (6) and is located on the left side of the hollow plate (5).

2. The grasping mechanism for spider hand robot palletizing according to claim 1, characterized in that: A material cleaning structure is provided at the bottom of the support plate (2), and the material cleaning structure comprises a micro motor (14) mounted on the top of the support plate (2), an output end of the micro motor (14) passing through the bottom of the support plate (2) and fixed with a hollow disk (15), a hollow fan blade (17) being fixed to the hollow disk (15), and a vent (18) being provided at the connection between the fan blade (17) and the hollow disk (15).

3. The grasping mechanism for spider-hand robot palletizing according to claim 2, characterized in that: A slide rail (19) is fixed inside the fan blade (17), and a slider (20) is slidably connected to the slide rail (19). A frosted surface (21) is provided inside the fan blade (17).

4. The grasping mechanism for spider-hand robot palletizing according to claim 1, characterized in that: A No. 1 support rod (22) is fixed to the bottom of the support plate (2), and the No. 1 support rod (22) is connected to an exhaust pipe (23). One end of the exhaust pipe (23) passes through the interior of the hollow disk (15) and is rotatably connected to the hollow disk (15).

5. The grasping mechanism for spider hand robot palletizing according to claim 2, characterized in that: The material cleaning structure further comprises a lightweight wedge-shaped block (24) fixed to the outside of the fan blade (17); a second support rod (25) is fixed to the bottom of the support plate (2); a hollow sleeve (26) is fixed to one end of the second support rod (25); and a retractable top rod (27) is provided inside the hollow sleeve (26).

6. The grasping mechanism for spider-hand robot palletizing according to claim 5, characterized in that: A raised ring (28) is fixed to the outside of the push rod (27), and a return spring (29) is provided inside the hollow sleeve (26).

7. The grasping mechanism for spider-hand robot palletizing according to claim 1, characterized in that: A suction cup cleaning structure is provided inside the hollow tube (3), and the suction cup cleaning structure comprises a first hollow groove (30) provided in the wall cavity of the hollow tube (3); a second hollow groove (31) communicating with the first hollow groove (30) is provided in the wall cavity of the main suction cup (4); and an elastic sheet (32) is provided between the first hollow groove (30) and the second hollow groove (31).

8. The grasping mechanism for spider-hand robot palletizing according to claim 7, characterized in that: The elastic sheet (32) is fixed with a vibration spring (33), and both ends of the vibration spring (33) are fixedly connected to the inner wall of the second empty slot (31).

9. The grasping mechanism for spider-hand robot palletizing according to claim 7, characterized in that: The suction cup cleaning structure further comprises a sealing iron sheet (34) rotatably connected to the interior of the hollow tube (3) via a rotating shaft, and a plate-shaped No. 2 magnet (35) is mounted on the inner wall of the hollow tube (3).

10. The grasping mechanism for spider-hand robot palletizing according to claim 9, characterized in that: The four sides of the sealing iron sheet (34) are wrapped with sealing rings.

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