Material loading and taking manipulator

Abstract

The invention relates to the technical field of packaging processing, in particular to a material loading and taking manipulator which comprises a base, a rotating shaft is arranged on the outer wall of the top end of the base through a lubricating mechanism, a telescopic module is arranged on the outer wall of the rotating shaft, and a clamping mechanism is arranged on the outer wall of the telescopic module through a connecting mechanism. A driving module is arranged on the outer wall of the top end of the rotating shaft, a moving module is arranged on the outer wall of the bottom end of the base through an adjusting mechanism, the lubricating mechanism comprises a fixing seat, a fixing rod is fixedly connected to the inner wall of the fixing seat, a baffle is fixedly connected to the outer wall of the fixing rod, and a sliding rod is fixedly connected to the outer wall of the bottom end of the baffle. An oil tank is rotatably connected to the inner wall of the fixed seat, and an extrusion plate is slidably connected to the inner wall of the oil tank; through the arrangement of the lubricating mechanism, in the material loading and taking process, lubricating operation is automatically completed, abrasion generated in the rotating process is reduced, and rotating is smoother.

Description

TECHNICAL FIELD

[0001] The present application relates to the packaging processing technical field, especially to a loading and taking material mechanical arm. BACKGROUND

[0002] The circular-trapezoidal food can is a food packaging container with a circular-trapezoidal shape, usually made of metal, plastic or glass, etc., with good sealing and stability, which can be used for canned food, pickled food, etc. During the processing of the circular-trapezoidal food can, a mechanical arm is needed to load and take the material, so as to transport it between two processes. The mechanical arm, through a mechanical arm and a grabbing device, accurately grabs and carries the circular-trapezoidal food can according to a preset program, realizes the loading, unloading and transfer of the food can on the production line, etc., which can improve the production efficiency and reduce the labor cost.

[0003] During the loading and taking of the circular-trapezoidal food can, the mechanical arm needs to rotate left and right constantly, clamps the circular-trapezoidal food can and puts it down at a specified position. Long-term rotation will cause wear at the rotating friction part, which will cause rotation jam after a long time, affecting the loading and taking operation. In some existing technologies, in order to avoid wear as much as possible, the operator needs to add lubricating oil to the rotating connection part regularly to play a lubricating effect and reduce the generation of wear. However, the manual addition of lubricating oil is troublesome, which may need to disassemble the connection part before operation, wasting manpower and time. Therefore, a loading and taking material mechanical arm is proposed to solve the above problems. SUMMARY

[0004] The purpose of the present application is to solve the problems in the background art and provide a loading and taking material mechanical arm.

[0005] To achieve the above purpose, the technical scheme adopted by the present application is as follows: a loading and taking material mechanical arm, comprising a base, a rotating shaft is arranged on the top outer wall of the base through a lubricating mechanism, a telescopic module is arranged on the outer wall of the rotating shaft, a clamping mechanism is arranged on the outer wall of the telescopic module through a connecting mechanism, a driving module is arranged on the top outer wall of the rotating shaft, a moving module is arranged on the bottom outer wall of the base through an adjusting mechanism, the lubricating mechanism comprises a fixed seat, a fixed rod is fixedly connected to the inner wall of the fixed seat, a baffle is fixedly connected to the outer wall of the fixed rod, a sliding rod is fixedly connected to the bottom outer wall of the baffle, an oil tank is rotatably connected to the inner wall of the fixed seat, an extrusion plate is slidably connected to the inner wall of the oil tank, an inclined block is fixedly connected to the top outer wall of the extrusion plate, and an oil outlet is arranged on the outer wall of the oil tank.

[0006] Preferably, the rotating shaft is fixedly connected to the top outer wall of the oil tank, the driving module is arranged on the top outer wall of the base, the fixing seat is fixedly connected to the outer wall of the base, the fixing rod penetrates the bottom outer wall of the oil tank, the fixing rod is rotatably connected to the bottom inner wall of the oil tank, the baffle is in contact with the inner wall of the oil tank, the sliding rod is slidably connected to the top outer wall of the inclined block, and the fixing rod penetrates the outer wall of the extrusion plate.

[0007] Preferably, the connecting mechanism comprises a connecting block A, the bottom outer wall of the connecting block A is fixedly connected with a connecting block B, the inner wall of the connecting block B is elastically connected with a clamping block through a connecting spring, the inner walls of the connecting block A and the connecting block B are slidably connected with a connecting rod, the inner wall of the connecting block A is slidably connected with a trapezoidal block, the outer wall of the trapezoidal block is fixedly connected with a pressing rod, and the inner wall of the clamping mechanism is provided with a clamping groove.

