A bidirectional arc-shaped corrugated type large template adaptive suction cup handling device

Abstract

This invention provides a bidirectional arc-shaped corrugated type large template adaptive suction cup handling device, belonging to the technical field of handling devices. It includes a multi-axis manipulator, with a fixed plate at the output end of the manipulator, a mounting frame below the fixed plate, multiple mounting holes within the mounting frame, and an adjustment mechanism within each mounting hole. A suction seat is located at the output end of the adjustment mechanism, with a suction chamber within the suction seat. A transition ball is located at the lower end of the suction chamber, rotatably connected to the suction seat via a connecting mechanism. A connecting column is located at the bottom of the transition ball, and a vacuum suction cup is located at the lower end of the connecting column. In this invention, the transition ball is rotatably connected to the suction seat. When adsorbing an irregularly shaped template body, the vacuum suction cup can adaptively deform according to the surface shape of the template body, resulting in a tighter fit between the vacuum suction cup and the template body. This improves the suction force of the vacuum suction cup, prevents the template body from falling and being damaged during handling, and ensures the quality of handling.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrying devices, in particular to a bidirectional arc-lever corrugated large formwork self-adaptive suction cup carrying device. BACKGROUND

[0002] The suction cup carrying device is a device for grabbing and carrying objects by suction force, mainly including a vacuum suction cup carrying device. The vacuum suction cup carrying device is usually composed of a vacuum suction cup, a vacuum pump system, a hoisting mechanical arm, a control system and the like. The vacuum suction cup can closely adhere to the surface of the object; the vacuum pump system is used for air extraction to form negative pressure; the hoisting mechanical arm is equipped with a pressure sensor and an automatic balancing device to realize precise control; and the control system is responsible for the operation and monitoring of the whole device.

[0003] A kind of anti-falling vacuum suction cup manipulator for aluminum plate carrying is disclosed in Chinese patent with authorization announcement No.CN116872245B, relating to the technical field of manipulator, including support, rotary lever, electric telescopic rod, first support rod, second support rod and vacuum suction cup, rotary lever is rotatably connected at the top of support, the top of electric telescopic rod is slidably connected in the inside of rotary lever, first support rod is fixedly connected at the movable end of electric telescopic rod, the bottom of first support rod is connected with four second support rods, both ends of four second support rods are provided with vacuum suction cup, and the abutting bar for abutting against aluminum plate is symmetrically inserted on first support rod, the surface dust of aluminum plate below vacuum suction cup is scraped and cleaned in the process that cleaning plate moves to both sides, the situation that vacuum suction cup and aluminum plate cannot be completely sealed due to dust is avoided in the process that vacuum suction cup contacts and vacuum adsorbs aluminum plate, the effectiveness of vacuum suction cup vacuum adsorbing aluminum plate is improved, and the stability in the process of carrying aluminum plate is ensured.

[0004] However, the above-mentioned vacuum suction cup can only adsorb flat panel, when the adsorption surface is irregularly shaped panel, the adaptability of the vacuum suction cup is poor, the vacuum suction cup and the panel surface cannot be completely adhered, so that the adsorption force of the vacuum suction cup is insufficient, and then the panel is prone to slip and fall during carrying. SUMMARY

[0005] The present application provides a bidirectional arc-lever corrugated large formwork self-adaptive suction cup carrying device to solve the technical problem that the current vacuum suction cup can only adsorb flat panel, when the adsorption surface is irregularly shaped panel, the adaptability of the vacuum suction cup is poor, and the vacuum suction cup and the panel surface cannot be completely adhered, so that the adsorption force of the vacuum suction cup is insufficient.

[0006] To solve the above technical problems, the application discloses a bidirectional arc corrugated large template self-adaptive suction cup conveying device, which comprises a multi-axis manipulator, a fixed plate is arranged at the output end of the multi-axis manipulator, an installation frame is arranged below the fixed plate, a plurality of installation holes are arranged in the installation frame, an adjusting mechanism is arranged in the installation hole, an air suction seat is arranged at the output end of the adjusting mechanism, an air suction cavity is arranged in the air suction seat, a transition ball is arranged at the lower end of the air suction cavity, the transition ball is rotationally connected with the air suction seat through a connecting mechanism, a connecting column is arranged at the bottom of the transition ball, a vacuum suction cup is arranged at the lower end of the connecting column, the vacuum suction cup is used for adsorbing the template body, a transition cavity is arranged at the center of the transition ball, the transition cavity is communicated with the air suction cavity through a plurality of air channels at the top, and the transition cavity is communicated with the inside of the vacuum suction cup through a plurality of connecting pipes at the bottom.

[0007] Preferably, a joint is arranged on the side wall of the air suction seat, one end of the joint is communicated with the air suction cavity, the other end of the joint is connected with the air pump through the air pipe, and the air pump is arranged on the fixed plate.

[0008] Preferably, a plurality of fixed columns are arranged between the installation frame and the fixed plate, one end of the fixed column is connected with the lower surface of the fixed plate, and the other end of the fixed column is connected with the upper surface of the installation frame.

