Novel foaming clamp box loading and unloading manipulator

Abstract

The invention discloses a novel box loading and unloading manipulator for a foaming fixture, which relates to the technical field of manipulators, comprises a conveying base table, a sliding table, a lifting cylinder, a locking plate and a clamping plate, and is characterized by further comprising a connecting plate fixedly mounted on the clamping plate; the sucking disc is mounted on the connecting plate and is used for sucking an object; the rotating joint is mounted on the connecting plate, a connector is mounted on a rotating part of the rotating joint, and the connector is fixedly connected with the suction cup; the fan blades are fixedly mounted on the inner wall of the air vent of the suction cup, so that the suction cup is driven to rotate when air is blown to the suction cup; and an avoiding mechanism. According to the refrigerator loading and unloading mechanical arm, the refrigerator shell can be clamped only by driving the clamping plate to move downwards and upwards, the process of moving downwards, clamping plate retraction clamping and clamping upwards and clamping plate retraction in a traditional mechanical arm is not needed, and therefore the whole clamping process is simple and rapid, and the adaptive distance is achieved in the clamping process.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a novel robotic arm for loading and unloading foamed clamps. Background Technology

[0002] Refrigerator foaming refers to the process of filling the refrigerator's interior with a foaming agent during manufacturing. This step is crucial for the refrigerator's insulation performance. After the foaming agent expands and solidifies inside the refrigerator, it forms a dense insulation layer that effectively insulates against external heat and maintains a low temperature inside the refrigerator.

[0003] Refrigerator foaming is usually carried out in a foaming mold. After foaming is completed, the mold is opened and the object is transferred by a robotic arm. In the existing technology, when picking up objects, the operation process is usually that the mechanical clamping plate descends to a certain height, the two clamping plates move inward to pick up the object until the suction cups are attached, then a vacuum is drawn to pick it up, and then it is lifted up and transferred. However, in this operation mode, the movement of the mechanical clamping plate needs to be precisely controlled by the program, and there are many intermediate picking processes, which leads to a longer process time and affects the foaming efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a novel robotic arm for loading and unloading foamed containers, in order to overcome the aforementioned shortcomings of the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a novel foaming clamp upper and lower box robot, comprising a conveying base, a slide, a lifting cylinder, a locking plate, and a clamping plate, characterized in that it further comprises: a connecting plate, which is fixedly mounted on the clamping plate; a suction cup, which is mounted on the connecting plate for picking up objects; a rotary joint, which is mounted on the connecting plate, and the rotating part of the rotary joint is equipped with a connector, the connector being fixedly connected to the suction cup; a fan blade, which is fixedly mounted on the inner wall of the air vent of the suction cup so that when air is blown towards the suction cup, it drives the suction cup to rotate; and an avoidance mechanism; when the suction cup rotates, the avoidance mechanism will cause the suction cup to move away from the object to perform adaptive avoidance.

[0006] Preferably, the avoidance mechanism includes a fixing plate fixedly installed on the connector head;

[0007] A ring is rotatably mounted on the connecting plate, a baffle is fixedly mounted on the inner wall of the ring, a slider is slidably mounted on the ring along its radial direction, a connecting rope is fixedly mounted on the slider, and a sphere is fixedly mounted on the end of the connecting rope away from the slider.

[0008] Preferably, two baffles are provided, and the two baffles are located on both sides of the fixing plate and are attached to the fixing plate.

[0009] Preferably, one end of the slider is provided with a pressing slope, and one end of the fixing plate is provided with a pressure-receiving slope.

[0010] Preferably, a connecting frame is fixedly installed on the rotary joint, and a limit strip is fixedly installed on the connecting frame. There are two limit strips, located on both sides of the connecting frame, and the limit strips are slidably inserted into the inside of the connecting plate.

[0011] Preferably, a connecting strip is fixedly installed on the inner wall of the suction cup, and a round shaft is fixedly installed on the connecting strip at the center of the vent hole, and the fan blade is fixedly installed on the round shaft.