[0008] Preferably, the connecting block A is fixedly connected with the telescopic module, the connecting block B is in contact with the inner wall of the clamping mechanism, and the connecting rod penetrates the outer walls of the connecting block A and the connecting block B.

[0009] Preferably, one end of the connecting spring is fixedly connected with the outer wall of the clamping block, the other end of the connecting spring is fixedly connected with the inner wall of the connecting block B, the clamping block is slidably connected with the inner wall of the connecting block B, the clamping block is clamped with the clamping groove, one end of the connecting rod is slidably connected with the outer wall of the trapezoidal block, and the other end of the connecting rod is fixedly connected with the outer wall of the clamping block.

[0010] Preferably, the clamping mechanism comprises a driving rod, the outer wall of the driving rod is fixedly connected with a clamping block, the inner wall of the clamping block is elastically connected with a suction disc through an elastic telescopic rod, and the outer wall of the elastic telescopic rod is fixedly connected with a valve.

[0011] Preferably, the movable end of the elastic telescopic rod is fixedly connected with the outer wall of the suction disc, and the fixed end of the elastic telescopic rod is fixedly connected in the inner wall of the clamping block.

[0012] Preferably, the adjusting mechanism comprises a control plate, the inner wall of the control plate is slidably connected with a moving block, the outer wall of the moving block is fixedly connected with a sliding block, the inner wall of the control plate is provided with a sliding groove, the outer wall of the moving block is hingedly connected with a pull rod through a hinged rod, the outer wall of the pull rod is provided with a recess, the outer wall of the control plate is fixedly connected with a fixed block, and the inner wall of the fixed block is elastically connected with a protruding block through a telescopic spring.

[0013] Preferably, the control plate is fixedly connected to the bottom outer wall of the base, the moving module is fixedly connected to the outer wall of the moving block, the sliding block is slidably connected in the inner wall of the sliding groove, the two ends of the hinged rod are respectively hingedly connected to the outer walls of the pull rod and the moving block, and the pull rod penetrates the outer wall of the control plate.

[0014] Preferably, one end of the telescopic spring is fixedly connected with the outer wall of the protrusion, the other end of the telescopic spring is fixedly connected with the inner wall of the fixed block, the protrusion is in sliding connection with the inner wall of the fixed block, and the protrusion is clamped with the groove.

[0015] Compared with the prior art, the present application has the following beneficial effects: The present application sets up a lubricating mechanism, when the driving module drives the rotating shaft and the clamping mechanism to rotate, the oil tank rotates inside the fixed seat, the baffles open the oil outlets one by one, and the lubricating oil can flow out of the oil outlets to automatically lubricate the space between the oil tank and the fixed seat. When the clamping mechanism rotates to the initial position, the oil outlets are automatically closed. Therefore, the lubricating operation is automatically completed during the loading and unloading process, the wear during rotation is reduced, and the rotation is smoother. The present application sets up a connecting mechanism, by pressing the pressure rod, the two side clamping blocks can be simultaneously moved into the connecting block B, so that the clamping mechanism can be conveniently and quickly disassembled and assembled, fixed or removed between the connecting mechanism and the telescopic module. During maintenance of the clamping mechanism, it is not necessary to disassemble and assemble by rotating the bolts for multiple times, which is convenient and fast. The present application sets up an adjusting mechanism, when the device needs to be used in different working environments, and the lower moving module does not correspond to the slide rail position in the working environment, the distance between the two moving modules can be adjusted by pulling the pull rod, so that the distance between the moving modules and the slide rail is the same. The moving module can be placed in the slide rail to drive the whole device to move for loading and unloading, which is more adaptable and flexible. The present application sets up a clamping mechanism, when the clamping block is attached to the surface of the circular truncated cone food can, negative pressure is formed in the elastic telescopic rod, the suction cup generates suction force on the circular truncated cone food can, thereby assisting the fixing effect, and improving the clamping force on the circular truncated cone food can, so as to prevent the circular truncated cone food can from falling off during loading and unloading. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the main structure of the loading and unloading manipulator of the present application; Figure 2 It is a schematic diagram of the disassembled structure of the base, lubricating mechanism and clamping mechanism of the loading and unloading manipulator of the present application; Figure 3 It is a schematic diagram of the lubricating mechanism structure of the loading and unloading manipulator of the present application; Figure 4 It is a schematic diagram of the fixed seat cross-section structure of the loading and unloading manipulator of the present application; Figure 5 It is a schematic diagram of the oil tank cross-section structure of the loading and unloading manipulator of the present application; Figure 6 It is a schematic diagram of the oil tank and fixed seat cross-section structure of the loading and unloading manipulator of the present application; Figure 7 This is an exploded structural diagram of the connection mechanism and clamping mechanism of the loading and unloading robot of the present invention; Figure 8 This is a schematic cross-sectional view of the connecting block A and connecting block B of the loading and unloading robot of the present invention; Figure 9 This is a cross-sectional view of the control board and a schematic diagram of the adjustment mechanism of a loading and unloading robot according to the present invention; Figure 10 This invention relates to a loading and unloading robot. Figure 9 Enlarged structural diagram of section A; Figure 11 This is a schematic diagram of the clamping mechanism of a loading and unloading robot according to the present invention; Figure 12 This invention relates to a loading and unloading robot. Figure 11 Enlarged structural diagram of section B; 1. Base; 2. Lubrication mechanism; 21. Fixed seat; 22. Fixed rod; 23. Baffle; 24. Slide rod; 25. Inclined block; 26. Extrusion plate; 27. Oil tank; 28. Oil outlet; 3. Connecting mechanism; 31. Connecting block A; 32. Connecting block B; 33. Connecting spring; 34. Locking block; 35. Connecting rod; 36. Trapezoidal block; 37. Pressure rod; 4. Adjusting mechanism; 41. Control panel; 42. Moving block; 43. Sliding block; 44. Slide groove; 45. Hinge rod; 46. Pull rod; 47. Groove; 48. Fixed block; 49. Telescopic spring; 40. Protrusion; 5. Rotating shaft; 6. Drive module; 7. Telescopic module; 8. Clamping mechanism; 81. Drive rod; 82. Clamping block; 83. Elastic telescopic rod; 84. Valve; 85. Suction cup; 9. Moving module; 10. Slot. Detailed Implementation