[0009] Preferably, the adjusting mechanism comprises a horizontal adjusting assembly, the horizontal adjusting assembly comprises a first sliding block, a vertical adjusting assembly is arranged on the lower surface of the first sliding block, the first sliding block is slidably connected with the left and right inner walls of the installation hole, a first screw hole and a first guide hole are horizontally arranged in the first sliding block, a first screw rod is arranged in the first screw hole in a screwed mode, one end of the first screw rod is rotationally connected with the left side wall of the installation hole, the other end of the first screw rod is connected with the output end of a first motor, the first motor is arranged on the right side wall of the installation hole, a first guide rod is slidably arranged in the first guide hole, and the left and right ends of the first guide rod are respectively connected with the left and right side walls of the installation hole.

[0010] Preferably, the vertical adjusting assembly comprises two fixed blocks which are symmetrically arranged front and back, the upper ends of the two fixed blocks are connected with the lower surface of the first sliding block, a second sliding block is slidably arranged between the two fixed blocks front and back, a telescopic assembly is arranged at the bottom of the second sliding block, a second screw hole and a second guide hole are arranged in the second sliding block, a second screw rod is arranged in the second screw hole in a screwed mode, the front end of the second screw rod is rotationally connected with the front fixed block, the rear end of the second screw rod is connected with the output end of a second motor, the second motor is arranged on the rear fixed block, a second guide rod is slidably arranged in the second guide hole, and the front and rear ends of the second guide rod are respectively connected with the front and rear fixed blocks.

[0011] Preferably, the telescopic assembly comprises an electric push rod, the electric push rod is vertically arranged, the upper end of the electric push rod is fixedly connected with the bottom of the second sliding block, and the lower end of the electric push rod is fixedly connected with the upper end of the air suction seat.

[0012] Preferably, the connecting mechanism comprises an annular mounting cavity arranged in the suction seat, a plurality of first through holes are arranged at the bottom of the annular mounting cavity, the first through holes are communicated with the suction cavity, a moving column is horizontally slidably arranged in the first through holes, one end of the moving column extends into the suction cavity and is provided with a first ball, the first ball is in contact with the outer wall of the lower end of the transition ball, the other end of the moving column extends into the annular mounting cavity and is provided with a roller, a first sliding groove is arranged on the upper side of the first through hole, a first sliding plate is slidably arranged in the first sliding groove, the lower end of the first sliding plate is fixedly connected with the outer wall of the moving column, a first spring is arranged in the first sliding groove, one end of the first spring is connected with the inner wall of the first sliding groove, the other end of the first spring is connected with the first sliding plate, a driving assembly is arranged in the annular mounting cavity, and the driving assembly is used to drive the moving column to horizontally slide in the first through hole.

[0013] Preferably, the plurality of first through holes are arranged in a ring array about the central axis of the suction cavity.

[0014] Preferably, the driving assembly comprises a driving ring, the driving ring is rotationally arranged in the annular mounting cavity, a gear ring is arranged on the top wall of the driving ring, the inner side of the gear ring is toothed, the central axes of the gear ring and the driving ring are on the same straight line as the central axis of the suction cavity, a driving motor is arranged on the top wall of the annular mounting cavity, a driving gear is arranged on the output end of the driving motor, the driving gear is engaged with the inner ring of the gear ring, a plurality of driving blocks are fixedly arranged on the bottom wall of the driving ring, the driving blocks correspond to the rollers one by one, the driving blocks are arc-shaped, the driving blocks comprise driving segments and sliding segments, a guide surface is arranged on the inner side of the driving segment, the thickness of the driving segment gradually decreases from the end close to the sliding segment to the end away from the sliding segment, and the rollers are in contact with the side walls of the driving blocks.

[0015] Preferably, the annular mounting cavity is communicated with the suction cavity through a rotating hole at a position close to the top, the rotating hole is in the shape of a ring, a rotating ring is arranged in the rotating hole, the outer ring of the rotating ring is fixedly connected with the inner wall of the driving ring, two driving plates are arranged on the bottom wall of the rotating ring, the two driving plates are centrally and symmetrically distributed about the central axis of the rotating ring, the driving plates are arc-shaped, an inclined surface is arranged on the lower side of the driving plate, a second sliding groove is arranged on the side wall of the suction cavity, a second sliding plate is slidably arranged in the second sliding groove, a second spring is arranged in the second sliding groove, one end of the second spring is connected with the inner wall of the second sliding groove, the other end of the second spring is connected with the second sliding plate, one end of the second sliding plate extends to the outside of the second sliding groove and is provided with a moving rod, a second ball is arranged on the upper end of the moving rod, the second ball is in contact with the inclined surface, the lower end of the moving rod is fixedly connected with the upper surface of the compression ring, the compression ring is slidably connected with the inner wall of the suction cavity in an up-down manner, an elastic sealing ring is arranged on the bottom wall of the compression ring, and the inner ring of the elastic sealing ring is in contact with the outer wall of the transition ball.

[0016] The technical scheme of the present application has the following advantages: the present application provides a bidirectional arc-roller corrugated large template self-adaptive suction cup conveying device, relating to the technical field of conveying devices, comprising a multi-axis manipulator, a fixing plate is arranged at the output end of the multi-axis manipulator, an installation frame is arranged below the fixing plate, a plurality of installation holes are arranged in the installation frame, an adjusting mechanism is arranged in the installation hole, a suction seat is arranged at the output end of the adjusting mechanism, a suction cavity is arranged in the suction seat, a transition ball is arranged at the lower end of the suction cavity, the transition ball is rotationally connected with the suction seat through a connecting mechanism, a connecting column is arranged at the bottom of the transition ball, a vacuum suction cup is arranged at the lower end of the connecting column, a transition cavity is arranged at the center of the transition ball, the top of the transition cavity is communicated with the suction cavity through a plurality of air channels, and the bottom of the transition cavity is communicated with the inside of the vacuum suction cup through a plurality of connecting pipes.