[0012] Preferably, a plurality of ratchet bars are fixedly installed on the connector head, and a limit block is rotatably installed on the inner wall of the connecting plate, and a stop bar is fixedly installed on the inner wall of the connecting plate.

[0013] Preferably, the inner wall of the suction cup is fixedly equipped with several diversion strips.

[0014] Preferably, the slide is slidably mounted on the conveying base, and the lifting cylinder is fixedly mounted on the slide. The locking plate is fixedly mounted on the output end of the lifting cylinder, and the clamping plate is mounted on the locking plate.

[0015] In the above technical solution, the present invention provides a novel foaming clamping upper and lower box robot, which has the following beneficial effects: In this application, the upper and lower box robot only needs to move the clamping plate down and up to clamp the refrigerator shell, without the process of moving down, retracting the clamping plate and clamping, and moving up in the traditional robot arm, so that the whole clamping process is simple and fast, and the clamping distance is adaptive during the clamping process. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a three-dimensional structural schematic diagram provided for an embodiment of the present invention;

[0018] Figure 2 This is a partial structural diagram of the clamping plate provided in an embodiment of the present invention;

[0019] Figure 3 This is a partial structural diagram of the suction cup provided in an embodiment of the present invention;

[0020] Figure 4 This is a partial structural schematic diagram of the rotary joint provided in an embodiment of the present invention;

[0021] Figure 5 This is a partial structural schematic diagram of the diversion strip provided in an embodiment of the present invention;

[0022] Figure 6 This is a partial structural diagram of the connector provided in an embodiment of the present invention;

[0023] Figure 7 This is a partial structural schematic diagram of the fixing plate provided in an embodiment of the present invention;

[0024] Figure 8 This is a partial structural diagram of the ratchet provided in an embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Conveying base; 2. Slide table; 3. Lifting cylinder; 4. Locking plate; 5. Clamping plate; 6. Connecting plate; 71. Suction cup; 71.1. Diverter bar; 72. Rotary joint; 73. Connector head; 74. Connecting frame; 74.1. Limiting bar; 75. Ring; 76. Baffle; 77. Fixing plate; 78. Slider; 79. Connecting rope; 79.1. Sphere; 81. Connecting bar; 82. Fan blade; 91. Ratchet; 92. Limiting block; 93. Stop bar. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0028] Please see Figure 1-8 A novel robotic arm for loading and unloading foaming fixtures includes a conveying base 1, a slide 2, a lifting cylinder 3, a locking plate 4, and a clamping plate 5, and also includes:

[0029] Connecting plate 6, which is fixedly installed on clamping plate 5;

[0030] Suction cup 71, which is mounted on connecting plate 6, is used to pick up objects;

[0031] A rotary joint 72 is mounted on a connecting plate 6, and a connector 73 is mounted on the rotating part of the rotary joint 72. The connector 73 is fixedly connected to the suction cup 71.

[0032] The fan blade 82 is fixedly installed on the inner wall of the air vent of the suction cup 71 so that when air is blown toward the suction cup 71, it drives the suction cup 71 to rotate.

[0033] Avoidance mechanism;

[0034] When the suction cup 71 rotates, the avoidance mechanism will move the suction cup 71 away from the object to achieve adaptive avoidance.

[0035] In another embodiment of the present invention: the avoidance mechanism includes a fixing plate 77 fixedly mounted on the connector 73;

[0036] A ring 75 is rotatably mounted on the connecting plate 6. A baffle 76 is fixedly mounted on the inner wall of the ring 75. A slider 78 is slidably mounted on the ring 75 along its radial direction. A connecting rope 79 is fixedly mounted on the slider 78. A ball 79.1 is fixedly mounted on the end of the connecting rope 79 away from the slider 78.