[0017] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0018] like Figures 1-6As shown in one kind takes material manipulator, including base 1, the top outer wall of base 1 is provided with rotating shaft 5 through lubricating mechanism 2, the outer wall of rotating shaft 5 is provided with telescopic module 7, the outer wall of telescopic module 7 is provided with clamping mechanism 8 through connecting mechanism 3, the top outer wall of rotating shaft 5 is provided with drive module 6, the bottom outer wall of base 1 is provided with moving module 9 through adjusting mechanism 4, lubricating mechanism 2 includes fixed seat 21, the inner wall of fixed seat 21 is fixedly connected with fixed rod 22, the outer wall of fixed rod 22 is fixedly connected with baffle 23, the bottom outer wall of baffle 23 is fixedly connected with slide rod 24, the inner wall of oil tank 27 is rotatably connected with fixed seat 21, the inner wall of oil tank 27 is slidably connected with extrusion plate 26, the top outer wall of extrusion plate 26 is fixedly connected with inclined block 25, the outer wall of oil tank 27 is provided with oil outlet 28.

[0019] Base 1 is the supporting component of the material taking and placing manipulator, which can move on the guide rail through the moving module 9 arranged below, and the rotating shaft 5, the telescopic module 7 and the clamping mechanism 8 can be driven to rotate synchronously through the drive module 6, the telescopic module 7 can drive the clamping mechanism 8 to move up and down to clamp the circular truncated cone food can, and the drive module 6 and the moving module 9 can be used for conveying and material taking and placing operation, and the drive module 6, the telescopic module 7 and the moving module 9 are prior art; when the drive module 6 drives the rotating shaft 5 to rotate, the rotating shaft 5 drives the clamping mechanism 8 to swing transversely, and the lubricating mechanism 2 can be used for automatic lubrication to make the rotating shaft 5 rotate more smoothly and reduce the abrasion generated in the rotating process; the connecting mechanism 3 can be used for conveniently and quickly disassembling and assembling the clamping mechanism 8 to clean or maintain the clamping mechanism 8; the adjusting mechanism 4 can adjust the positions of the two groups of moving modules 9 below the base 1, when the device is used in different working environments, the slide rails in the working environment can be different in specification, so the moving modules 9 can be adjusted to adapt to the slide rails with different distances, which is more flexible; the clamping block 82 in the clamping mechanism 8 is in the shape of inclined arc, which can only clamp the circular truncated cone food can, and cannot clamp other objects.

[0020] As shown in Figures 1-6 The rotating shaft 5 is fixedly connected to the top outer wall of the oil tank 27, the drive module 6 is arranged on the top outer wall of the base 1, the fixed seat 21 is fixedly connected to the outer wall of the base 1, the fixed rod 22 penetrates through the bottom end inner wall of the oil tank 27 and is rotatably connected to the bottom end inner wall of the oil tank 27; the baffle 23 is in contact with the inner wall of the oil tank 27, the slide rod 24 is slidably connected to the top outer wall of the inclined block 25, and the fixed rod 22 penetrates through the outer wall of the extrusion plate 26.