[0017] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by means of the devices particularly pointed out in the written description and the accompanying drawings.

[0018] The technical scheme of the present application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation on the present application. In the drawings:

[0020] Figure 1 It is a schematic diagram of the overall structure of the bidirectional arc-roller corrugated large template self-adaptive suction cup conveying device of the present application.

[0021] Figure 2 It is a top view of the installation frame in the present application.

[0022] Figure 3 It is a structure enlarged view of A in the present application. Figure 1

[0023] Figure 4 It is a structure enlarged view of B in the present application. Figure 1

[0024] Figure 5 It is a structure enlarged view of C in the present application. Figure 4

[0025] Figure 6 It is a structure enlarged view of C in the present application.​​​Figure 4 Enlarged view of structure at D;

[0026] Figure 7 For the invention Figure 4 Enlarged view of structure at E;

[0027] Figure 8 For the invention Figure 7 Enlarged view of structure at F;

[0028] Figure 9 For the invention Enlarged view of structure at G;

[0029] Figure 10 Enlarged view of structure at H;

[0030] Figure 11 Enlarged view of structure at I;

[0031] In the figure: 1, multi-axis robot; 2, fixed plate; 3, mounting frame; 4, mounting hole; 5, air suction seat; 6, air suction cavity; 7, transition ball; 8, connecting column; 9, vacuum chuck; 10, template body; 11, transition cavity; 12, air duct; 13, connecting pipe; 14, fixed column; 15, first sliding block; 16, first screw rod; 17, first motor; 18, first guide rod; 19, fixed block; 20, second sliding block; 21, second screw rod; 22, second motor; 23, second guide rod; 24, electric push rod; 25, annular mounting cavity; 26, moving column; 27, first ball; 28, roller; 29, first sliding groove; 30, first sliding plate; 31, first spring; 32, driving ring; 33, gear ring; 34, driving motor; 35, driving gear; 36, driving block; 37, rotating ring; 38, driving plate; 39, second sliding groove; 40, second sliding plate; 41, second spring; 42, moving rod; 43, second ball; 44, compression ring; 45, elastic sealing ring; 46, connecting hole; 47, connecting rod; 48, sliding cavity; 49, sliding seat; 50, sliding rod; 51, mounting plate; 52, adjusting plate; 53, second pressure sensor; 54, positioning hole; 55, positioning column; 56, third spring; 57, electromagnet; 58, iron block. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present application will be described herein below with reference to the drawings; it should be noted that the preferred embodiments described herein are intended to explain and illustrate the present application, and are not intended to limit the present application.

[0033] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0034] Example 1:

[0035] This invention provides a bidirectional arc-shaped corrugated type large template adaptive suction cup handling device, such as... Figures 1-11 As shown, it includes: a multi-axis manipulator 1, a fixed plate 2 at the output end of the multi-axis manipulator 1, a mounting frame 3 below the fixed plate 2, multiple mounting holes 4 inside the mounting frame 3, an adjustment mechanism inside the mounting holes 4, a suction seat 5 at the output end of the adjustment mechanism, a suction chamber 6 inside the suction seat 5, a transition ball 7 at the lower end of the suction chamber 6, the transition ball 7 being rotatably connected to the suction seat 5 through a connecting mechanism, a connecting column 8 at the bottom of the transition ball 7, a vacuum suction cup 9 at the lower end of the connecting column 8, the vacuum suction cup 9 being used to adsorb the template body 10, the template body 10 being a bidirectional arc-shaped corrugated large template, the surface of the template body 10 having an irregular shape, a transition cavity 11 at the center of the transition ball 7, the top of the transition cavity 11 being connected to the suction chamber 6 through several air channels 12, and the bottom of the transition cavity 11 being connected to the inside of the vacuum suction cup 9 through several connecting pipes 13;

[0036] A connector is provided on the side wall of the suction seat 5. One end of the connector is connected to the suction chamber 6, and the other end of the connector is connected to the air pump through an air pipe. The air pump is installed on the fixed plate 2.

[0037] Several fixing posts 14 are provided between the mounting frame 3 and the fixing plate 2. One end of the fixing post 14 is connected to the lower surface of the fixing plate 2, and the other end of the fixing post 14 is connected to the upper surface of the mounting frame 3.