[0037] The suction cup 71 is connected to the vacuum pumping and vacuum breaking device via the rotary joint 72. The vacuum pumping and vacuum breaking device are controlled by the solenoid valve and connected to the rotary joint 72 through the same pipeline to achieve air extraction and air blowing. This is an existing mature technology, so it will not be described in detail.

[0038] In existing technologies, the typical procedure for gripping objects involves the mechanical clamping plate 5 descending to a certain height, the two clamping plates 5 moving inward to grip until the suction cup 71 is in contact, then a vacuum is drawn to suck it up, and then it rises and is transferred. However, in this operating mode, the movement of the mechanical clamping plate 5 requires precise control through a program, and there are many intermediate gripping steps, which prolongs the entire process time and affects the foaming efficiency. Therefore, in this application, when gripping is required, the vacuum suction cup 71 is blown with air using its built-in vacuum breaking device. When the airflow enters the connector 73 through the rotary joint 72 and blows through the center of the suction cup 71, It will blow the fan blades 82 to rotate. At this time, the fan blades 82 will drive the suction cup 71 and the connector 73 on it to rotate at one end of the rotary joint 72. As the suction cup 71 and the connector 73 rotate, the connector 73 will drive the fixing plate 77 to rotate. At this time, the fixing plate 77 will drive the ring 75 to rotate through the baffle 76. As the ring 75 rotates, the ball 79.1 on it will be thrown out due to centrifugal force. At this time, the ball 79.1 will pull the slider 78 to move through the connecting rope 79. When the slider 78 moves outward along the radial direction of the ring 75, it will push the fixing plate 77 and the connector 73 towards the direction of rotation. Figure 7 As shown, when the suction cup 71 moves to the left, it moves away from the object, thus avoiding contact and friction with the object and preventing damage to the surface of the suction cup 71. When vacuuming, air is drawn away. As the air between the suction cup 71 and the object is continuously drawn away, the external air pressure causes the suction cup 71 to move closer to the object and adhere to it until it is firmly attached. During the attachment process, the suction cup 71 can adapt to various distances from the object by constantly getting closer to it. Therefore, in this application, when the mechanical clamp 5 moves the object, it only needs to move up and down. The vacuuming and vacuum breaking devices work with the suction cup 71 to avoid obstacles and adapt to different distances, reducing the clamping steps where the clamps 5 move closer to each other, thereby shortening the foaming process and improving the foaming efficiency.

[0039] In another embodiment of the present invention: two baffles 76 are provided, and the two baffles 76 are respectively located on both sides of the fixing plate 77 and are attached to the fixing plate 77;

[0040] The two baffles 76 allow the fixed plate 77 to rotate, which in turn drives the ring 75 to rotate synchronously.

[0041] In another embodiment of the present invention: one end of the slider 78 is provided with a pressing slope, and one end of the fixing plate 77 is provided with a pressure-receiving slope;

[0042] Among them, reference Figure 7 When the ring 75 is driven to rotate, the ball 79.1 moves outward due to centrifugal force. At this time, the ball 79.1 will pull the slider 78 to move through the connecting rope 79. As the slider 78 moves, it will push the fixed plate 77 to move to the left through the contact of the squeezing inclined surface and the pressure inclined surface. At this time, the fixed plate 77 will drive the connector 73 and the rotary joint 72 to move to the left to move away from the object.

[0043] When the mechanical clamp 5 moves down, the vacuum breaking device is activated simultaneously. At this time, the vacuum breaking device blows air, and as the airflow passes through the suction cup 71, it drives the suction cup 71 to rotate through the fan blade 82, thereby continuously pushing the suction cup 71 away from the object to avoid it. At this time, the direct descent of the clamp 5 will prevent the suction cup 71 from contacting the object, thus preventing the surface of the suction cup 71 from being damaged by friction due to contact with the object.