[0021] In the initial state of the clamping mechanism 8, the oil tank 27 internal baffle 23 will close the oil outlet 28, the oil tank 27 internal lubricating oil will not leak; when the drive module 6 drives the rotating shaft 5 to rotate, the rotating shaft 5 will drive the oil tank 27 to rotate synchronously, since the fixed seat 21 and its internal fixed rod 22, baffle 23 are in a fixed state, the oil tank 27 rotates, a plurality of oil outlets 28 will gradually intersect with the position of the baffle 23, and the oil outlet 28 will be opened one by one, and the lubricating oil can flow out of the oil outlet 28 to the contact between the fixed seat 21 and the oil tank 27, and play a lubricating effect when the rotating shaft 5 and the oil tank 27 rotate; as shown in Figure 3 The top end of the oil tank 27 is provided with an oil inlet, which can be opened to inject lubricating oil into the interior; when the oil tank 27 rotates, the internal extrusion plate 26 and the inclined block 25 rotate synchronously, since the slide rod 24 is always in contact with the inclined surface of the inclined block 25, and the inclined block 25 and the extrusion plate 26 can only move vertically, so that during rotation, the slide rod 24 will pull the inclined block 25 and the extrusion plate 26 to move synchronously upward, and the extrusion plate 26 will lift the lubricating oil in the oil tank 27 upward, that is, when the oil level in the oil tank 27 is lower than the oil outlet 28, the lubricating oil will be pushed out of the oil outlet 28; as can be seen from the above, when the drive module 6 drives the rotating shaft 5 and the clamping mechanism 8 to rotate to load and unload the material, the lubricating mechanism 2 will automatically lubricate the frictional part, and when the clamping mechanism 8 returns to the initial state, the oil tank 27 rotates again to the state that the oil outlet 28 is closed by the baffle 23, and the oil outlet 28 is automatically closed to stop lubrication.

[0022] As shown in Figures 7-8 The connecting mechanism 3 includes a connecting block A31, the bottom end of the connecting block A31 is fixedly connected with a connecting block B32, the inner wall of the connecting block B32 is elastically connected with a clamping block 34 through a connecting spring 33, the inner walls of the connecting block A31 and the connecting block B32 are slidably connected with a connecting rod 35, the inner wall of the connecting block A31 is slidably connected with a trapezoidal block 36, the outer wall of the trapezoidal block 36 is fixedly connected with a pressing rod 37, and the inner wall of the clamping mechanism 8 is provided with a clamping groove 10.

[0023] Through the connecting mechanism 3, the clamping mechanism 8 can be conveniently and quickly installed below the telescopic module 7, and the clamping mechanism 8 can be driven to move up and down by the telescopic module 7 to clamp the circular truncated cone food cans; the connecting block B32 can be inserted into the top end inner wall of the clamping mechanism 8, and the clamping mechanism 8 is fixed by clamping the clamping block 34 and the clamping groove 10; the connecting spring 33, the clamping block 34 and the connecting rod 35 are provided with two groups, which are symmetrically distributed in the inner walls of the connecting block A31 and the connecting block B32; in the normal state, the connecting spring 33 drives the clamping block 34 to keep the state of being popped out due to its own elastic force, and at this time the clamping block 34 drives the connecting rod 35 to be in contact with the inclined surface of the long side of the trapezoidal block 36; the connecting rod 35 is provided with two groups, and the two groups of connecting rods 35 are symmetrically distributed on both sides of the trapezoidal block 36 and are in contact with the inclined surfaces on both sides of the trapezoidal block 36, and the inclined surface outer walls on both sides of the trapezoidal block 36 are provided with guide grooves,Figure 8 As shown, the guide groove can guide the moving track of the trapezoidal block 36, and make the one end of the connecting rod 35 only move along the outer wall of the trapezoidal block 36; the pressing rod 37 is slidingly connected in the inner wall of the connecting block A31, and a part of the pressing rod 37 is located outside the connecting block A31, and the operator can manually press the part of the pressing rod 37 outside the connecting block A31 to press the pressing rod 37 inward, and drive the trapezoidal block 36 to move synchronously into the inner wall of the connecting block A31.

[0024] As shown in the figure, Figures 7-8 The connecting block A31 is fixedly connected with the telescopic module 7, the connecting block B32 is in contact with the inner wall of the clamping mechanism 8, and the connecting rod 35 penetrates through the outer walls of the connecting block A31 and the connecting block B32; one end of the connecting spring 33 is fixedly connected with the outer wall of the clamping block 34, the other end of the connecting spring 33 is fixedly connected with the inner wall of the connecting block B32, the clamping block 34 is slidingly connected with the inner wall of the connecting block B32, and the clamping block 34 is clamped with the clamping groove 10; one end of the connecting rod 35 is slidingly connected with the outer wall of the trapezoidal block 36, and the other end of the connecting rod 35 is fixedly connected with the outer wall of the clamping block 34.