[0038] The working principle and beneficial effects of the above technical solution are as follows: when the multi-axis manipulator 1 works, the fixed plate 2 can be driven to move, the fixed plate 2 drives the mounting frame 3 to move through the fixed column 14, so that the mounting frame 3 moves above the template body 10, then the multi-axis manipulator 1 drives the mounting frame 3 to move downward, so that the distance between the mounting frame 3 and the template body 10 reaches the preset target distance, then the position of the air suction seat 5 is adjusted through the adjusting mechanism, so that the position of the vacuum suction cup 9 is adjusted, after the adjustment is completed, the adjusting mechanism drives the air suction seat 5 to move downward, so that the vacuum suction cup 9 is in contact with the surface of the template body 10, since the transition ball 7 is rotationally connected with the air suction seat 5, the vacuum suction cup 9 can adapt to the surface shape of the template body 10, finally, the gas pump is started to suck the gas in the vacuum suction cup 9 into the transition cavity 11 through the connecting pipe 13, then the gas flows into the air suction cavity 6 through the air duct 12, and finally flows out through the gas pump output end, so that the vacuum suction cup 9 is adsorbed on the surface of the template body 10, the vacuum suction cup 9 is made of flexible materials such as high-elasticity rubber or polyurethane material, so that the vacuum suction cup 9 is more closely attached to the surface of the template body 10, the mounting holes 4 of the mounting frame 3 are uniformly provided with a plurality of adjusting mechanisms, and each mounting hole 4 is provided with an adjusting mechanism, so that a plurality of vacuum suction cups 9 can be adsorbed on different positions of the template body 10, further avoiding the template body 10 from falling during the carrying process, and improving the reliability of the carrying; in the present application, the transition ball 7 is rotationally connected with the air suction seat 5, when the template body 10 with an irregular adsorption surface is adsorbed, the vacuum suction cup 9 can be self-adaptively deformed according to the surface shape of the template body 10, so that the vacuum suction cup 9 is more closely attached to the template body 10, the adsorption force of the vacuum suction cup 9 is improved, the template body 10 is prevented from falling and being damaged during the carrying process, and the carrying quality is ensured.

[0039] Embodiment 2:

[0040] On the basis of the above-mentioned embodiment 1, the adjusting mechanism comprises a transverse adjusting assembly, the transverse adjusting assembly comprises a first sliding block 15, a longitudinal adjusting assembly is arranged on the lower surface of the first sliding block 15, the first sliding block 15 is slidably connected with the inner wall of the mounting hole 4, a first screw hole and a first guide hole are horizontally arranged in the first sliding block 15, a first screw rod 16 is arranged in the first screw hole and is threadedly connected with the first screw hole, one end of the first screw rod 16 is rotationally connected with the left side wall of the mounting hole 4, the other end of the first screw rod 16 is connected with the output end of a first motor 17, the first motor 17 is arranged on the right side wall of the mounting hole 4, a first guide rod 18 is slidably arranged in the first guide hole, and the left and right ends of the first guide rod 18 are respectively connected with the left and right side walls of the mounting hole 4.

[0041] The longitudinal adjusting assembly comprises two fixed blocks 19 arranged symmetrically front and back, the upper ends of the fixed blocks 19 are connected with the lower surface of the first sliding block 15, the second sliding block 20 is arranged to slide front and back between the two fixed blocks 19, the second sliding block 20 is provided with an extension assembly at the bottom, the second sliding block 20 is provided with a second screw hole and a second guide hole, the second screw hole is provided with a second screw rod 21, the second screw rod 21 is threadedly connected with the second screw hole, the front end of the second screw rod 21 is rotatably connected with the fixed block 19 on the front side, the rear end of the second screw rod 21 is connected with the output end of a second motor 22, the second motor 22 is arranged on the fixed block 19 on the rear side, and the second guide hole is provided with a second guide rod 23 arranged to slide therein, the front and rear ends of the second guide rod 23 are respectively connected with the fixed blocks 19 on the front and rear sides;

[0042] The extension assembly comprises an electric push rod 24, the electric push rod 24 is vertically arranged, the upper end of the electric push rod 24 is fixedly connected with the bottom of the second sliding block 20, and the lower end of the electric push rod 24 is fixedly connected with the upper end of the air suction seat 5.

[0043] The working principle and beneficial effects of the above technical scheme are as follows: the adjusting mechanism comprises a transverse adjusting assembly, a longitudinal adjusting assembly and an extension assembly, the transverse adjusting assembly is used for adjusting the transverse position of the vacuum chuck 9, the longitudinal adjusting assembly is used for adjusting the front and back longitudinal position of the vacuum chuck 9, and the extension assembly is used for adjusting the height of the vacuum chuck 9, specifically, starting the first motor 17 can drive the first screw rod 16 to rotate, the first screw rod 16 drives the first sliding block 15 to slide left and right along the inner wall of the mounting hole 4, so as to adjust the transverse position of the vacuum chuck 9, starting the second motor 22 can drive the second screw rod 21 to rotate, the second screw rod 21 drives the second sliding block 20 to slide front and back on the lower surface of the first sliding block 15, so as to adjust the front and back longitudinal position of the vacuum chuck 9, the electric push rod 24 is pushed downward to lower the height of the vacuum chuck 9, and the electric push rod 24 is retracted upward to raise the height of the vacuum chuck 9, through the adjusting mechanism, the position of the vacuum chuck 9 can be flexibly adjusted, so that the vacuum chucks 9 at different positions can all adsorb the surface of the formwork body 10, the adaptability of the vacuum chuck 9 is improved, the adsorption effect and the carrying quality are ensured, the formwork body 10 is prevented from falling and being damaged during the carrying process, and the safety of the carrying operation is improved.