[0044] In another embodiment of the present invention: a connecting frame 74 is fixedly installed on the rotary joint 72, and a limiting strip 74.1 is fixedly installed on the connecting frame 74. There are two limiting strips 74.1, which are located on both sides of the connecting frame 74 respectively. The limiting strips 74.1 are slidably inserted into the inside of the connecting plate 6.

[0045] The rotary joint 72 is slidably mounted on the connecting plate 6 via the connecting frame 74 and the limiting strip 74.1. When the fixed plate 77 is pressed by the pressing slope of the slider 78, the fixed plate 77 will drive the connector 73 and the rotary joint 72 to move laterally on the surface of the connecting plate 6, thereby driving the suction cup 71 away from the object. The connecting frame 74 and the limiting strip 74.1 will also make the connection between the rotary joint 72 and the connecting plate 6 more secure, so that the suction cup 71 can easily move the object after it picks it up.

[0046] When the suction cup 71 picks up the object, it will generate a downward force. At this time, the limiting strip 74.1 will bear part of the pressure, thereby reducing the pressure on the rotary joint 72.

[0047] In another embodiment of the present invention: a connecting strip 81 is fixedly installed on the inner wall of the suction cup 71, and a round shaft is fixedly installed on the connecting strip 81 at the center of the vent hole, and the fan blade 82 is fixedly installed on the round shaft;

[0048] The connecting strip 81 is cylindrical, which facilitates the passage of airflow, thereby enabling the fan blade 82 to drive the connector 73 to rotate more effectively.

[0049] In another embodiment of the present invention: a plurality of ratchet bars 91 are fixedly installed on the connector 73, and a limit block 92 is rotatably installed on the inner wall of the connecting plate 6, and a stop bar 93 is fixedly installed on the inner wall of the connecting plate 6;

[0050] When airflow exits from inside the suction cup 71, it will drive the fan blades 82, thereby causing the connector 73 and the suction cup 71 to rotate. Figure 8 When rotating clockwise, the inclined edge of the ratchet 91 contacts the limiting block 92, causing the limiting block 92 to rotate downwards. During this time, the rotation of the connector 73 and suction cup 71 is unrestricted. However, during suction, the connector 73 and suction cup 71 rotate counter-clockwise. The ratchet 91 on the connector 73 contacts the limiting block 92, causing it to rotate upwards. However, because the stop bar 93 is located above and to the right of the limiting block 92's axis of rotation, the stop bar 93 restricts the rotation of the limiting block 92, thus restricting the rotation of the ratchet 91. Therefore, the connector 73 and suction cup 71 cannot rotate. As the vacuum device continuously generates suction inside the suction cup 71, the suction cup 71 does not rotate, so the sphere 79.1 does not affect the position of the suction cup 71. However, as the air between the suction cup 71 and the object is continuously sucked away, the external air pressure will increase, thus driving the suction cup 71 closer to the object until the suction cup 71 adheres to the object and a vacuum is generated. At this time, the suction cup 71 will firmly hold the object and move the object upward with the upward movement of the mechanical clamp 5 until the object is moved to a suitable distance. Then, the vacuum breaking device will be activated to blow air, thereby causing the suction cup 71 to leave the object and release the object.

[0051] In another embodiment of the present invention: a plurality of diversion strips 71.1 are fixedly installed on the inner wall of the suction cup 71;

[0052] When the vacuum breaking device blows air, the airflow is blown toward the object through the vent of the suction cup 71. At the same time, since the suction cup 71 is a rigid suction cup 71, its inner wall is provided with several flow dividers 71.1. When blowing air, the suction cup 71 will also rotate. At this time, as the suction cup 71 rotates, the airflow blown out from inside will be disturbed by the flow dividers 71.1, thereby forming a turbulent airflow between the object and the suction cup 71. At this time, the airflow will blow away the debris on the surface of the object, thereby removing the debris attached to the surface of the object, so as to improve the firmness between the suction cup 71 and the object during subsequent vacuuming.