[0025] When the pressing rod 37 is pressed inward, the trapezoidal block 36 moves synchronously, and the connecting rod 35 moves along the two side slopes thereof, and since the connecting rod 35 can only move horizontally in the inner walls of the connecting block A31 and the connecting block B32, it will move along the slope of the trapezoidal block 36 to the short side, and the two groups of connecting rods 35 move towards the middle at the same time, driving the corresponding clamping blocks 34 to move synchronously and compress the connecting spring 33; when the clamping block 34 moves into the inner wall of the connecting block B32, it can be separated from the clamping groove 10, and the clamping mechanism 8 can be removed for maintenance; at this time, the top end of the clamping mechanism 8 can be inserted upward outside the connecting block B32, so that the clamping block 34 corresponds to the position of the clamping groove 10, the pressing rod 37 is loosened, the clamping block 34 is ejected and clamped with the clamping groove 10 under the elastic force of the connecting spring 33 to fix the clamping mechanism 8, and the connecting rod 35 and the trapezoidal block 36 are reset, so that the installation of the clamping mechanism 8 is completed conveniently and quickly.

[0026] As shown in the figure, Figures 11-12 The clamping mechanism 8 comprises a driving rod 81, the outer wall of the driving rod 81 is fixedly connected with a clamping block 82, the inner wall of the clamping block 82 is elastically connected with a suction disc 85 through an elastic telescopic rod 83, and the outer wall of the elastic telescopic rod 83 is fixedly connected with a valve 84; the movable end of the elastic telescopic rod 83 is fixedly connected with the outer wall of the suction disc 85, and the fixed end of the elastic telescopic rod 83 is fixedly connected in the inner wall of the clamping block 82.

[0027] The driving rod 81 can be fixed outside the connecting block B32 to fix the clamping mechanism 8 as a whole, and the driving rod 81 can drive the two groups of clamping blocks 82 to move to the middle or both sides to clamp and take the food cans in the shape of a circular truncated cone; the clamping blocks 82 are made of rubber, and when the clamping blocks 82 are in contact with and clamp the surface of the food cans in the shape of a circular truncated cone, the friction is large; in the normal state, the surface of the suction cup 85 protrudes from the surface of the clamping block 82 due to the elastic force of the elastic expansion rod 83; when the two clamping blocks 82 move to the middle and are in contact with the surface of the food cans in the shape of a circular truncated cone, the surface of the clamping blocks 82 will extrude the suction cup 85, so that the suction cup 85 and the movable end of the elastic expansion rod 83 move to the fixed end at the same time, until the surface of the suction cup 85 is flush with the surface of the clamping block 82, the outer wall of the clamping block 82 has a circular groove matched with the suction cup 85, and the suction cup 85 moves into the circular groove at this time; during the movement of the suction cup 85, the suction cup 85 is always in contact with the surface of the food cans in the shape of a circular truncated cone, so that the air inside the elastic expansion rod 83 is compressed and the valve 84 is extruded to be discharged, and the external air pressure cannot extrude the valve 84 in the opposite direction, so that the valve 84 can seal the elastic expansion rod 83, so that a negative pressure is formed in the elastic expansion rod 83, that is, the suction cup 85 can generate suction force on the food cans in the shape of a circular truncated cone, so that the clamping effect is improved, and the problem that the clamping effect of the existing clamping block 82 is unstable due to the fact that the surface of the food cans in the shape of a circular truncated cone can be smooth and the side wall is inclined is avoided.

[0028] As shown in Figures 9-10 The adjusting mechanism 4 includes a control plate 41, the inner wall of the control plate 41 is slidably connected with a moving block 42, the outer wall of the moving block 42 is fixedly connected with a sliding block 43, the inner wall of the control plate 41 is provided with a sliding groove 44, the outer wall of the moving block 42 is hingedly connected with a pull rod 46 through a hinge rod 45, the outer wall of the pull rod 46 is provided with a groove 47, the outer wall of the control plate 41 is fixedly connected with a fixed block 48, and the inner wall of the fixed block 48 is elastically connected with a protruding block 40 through an expansion spring 49.