[0044] Embodiment 3:

[0045] Based on embodiment 1 or 2, the connecting mechanism includes an annular mounting cavity 25 disposed within the suction seat 5. The bottom of the annular mounting cavity 25 has several first through holes communicating with the suction cavity 6. A movable column 26 is horizontally slidably disposed within each of the first through holes. One end of the movable column 26 extends into the suction cavity 6 and is provided with a first ball bearing 27, which contacts the lower outer wall of the transition ball 7. The other end of the movable column 26 extends into the annular mounting cavity 25 and is provided with a roller 28. A first sliding groove 29 is disposed on the upper side of the first through hole. A first sliding plate 30 is slidably disposed within the first sliding groove 29. The lower end of the first sliding plate 30 is fixedly connected to the outer wall of the movable column 26. A first spring 31 is disposed within the first sliding groove 29, with one end connected to the inner wall of the first sliding groove 29 and the other end connected to the first sliding plate 30. A driving assembly is disposed within the annular mounting cavity 25, which is used to drive the movable column 26 to slide horizontally within the first through hole.

[0046] Several first through holes are arranged in a ring array about the central axis of the intake chamber 6;

[0047] The drive assembly includes a drive ring 32, which is rotatably mounted in an annular mounting cavity 25. A toothed ring 33 is provided on the top wall of the drive ring 32. The toothed ring 33 has teeth on its inner side. The central axis of the toothed ring 33 and the drive ring 32 is on the same straight line as the central axis of the suction cavity 6. A drive motor 34 is provided on the top wall of the annular mounting cavity 25. A drive gear 35 is provided at the output end of the drive motor 34. The drive gear 35 meshes with the inner ring of the toothed ring 33. Several drive blocks 36 are fixedly provided on the bottom wall of the drive ring 32. Each drive block 36 corresponds to a roller 28. The drive block 36 is arc-shaped and includes a drive section and a sliding section. A guide surface is provided on the inner side of the drive section. The thickness of the drive section decreases gradually from the end near the sliding section to the end away from the sliding section. The roller 28 contacts the side wall of the drive block 36.

[0048] The annular mounting cavity 25 is connected to the suction cavity 6 near the top via a rotating hole. The rotating hole is annular, and a rotating ring 37 is installed inside the rotating hole. The outer ring of the rotating ring 37 is fixedly connected to the inner wall of the drive ring 32. Two drive plates 38 are installed on the bottom wall of the rotating ring 37. The two drive plates 38 are centrally symmetrical about the central axis of the rotating ring 37. The drive plates 38 are arc-shaped, and an inclined surface is provided on the lower side of the drive plates 38. A second slide groove 39 is provided on the side wall of the suction cavity 6. A second slide plate 40 slides up and down within the second slide groove 39. The second spring 41 has one end connected to the inner wall of the second slide groove 39 and the other end connected to the second slide plate 40. One end of the second slide plate 40 extends to the outside of the second slide groove 39 and is provided with a moving rod 42. The upper end of the moving rod 42 is provided with a second ball 43, which contacts the inclined surface. The lower end of the moving rod 42 is fixedly connected to the upper surface of the pressure ring 44. The pressure ring 44 is slidably connected to the inner wall of the air intake chamber 6. An elastic sealing ring 45 is provided on the bottom wall of the pressure ring 44. The inner ring of the elastic sealing ring 45 contacts the outer wall of the transition ball 7.

[0049] Several first pressure sensors are installed inside the elastic sealing ring 45. The first pressure sensors are located at the contact position between the elastic sealing ring 45 and the transition ball 7. A vacuum sensor is installed inside the air suction chamber 6. A first controller and a first wireless communication module are installed on the mounting frame 3. The first controller is electrically connected to an external power supply, a multi-axis robot 1, an air pump, a first motor 17, a second motor 22, an electric push rod 24, a drive motor 34, the first pressure sensors, the first wireless communication module, and the vacuum sensor.