[0053] In another embodiment of the present invention: the slide table 2 is slidably mounted on the conveying base 1, and the lifting cylinder 3 is fixedly mounted on the slide table 2, the locking plate 4 is fixedly mounted on the output end of the lifting cylinder 3, and the clamping plate 5 is mounted on the locking plate 4;

[0054] The conveying base 1 is equipped with a screw conveying mechanism to drive the slide 2 to move horizontally. The slide 2 will drive the lifting cylinder 3 to move horizontally, thereby adjusting the horizontal position of the clamping plate 5. The lifting cylinder 3 will drive the locking plate 4 and the clamping plate 5 to move.

[0055] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A novel manipulator for loading and unloading foaming fixtures, comprising a conveying base (1), a slide (2), a lifting cylinder (3), a locking plate (4), and a clamping plate (5), characterized in that, Also includes: The connecting plate (6) is fixedly installed on the clamping plate (5); A suction cup (71) is mounted on a connecting plate (6) for picking up objects; A rotary joint (72) is mounted on a connecting plate (6), and a connector (73) is mounted on the rotating part of the rotary joint (72), the connector (73) being fixedly connected to the suction cup (71); The fan blade (82) is fixedly installed on the inner wall of the air vent of the suction cup (71) so that when air is blown toward the suction cup (71), the suction cup (71) will rotate. Avoidance mechanism; When the suction cup (71) rotates, the avoidance mechanism will cause the suction cup (71) to move away from the object, thereby performing adaptive avoidance.

2. The novel foaming clamp upper and lower box robot according to claim 1, characterized in that, The avoidance mechanism includes a fixing plate (77) fixedly installed on the connector (73); A ring (75) is rotatably mounted on the connecting plate (6). A baffle (76) is fixedly mounted on the inner wall of the ring (75). A slider (78) is slidably mounted on the ring (75) along its radial direction. A connecting rope (79) is fixedly mounted on the slider (78). A ball (79.1) is fixedly mounted on the end of the connecting rope (79) away from the slider (78).

3. The novel foaming clamp upper and lower box robot according to claim 2, characterized in that, Two baffles (76) are provided, and the two baffles (76) are located on both sides of the fixing plate (77) and are attached to the fixing plate (77).

4. The novel foaming clamp upper and lower box robot according to claim 2, characterized in that, One end of the slider (78) is provided with a pressing slope, and one end of the fixed plate (77) is provided with a pressure-bearing slope.

5. A novel foaming clamp upper and lower box robot according to claim 2, characterized in that, A connecting frame (74) is fixedly installed on the rotary joint (72), and a limiting strip (74.1) is fixedly installed on the connecting frame (74). There are two limiting strips (74.1), which are located on both sides of the connecting frame (74). The limiting strip (74.1) is slidably inserted into the inside of the connecting plate (6).

6. The novel foaming clamp upper and lower box robot according to claim 2, characterized in that, A connecting strip (81) is fixedly installed on the inner wall of the suction cup (71), and a round shaft is fixedly installed on the connecting strip (81) at the center of the vent hole. The fan blade (82) is fixedly installed on the round shaft.

7. A novel foaming clamp upper and lower box robot according to claim 2, characterized in that, A plurality of ratchet bars (91) are fixedly installed on the connector (73), and a limit block (92) is rotatably installed on the inner wall of the connecting plate (6), and a stop bar (93) is fixedly installed on the inner wall of the connecting plate (6).

8. A novel foaming clamp upper and lower box robot according to claim 2, characterized in that, The inner wall of the suction cup (71) is fixedly equipped with several diversion strips (71.1).

9. A novel foaming clamp upper and lower box robot according to claim 1, characterized in that, The slide (2) is slidably installed on the conveying base (1), and the lifting cylinder (3) is fixedly installed on the slide (2). The locking plate (4) is fixedly installed on the output end of the lifting cylinder (3), and the clamping plate (5) is installed on the locking plate (4).

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