[0029] The adjusting mechanism 4 can adjust the distance between the two moving modules 9 below the base 1 to adapt to different distance specifications of the slide rails; the moving modules 9 are provided with rollers, the base 1 and the clamping mechanism 8 as a whole can be moved by being driven to rotate by the electric control to convey and take the food cans in the shape of a circular truncated cone; the hinge rod 45 and the moving block 42 are provided with two groups and are symmetrically distributed in the inner walls of the two sides of the control plate 41, the sliding block 43 on the outer wall of the moving block 42 is always in contact with the inner wall of the sliding groove 44, the sliding groove 44 can guide the movement of the moving block 42, so that the two groups of moving blocks 42 can only move horizontally to drive the corresponding moving modules 9 to move horizontally at the same time.

[0030] As shown in Figures 9-10As shown, the control plate 41 is fixedly connected to the bottom end outer wall of the base 1, the moving module 9 is fixedly connected to the outer wall of the moving block 42, the sliding block 43 is slidingly connected to the inner wall of the sliding groove 44, the two ends of the hinged rod 45 are respectively hinged to the outer wall of the pulling rod 46 and the moving block 42, and the pulling rod 46 penetrates through the outer wall of the control plate 41; one end of the telescopic spring 49 is fixedly connected to the outer wall of the protrusion 40, the other end of the telescopic spring 49 is fixedly connected to the inner wall of the fixed block 48, the protrusion 40 is slidingly connected to the inner wall of the fixed block 48, and the protrusion 40 is clamped with the recess 47.

[0031] The pulling rod 46 can be pulled back and forth in the control plate 41, and when it moves, it can drive the hinged rod 45 to overturn, and through the hinged rod 45, it can drive the moving blocks 42 on both sides to move, and when the pulling rod 46 is pushed inward, the hinged rod 45 can drive the moving blocks 42 on both sides and the moving module 9 to move to both sides at the same time, and when the pulling rod 46 is pulled outward, the moving blocks 42 and the moving module 9 can move to the middle at the same time, that is, the spacing of the moving module 9 can be adjusted; the protrusion 40 in the fixed block 48 can be clamped with the recess 47 under the elastic force of the telescopic spring 49, the pulling rod 46 can be limited, and the position of the moving module 9 can be fixed; the outer wall of the protrusion 40 is provided with a short rod, the short rod penetrates through one side of the outer wall of the fixed block 48, pulling the short rod can drive the protrusion 40 to move to the inner wall of the fixed block 48, and the protrusion 40 can be out of contact with the recess 47, the limitation of the pulling rod 46 is removed and the pulling rod 46 is moved; when the pulling rod 46 is moved to the position where the moving module 9 is in the appropriate position and corresponds to the position of the slide rail in the working environment, the telescopic spring 49 can drive the protrusion 40 to pop out due to its own elastic force, and the protrusion 40 can be clamped with the corresponding recess 47 to complete the fixation; the recess 47 is provided with multiple groups, the pulling rod 46 can be moved to multiple positions to be fixed, and thus the spacing of the moving module 9 can be adjusted to multiple positions, and the adaptability is high.

[0032] In use, the rollers in the moving module 9 can be started through the electric control system, the moving module 9 drives the whole device to move along the slide rail to the position where the circular truncated cone-shaped food cans are to be taken out, the driving module 6 drives the rotating shaft 5 to rotate, the rotating shaft 5 drives the telescopic module 7 and the clamping mechanism 8 to rotate synchronously, the clamping mechanism 8 is aligned with the circular truncated cone-shaped food cans, and the telescopic module 7 drives the clamping mechanism 8 to move up and down to clamp the circular truncated cone-shaped food cans.

[0033] When the driving rod 81 drives the two groups of clamping blocks 82 to move and adhere to the surface of the circular truncated cone-shaped food cans, the movable end of the suction cup 85 and the elastic telescopic rod 83 moves to the inside of the fixed end, the suction cup 85 moves to the outer wall circular groove of the clamping block 82 and is flush with the surface of the clamping block 82, the surfaces of the clamping block 82 and the suction cup 85 adhere to the surface of the circular truncated cone-shaped food cans, and in this process, the air in the elastic telescopic rod 83 is extruded, the valve 84 is extruded and discharged, a negative pressure is formed in the elastic telescopic rod 83, and then the suction cup 85 generates suction force on the circular truncated cone-shaped food cans, so that the effect of auxiliary fixation is achieved when clamping, so that the surface of the circular truncated cone-shaped food cans is not smooth and is not unstable.

[0034] After the conical food can is clamped, the driving module 6 drives the clamping mechanism 8 to rotate to the target conveying position, the clamping mechanism 8 is released, the driving rod 81 drives the clamping block 82 to move to both sides, the suction cup 85 is separated from the surface of the conical food can, and the conical food can is placed at the specified position to complete the conveying.