[0050] The working principle and beneficial effects of the above technical solution are as follows: When the vacuum suction cup 9 contacts the surface of the template body 10, as the electric push rod 24 extends downward, the vacuum suction cup 9 gradually adapts to the surface shape of the template body 10. The vacuum suction cup 9 drives the connecting column 8 to rotate, and the connecting column 8 drives the transition ball 7 to rotate in the suction chamber 6. When the transition ball 7 rotates, it contacts the first ball bearing 27. Under the support of multiple first ball bearings 27, the transition ball 7 is stably held in the transition chamber 11. After the vacuum suction cup 9 is completely adapted to the surface shape of the template body 10, the first controller controls the drive motor 34 to start. The drive motor 34 rotates, driving the drive gear 35 to rotate. The drive gear 35 rotates, driving the gear ring 33 to rotate. The gear ring 33 drives the drive ring 32 to rotate in the annular mounting cavity 25. The rotating ring 32 drives the rotating ring 37 to rotate within the rotating hole. The rotating ring 37 drives the drive plate 38 to move. The drive plate 38 drives the second ball 43 to move downward through the inclined surface. The second ball 43 rolls along the inclined surface and simultaneously drives the moving rod 42 to move downward. The moving rod 42 drives the pressure ring 44 to move downward, and simultaneously drives the second slide plate 40 to slide downward within the second slide groove 39. The second spring 41 is stretched, and the downward movement of the pressure ring 44 drives the elastic sealing ring 45 to move downward, so that the elastic sealing ring 45 gradually presses the transition ball 7. The transition ball 7 is located between the elastic sealing ring 45 and the first ball 27. When the detection value of the first pressure sensor reaches the preset maximum pressure value, the first controller controls the drive motor 34 to stop working, and the drive motor 34 self-locks. At this time, The elastic sealing ring 45 presses the transition ball 7 tightly, preventing it from rotating and thus fixing the angle of the connecting column 8, improving the stability of the transition ball 7. Multiple air passages 12 are provided inside the transition ball 7. The specific number and angle of the air passages 12 can be set according to actual conditions, as long as it is ensured that when the elastic sealing ring 45 presses the transition ball 7, the air passages 12 do not communicate with the space below the elastic sealing ring 45. Furthermore, after the transition ball 7 has been used for a preset time (the preset time can be set according to the wear degree of the transition ball 7), the drive motor 34 is controlled to rotate in the reverse direction. The reverse rotation of the drive ring 32 drives the drive block 36 to rotate synchronously in the reverse direction. The reverse rotation of the drive block 36 causes the roller 28 to slide along the sliding section of the drive block 36, and then the roller 28 gradually slides to the drive block 36. In the moving section, due to the progressively decreasing thickness of the driving section, as the roller 28 rolls in the reverse direction along the driving section, under the elastic force of the first spring 31, the first sliding plate 30 drives the moving column 26 to slide towards the annular mounting cavity 25 within the first through hole, thereby causing the first ball 27 to gradually move into the first through hole. At this point, the transition ball 7 loses its support and can be removed from the transition cavity 11, facilitating the overall replacement of the transition ball 7, connecting column 8, and vacuum suction cup 9. Then, the new transition ball 7 is placed into the suction cavity 6. The transition ball 7 first contacts the inner ring of the elastic sealing ring 45, and then the drive motor 34 starts, driving the drive ring 32 to rotate forward. Under the action of the drive block 36, the moving column 26 extends below the transition ball 7, at which point the transition ball 7 is released.The transition ball 7 then rests on multiple first ball bearings 27, thus completing the installation of the new transition ball 7. The elastic sealing ring 45, driven by the pressure ring 44, can slide up and down within the suction chamber 6, allowing it to adapt to transition balls 7 of different diameters. Through the combined action of the elastic sealing ring 45 and the first ball bearings 27, the transition ball 7 within the suction chamber 6 is fixed, ensuring its stability and preventing it from rotating freely within the transition chamber 11 during transport. This further improves the reliability of transporting the template body 10.

[0051] Example 4:

[0052] Based on embodiment 3, a connecting hole 46 is provided at the center of the connecting column 8. An internal thread is provided on the inner wall of the connecting hole 46. A connecting rod 47 is provided inside the connecting hole 46, and an external thread is provided on the outer wall of the connecting rod 47. The outer wall of the connecting rod 47 is threadedly connected to the inner wall of the connecting hole 46. A sliding cavity 48 is provided inside the connecting rod 47. The lower end of the sliding cavity 48 communicates with the lower end of the connecting rod 47 through a sliding hole. A sliding seat 49 is slidably provided inside the sliding cavity 48. A sliding rod 50 is provided at the lower end of the sliding seat 49. The lower end of the sliding rod 50 extends to the outside of the connecting rod 47 and is provided with a mounting plate 51. An adjustment plate 52 is provided below the mounting plate 51. Distance sensors are provided on the lower surfaces of the left and right sides of the adjustment plate 52. A second pressure sensor 53 is provided between the adjustment plate 52 and the mounting plate 51. A positioning hole 54 is provided on the side wall of the sliding cavity 48. A positioning post 55 is slidably provided in the positioning hole 54. One end of the positioning post 55 is connected to the inner wall of the positioning hole 54 through a third spring 56. The other end of the positioning post 55 extends into the sliding cavity 48. An electromagnet 57 is provided on the inner wall of the positioning hole 54 away from the sliding cavity 48. An iron block 58 is provided on the end of the positioning post 55 near the electromagnet 57.

[0053] The connecting rod 47 is equipped with a second controller, a storage battery and a second wireless communication module. The second controller is electrically connected to the storage battery, the second wireless communication module, the electromagnet 57, the distance sensor and the second pressure sensor 53 respectively.

[0054] The working principle and beneficial effects of the above technical solution are as follows: A second distance sensor is installed at the bottom of the mounting frame 3. The second distance sensor is used to detect the actual distance from the mounting frame 3 to the surface of the template body 10. The second distance sensor is electrically connected to the first controller. When the mounting frame 3 is directly above the template body 10, the second distance sensor starts to detect the actual distance from the mounting frame 3 to the surface of the template body 10. When the detection value of the second distance sensor reaches the preset target distance, the first controller controls the multi-axis robot 1 to stop moving. Then, the first controller controls the electric push rod 24 to extend downward. Initially, the electromagnet 57 is in a de-energized state. Under the elastic force of the third spring 56, the positioning post 55 extends to the outside of the positioning hole 54, and The positioning post 55 is located above the sliding seat 49, restricting the sliding seat 49 from sliding upwards. The height of the adjusting plate 52 is lower than the height of the vacuum suction cup 9. Therefore, as the vacuum suction cup 9 moves closer to the template body 10, the adjusting plate 52 first contacts the template body 10. After the adjusting plate 52 contacts the template body 10, the second pressure sensor 53 starts to work. When the detection value of the second pressure sensor 53 reaches the second preset pressure value, the electric push rod 24 stops extending. At this time, the distance sensor on the left side of the adjusting plate 52 detects the first distance from the left end of the adjusting plate 52 to the template body 10, and the distance sensor on the right side of the adjusting plate 52 detects the second distance from the right end of the adjusting plate 52 to the template body 10. The second controller calculates the difference between the first distance and the second distance. When the difference between the first distance and the second distance is within a preset range (the preset range can be ±0.5cm, and the specific preset range can be set according to the actual situation), it indicates that the vacuum suction cup 9 can completely adapt to the surface shape of the template body 10, and the adsorption action can be performed. The adsorption action includes: the second controller controls the electromagnet 57 to be energized, and the electromagnet 57 generates magnetism after being energized, thereby adsorbing the iron block 58 at one end of the positioning post 55, so that the positioning post 55 slides into the positioning hole 54, the third spring 56 is compressed, the second controller transmits the energization signal of the electromagnet 57 to the first wireless communication module through the second wireless communication module, and the first wireless communication module then transmits the signal to the first controller. Then, the first controller controls the drive motor. When the 34 is activated, the elastic sealing ring 45 presses the transition ball 7 tightly, preventing the transition ball 7 from rotating. After the detection value of the first pressure sensor reaches the preset maximum pressure value, the first controller controls the electric push rod 24 to continue to push downward. During the pushing process, the sliding rod 50 drives the sliding seat 49 to slide upward in the sliding cavity 48, which will not hinder the downward movement of the vacuum suction cup 9 until the vacuum suction cup 9 is attached to the surface of the template body 10. The electric push rod 24 stops pushing, and the air pump starts to extract the gas in the vacuum suction cup 9, so that the vacuum suction cup 9 tightly adsorbs the template body 10. A vacuum sensor is set in the suction cavity 6. The vacuum pressure in the suction cavity 6 can be obtained through the vacuum sensor, thereby adjusting the power of the air pump and improving the adsorption force of the vacuum suction cup 9.

[0055] If the difference between the first distance and the second distance is not within the preset range, it means that the vacuum suction cup 9 cannot fully adapt to the surface shape of the template body 10, and the vacuum suction cup 9 cannot tightly adsorb the template body 10. At this time, the first controller controls the first motor 17 to start, so that the vacuum suction cup 9 moves laterally by a preset distance. Then, it continues to control the electric push rod 24 to extend downward. When the detection value of the second pressure sensor 53 reaches the second preset pressure value, the electric push rod 24 stops extending. The second controller calculates the difference between the first distance and the second distance until the difference between the first distance and the second distance is within the preset range. At this time, the vacuum suction cup 9 can fully adapt to the surface shape of the template body 10 and can perform the adsorption action. By setting the adjustment plate 52, the angle of the vacuum suction cup 9 can be adjusted to make the vacuum suction cup 9 adapt to the surface shape of the template body 10, thus ensuring the adsorption effect of the vacuum suction cup 9 on the template body 10.

[0056] The outer wall of the connecting rod 47 is threaded to the inner wall of the connecting hole 46, which facilitates quick disassembly and assembly of the connecting rod 47. When replacing the transition ball 7, the connecting rod 47 can be removed first, and then the connecting rod 47 can be installed into the connecting hole 46 of the new connecting column 8. There is no need to replace the adjusting plate 52 at the same time, which saves costs.

[0057] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0058] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A bidirectional arc-shaped corrugated type large template adaptive suction cup handling device, characterized in that, include: A multi-axis manipulator (1) is provided with a fixed plate (2) at the output end of the multi-axis manipulator (1). A mounting frame (3) is provided below the fixed plate (2). Multiple mounting holes (4) are provided inside the mounting frame (3). An adjustment mechanism is provided inside the mounting holes (4). A suction seat (5) is provided at the output end of the adjustment mechanism. A suction chamber (6) is provided inside the suction seat (5). A transition ball (7) is provided at the lower end of the suction chamber (6). The transition ball (7) is rotatably connected to the suction seat (5) through a connecting mechanism. A connecting column (8) is provided at the bottom of the transition ball (7). A vacuum suction cup (9) is provided at the lower end of the connecting column (8). The vacuum suction cup (9) is used to adsorb the template body (10). A transition cavity (11) is provided in the center of the transition ball (7). The top of the transition cavity (11) is connected to the suction chamber (6) through several air channels (12). The bottom of the transition cavity (11) is connected to the inside of the vacuum suction cup (9) through several connecting pipes (13). The connecting mechanism includes an annular mounting cavity (25) disposed within the suction seat (5). Several first through holes are provided at the bottom of the annular mounting cavity (25), communicating with the suction chamber (6). A movable column (26) is horizontally slidably disposed within the first through holes. One end of the movable column (26) extends into the suction chamber (6) and is provided with a first ball bearing (27). The first ball bearing (27) contacts the lower outer wall of the transition ball (7). The other end of the movable column (26) extends into the annular mounting cavity (25) and is provided with a roller (28). A first sliding groove (29) is provided on the upper side of the hole. A first sliding plate (30) is slidably provided in the first sliding groove (29). The lower end of the first sliding plate (30) is fixedly connected to the outer wall of the moving column (26). A first spring (31) is provided in the first sliding groove (29). One end of the first spring (31) is connected to the inner wall of the first sliding groove (29), and the other end of the first spring (31) is connected to the first sliding plate (30). A driving assembly is provided in the annular mounting cavity (25). The driving assembly is used to drive the moving column (26) to slide horizontally in the first through hole. The drive assembly includes a drive ring (32), which is rotatably mounted in an annular mounting cavity (25). A toothed ring (33) is provided on the top wall of the drive ring (32). The toothed ring (33) has teeth on its inner side. The central axis of the toothed ring (33) and the drive ring (32) is on the same straight line as the central axis of the suction cavity (6). A drive motor (34) is provided on the top wall of the annular mounting cavity (25). A drive gear (35) is provided at the output end of the drive motor (34). The drive gear (35) meshes with the inner ring of the toothed ring (33). Several drive blocks (36) are fixedly provided on the bottom wall of the drive ring (32). The drive blocks (36) correspond one-to-one with the rollers (28). The drive blocks (36) are arc-shaped. The drive blocks (36) include a drive section and a sliding section. A guide surface is provided on the inner side of the drive section. The thickness of the drive section decreases gradually from the end near the sliding section to the end away from the sliding section. The rollers (28) are in contact with the side wall of the drive blocks (36).