[0035] When the driving module 6 drives the rotating shaft 5 to rotate to carry out the loading and unloading operation, the oil tank 27 is synchronously rotated, the oil outlets 28 are all arranged on the half outer wall of the oil tank 27 and are closed by the blocking of the semicircular baffle 23, when the oil tank 27 rotates, the baffle 23 and the fixed rod 22 are fixed, so that the oil outlets 28 are gradually staggered with the position of the baffle 23, and the plurality of oil outlets 28 are opened one by one, the lubricating oil flows out from the oil outlets 28 to the contact position of the fixed seat 21 and the oil tank 27, and the rotating shaft 5 and the oil tank 27 are rotated to play a lubricating effect, reducing friction and wear in the rotating process; at the same time, when the oil tank 27 rotates, the slide rod 24 is in a fixed state, the inclined surface block 25 and the extrusion plate 26 are slidably connected with the inner wall of the oil tank 27, and the extrusion plate 26 can only move up and down in the inner wall of the oil tank 27, so that the inclined surface block 25 and the extrusion plate 26 are synchronously rotated, as shown in the initial state, the slide rod 24 corresponds to the position of the higher inclined surface of the inclined surface block 25, when the inclined surface block 25 rotates with the oil tank 27, the slide rod 24 always keeps in contact with the top inclined surface of the inclined surface block 25, the inclined surface block 25 rotates to the lower inclined surface in contact with the slide rod 24, and since the inclined surface has a height difference, when the inclined surface block 25 rotates from the higher position to the lower position in contact with the slide rod 24, the inclined surface block 25 and the extrusion plate 26 move upward synchronously, when the liquid level of the lubricating oil in the oil tank 27 is lower than the oil outlet 28, the extrusion plate 26 can push the lubricating oil out of the oil outlet 28, ensuring the continuous supply of lubricating oil and maintaining good lubricating effect. Figure 3

[0036] When the clamping mechanism 8 completes the loading and unloading operation and returns to the initial state, the oil tank 27 is rotated again to the state that the oil outlets 28 are closed by the baffle 23, the oil outlets 28 are automatically closed, the lubrication is stopped, and the waste of lubricating oil is avoided; when the lubricating oil is insufficient, the oil inlet on the top outer wall of the oil tank 27 can be opened to inject an appropriate amount of lubricating oil into the oil tank 27.

[0037] When the clamping mechanism 8 needs to be cleaned or maintained due to long-term contact with the conical food can and causes wear or pollution, the pressure rod 37 can be pressed inward, the trapezoidal block 36 is moved to drive the connecting rod 35 to move the corresponding clamping block 34 into the inner part of the connecting block B 32, and the clamping mechanism 8 can be taken off.

[0038] ​After the maintenance is completed, the pressing rod 37 is pressed again, the top end of the clamping mechanism 8 is inserted to the outer wall of the connecting block B32, the clamping block 34 is positioned corresponding to the clamping groove 10, the pressing rod 37 is released, the clamping block 34 is popped out and clamped with the clamping groove 10 under the elastic force of the connecting spring 33, and the clamping mechanism 8 is fixed, so that the clamping mechanism 8 is more convenient and fast to be disassembled and installed without rotating the bolt.

[0039] When the device needs to be used in different working environments, the interval of the moving modules 9 on the two sides below the base 1 can be adjusted according to the interval of the slide rails in the working environment; the limiting of the pull rod 46 is released, the pull rod 46 is moved, the two moving blocks 42 on the two sides are driven to move to the two sides or the middle synchronously through the turning of the hinge rod 45, the position of the moving module 9 is fixed through the clamping of the convex block 40 and the groove 47 when the interval of the moving module 9 is adjusted to match the interval of the slide rails, and the position of the moving module 9 is further adjusted flexibly according to the interval of the slide rails to match the slide rails, so that the adaptability is higher.

[0040] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only the principles of the present application. Various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A load / unload robot comprising a base (1), characterized in that: The outer wall of the top end of the base (1) is provided with a rotating shaft (5) through a lubricating mechanism (2), the outer wall of the rotating shaft (5) is provided with an extension module (7), the outer wall of the extension module (7) is provided with a clamping mechanism (8) through a connecting mechanism (3), the top end of the outer wall of the rotating shaft (5) is provided with a driving module (6), the outer wall of the bottom end of the base (1) is provided with a moving module (9) through an adjusting mechanism (4), the lubricating mechanism (2) comprises a fixed seat (21), the inner wall of the fixed seat (21) is fixedly connected with a fixed rod (22), the outer wall of the fixed rod (22) is fixedly connected with a baffle (23), the outer wall of the bottom end of the baffle (23) is fixedly connected with a sliding rod (24), the inner wall of the fixed seat (21) is rotatably connected with an oil tank (27), the inner wall of the oil tank (27) is slidably connected with an extrusion plate (26), the top end of the outer wall of the extrusion plate (26) is fixedly connected with an inclined surface block (25), and the outer wall of the oil tank (27) is provided with an oil outlet (28).