2. The bidirectional arc-shaped corrugated large template adaptive suction cup handling device according to claim 1, characterized in that, A connector is provided on the side wall of the suction seat (5). One end of the connector is connected to the suction chamber (6), and the other end of the connector is connected to the air pump through the air pipe. The air pump is set on the fixed plate (2).

3. The bidirectional arc-shaped corrugated large template adaptive suction cup handling device according to claim 1, characterized in that, Several fixing posts (14) are set between the mounting frame (3) and the fixing plate (2). One end of the fixing post (14) is connected to the lower surface of the fixing plate (2), and the other end of the fixing post (14) is connected to the upper surface of the mounting frame (3).

4. The bidirectional arc-shaped corrugated large template adaptive suction cup handling device according to claim 1, characterized in that, The adjustment mechanism includes a horizontal adjustment component, which includes a first slider (15). A vertical adjustment component is provided on the lower surface of the first slider (15). The first slider (15) is slidably connected to the inner wall of the mounting hole (4). A first threaded hole and a first guide hole are horizontally provided inside the first slider (15). A first screw (16) is provided inside the first threaded hole. The first screw (16) is threadedly connected to the first threaded hole. One end of the first screw (16) is rotatably connected to the left side wall of the mounting hole (4). The other end of the first screw (16) is connected to the output end of the first motor (17). The first motor (17) is provided on the right side wall of the mounting hole (4). A first guide rod (18) is slidably provided inside the first guide hole. The left and right ends of the first guide rod (18) are respectively connected to the left and right side walls of the mounting hole (4).

5. The bidirectional arc-shaped corrugated large template adaptive suction cup handling device according to claim 4, characterized in that, The longitudinal adjustment assembly includes fixed blocks (19) arranged symmetrically at the front and back. The upper end of the fixed blocks (19) is connected to the lower surface of the first slider (15). A second slider (20) is slidably arranged between the two fixed blocks (19). A telescopic assembly is provided at the bottom of the second slider (20). A second threaded hole and a second guide hole are provided inside the second slider (20). A second screw (21) is provided inside the second threaded hole. The second screw (21) is threadedly connected to the second threaded hole. The front end of the second screw (21) is rotatably connected to the fixed block (19) on the front side. The rear end of the second screw (21) is connected to the output end of the second motor (22). The second motor (22) is set on the fixed block (19) on the rear side. A second guide rod (23) is slidably arranged inside the second guide hole. The front and rear ends of the second guide rod (23) are respectively connected to the fixed blocks (19) on the front and back sides.

6. The bidirectional arc-shaped corrugated large template adaptive suction cup handling device according to claim 5, characterized in that, The telescopic assembly includes an electric push rod (24), which is vertically arranged. The upper end of the electric push rod (24) is fixedly connected to the bottom of the second slider (20), and the lower end of the electric push rod (24) is fixedly connected to the upper end of the suction seat (5).

7. The bidirectional arc-shaped corrugated large template adaptive suction cup handling device according to claim 1, characterized in that, Several first through holes are arranged in a ring array about the central axis of the air intake chamber (6).

8. The bidirectional arc-shaped corrugated large template adaptive suction cup handling device according to claim 1, characterized in that, The annular mounting cavity (25) is connected to the suction cavity (6) near the top through a rotating hole. The rotating hole is annular and a rotating ring (37) is installed inside the rotating hole. The outer ring of the rotating ring (37) is fixedly connected to the inner wall of the drive ring (32). Two drive plates (38) are installed on the bottom wall of the rotating ring (37). The two drive plates (38) are centrally symmetrical about the central axis of the rotating ring (37). The drive plates (38) are arc-shaped and have an inclined surface on the lower side. A second slide groove (39) is installed on the side wall of the suction cavity (6). A second slide plate (40) is installed in the second slide groove (39) and slides up and down. A second spring is installed in the second slide groove (39). Spring (41), one end of the second spring (41) is connected to the inner wall of the second slide groove (39), the other end of the second spring (41) is connected to the second slide plate (40), one end of the second slide plate (40) extends to the outside of the second slide groove (39) and is provided with a moving rod (42), the upper end of the moving rod (42) is provided with a second ball (43), the second ball (43) is in contact with the inclined surface, the lower end of the moving rod (42) is fixedly connected to the upper surface of the pressure ring (44), the pressure ring (44) is slidably connected to the inner wall of the air intake chamber (6), the bottom wall of the pressure ring (44) is provided with an elastic sealing ring (45), the inner ring of the elastic sealing ring (45) is in contact with the outer wall of the transition ball (7).

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