2. A pick-and-place robot according to claim 1, characterized in that: The rotating shaft (5) is fixedly connected to the top end of the outer wall of the oil tank (27), the driving module (6) is arranged on the top end of the outer wall of the base (1), the fixed seat (21) is fixedly connected to the outer wall of the base (1), the fixed rod (22) penetrates through the bottom end of the outer wall of the oil tank (27), and the fixed rod (22) is rotatably connected with the bottom end of the inner wall of the oil tank (27). The baffle (23) is in contact with the inner wall of the oil tank (27), the sliding rod (24) is slidably connected with the top end of the outer wall of the inclined surface block (25), and the fixed rod (22) penetrates through the outer wall of the extrusion plate (26).

3. A pick-and-place robot as claimed in claim 1, characterized in that: The connecting mechanism (3) comprises a connecting block A (31), the bottom end of the outer wall of the connecting block A (31) is fixedly connected with a connecting block B (32), the inner wall of the connecting block B (32) is elastically connected with a clamping block (34) through a connecting spring (33), the inner walls of the connecting block A (31) and the connecting block B (32) are slidably connected with a connecting rod (35), the inner wall of the connecting block A (31) is slidably connected with a trapezoidal block (36), the outer wall of the trapezoidal block (36) is fixedly connected with a pressing rod (37), and the inner wall of the clamping mechanism (8) is provided with a clamping groove (10).

4. A pick-and-place robot as claimed in claim 3, characterized in that: The connecting block A (31) is fixedly connected with the extension module (7), the connecting block B (32) is in contact with the inner wall of the clamping mechanism (8), and the connecting rod (35) penetrates through the outer walls of the connecting block A (31) and the connecting block B (32).

5. A pick-and-place robot as claimed in claim 3, characterized in that: One end of the connecting spring (33) is fixedly connected with the outer wall of the clamping block (34), the other end of the connecting spring (33) is fixedly connected with the inner wall of the connecting block B (32), the clamping block (34) is slidably connected with the inner wall of the connecting block B (32), the clamping block (34) is clamped with the clamping groove (10), one end of the connecting rod (35) is slidably connected with the outer wall of the trapezoidal block (36), and the other end of the connecting rod (35) is fixedly connected with the outer wall of the clamping block (34).

6. A pick-and-place robot as claimed in claim 1, characterized in that: The clamping mechanism (8) comprises a driving rod (81), the outer wall of the driving rod (81) is fixedly connected with a clamping block (82), the inner wall of the clamping block (82) is elastically connected with a suction disc (85) through an elastic telescopic rod (83), and the outer wall of the elastic telescopic rod (83) is fixedly connected with a valve (84).

7. A pick-and-place robot according to claim 6, wherein: The movable end of the elastic telescopic rod (83) is fixedly connected with the outer wall of the suction disc (85), and the fixed end of the elastic telescopic rod (83) is fixedly connected in the inner wall of the clamping block (82).

8. A pick-and-place robot as claimed in claim 1, characterized in that: The adjusting mechanism (4) comprises a control plate (41), the inner wall of the control plate (41) is slidably connected with a moving block (42), the outer wall of the moving block (42) is fixedly connected with a sliding block (43), the inner wall of the control plate (41) is provided with a sliding groove (44), the outer wall of the moving block (42) is hingedly connected with a pull rod (46) through a hinge rod (45), the outer wall of the pull rod (46) is provided with a groove (47), the outer wall of the control plate (41) is fixedly connected with a fixed block (48), and the inner wall of the fixed block (48) is elastically connected with a convex block (40) through a telescopic spring (49).

9. A pick-and-place robot according to claim 8, wherein: The control plate (41) is fixedly connected to the bottom end of the outer wall of the base (1), the moving block (42) is fixedly connected with the moving block (42), the sliding block (43) is slidably connected in the inner wall of the sliding groove (44), the hinge rod (45) is hingedly connected with the outer wall of the pull rod (46) and the moving block (42), respectively, and the pull rod (46) penetrates through the outer wall of the control plate (41).

10. A pick-and-place robot as claimed in claim 8, characterized in that: One end of the telescopic spring (49) is fixedly connected with the outer wall of the convex block (40), the other end of the telescopic spring (49) is fixedly connected with the inner wall of the fixed block (48), the convex block (40) is slidably connected with the inner wall of the fixed block (48), and the convex block (40) is clamped with the groove (47).

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