Magnesium oxide board carrying manipulator
By designing a magnesium oxide board handling robot with an XYZ axis transmission mechanism and an independent clamping assembly, the problem of uneven surface of magnesium oxide boards was solved, achieving stable clamping and flipping, and improving the handling efficiency of automated production of magnesium oxide boards.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-28
- Publication Date
- 2026-04-03
AI Technical Summary
Existing handling robots have difficulty effectively gripping or holding magnesium oxide boards with uneven surfaces, burrs, and microcracks, leading to difficulties in handling during the automated production of magnesium oxide boards.
A mechanical hand for handling magnesium oxide boards was designed. It adopts an XYZ axis transmission mechanism and independent left and right clamping components. The translation and flipping of the magnesium oxide boards are realized by connecting the slide rod and the clamping seat transmission component. The left and right sides of the magnesium oxide boards are clamped, and the friction is reduced by connecting the slide rod and the roller in parallel.
It achieves stable clamping and flipping of magnesium oxide boards, eliminating the need to consider surface unevenness, burrs, and microcracks in automated production, thus improving handling efficiency and stability.
Smart Images
Figure CN121778437A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of material handling robot technology, specifically to a magnesium oxide board material handling robot. Background Technology
[0002] Magnesium oxide (MgO) boards are typically made from high-purity magnesium oxide, magnesium chloride, and alkali-resistant fiberglass cloth, and are widely used in wall panels, ceiling panels, fireproof boards, waterproof boards, and packaging boxes. In its production process, both sides of the semi-finished boards usually need to be sanded to improve the uniformity of the board thickness, enhance surface flatness, and improve the adhesion of finishing materials through physical grinding. In the automated production of MgO boards, robotic arms are needed to move the boards from one station to the next. However, the surface of MgO boards generally has unevenness, burrs, and micro-cracks, making it difficult to use the existing clamping or suction structures of robotic arms for handling them. Summary of the Invention
[0003] To address the shortcomings of existing technologies, this invention provides a mechanical hand for handling magnesium oxide boards, which can clamp the boards and move or flip them to achieve automated feeding.
[0004] To achieve the above objectives, the present invention provides the following technical solutions.
[0005] A magnesium oxide board handling robot includes an XYZ axis drive mechanism and a magnesium oxide board clamping mechanism. The XYZ axis drive mechanism is connected to the magnesium oxide board clamping mechanism to drive the clamping mechanism to move along the X / Y / Z axes to the target position. The magnesium oxide board clamping mechanism includes a left clamping assembly, a left clamping seat drive assembly, a right clamping assembly, a right clamping seat drive assembly, and a connecting slide rod. The left clamping assembly includes a left clamping seat for clamping the left side of the magnesium oxide board, and the right clamping assembly includes a right clamping seat for clamping the right side of the magnesium oxide board. The left clamping seat is rotatably connected to and driven by the left clamping seat drive assembly. The right clamp is rotatably connected to the right clamp transmission assembly and is driven by the right clamp transmission assembly to move laterally and longitudinally. The left and right clamps are respectively connected to the connecting slide rod so that the left and right clamps are restricted by the connecting slide rod when moving laterally and longitudinally. When performing the flipping action, the left and right clamps respectively clamp the left and right sides of the glass magnesium board. The left and right clamps are thus restricted to the two ends of the connecting slide rod. The left and right clamps are driven by the left clamp transmission assembly and the right clamp transmission assembly respectively to move laterally and longitudinally, so as to flip around the connecting slide rod to the interchange position, thereby realizing the flipping of the glass magnesium board.
[0006] This invention utilizes two independent clamping components. These components can clamp the left and right sides of a magnesium oxide board and are driven by an XYZ axis transmission mechanism to translate to the target position for automated loading. Compared to suction cup clamping, this eliminates concerns about surface unevenness, burrs, and microcracks on the magnesium oxide board. Furthermore, the movement of the left and right clamps is restricted by a connecting slide rod, meaning both clamping components are confined to the same slide rod. They can move laterally and longitudinally via two independent clamping seat transmission components. When flipping is required, because the clamping components are confined to the ends of the connecting slide rod during clamping, their movement is not unidirectional but follows an arc trajectory driven by their respective clamping seat transmission components. This allows the clamping components to rotate around the connecting slide rod, achieving position interchange and thus flipping the magnesium oxide board. Therefore, this invention's magnesium oxide board handling robot can clamp, translate, or flip magnesium oxide boards, achieving automated loading.
[0007] As a preferred technical solution, there are two sets of connecting slide rods, which are arranged in parallel. The two ends of the left clamp are fixedly connected to the two sets of connecting slide rods respectively, and the two ends of the right clamp are slidably connected to the two sets of connecting slide rods respectively. When the right clamp is driven to slide on the connecting slide rod, the relative distance between it and the left clamp can be adjusted.
[0008] By setting two sets of parallel connecting slide rods, the left clamp, the right clamp, and the two sets of connecting slide rods are arranged around the magnesium oxide board. After the left clamping block in the left clamping block clamps one side of the magnesium oxide board, the right clamping block can move to the right relative to the left clamping block to the target position. The right clamping block in the right clamping block clamps the other side of the magnesium oxide board. The movement of the left and right clamping blocks is restricted by the parallel connecting slide rods, which makes the movement of the magnesium oxide board more stable and can clamp magnesium oxide boards of different sizes.
[0009] As a preferred technical solution, the right clamping assembly also includes multiple rollers arranged along the right clamp to reduce wear on the magnesium oxide board when the right clamp moves relative to the left clamp. The left clamp is fixed to one end of the connecting slide rod, and the right clamp can slide along the connecting slide rod. The rollers reduce the friction between the right clamp and the magnesium oxide board when the right clamp moves, thus reducing wear.
[0010] As a preferred technical solution, the left clamp transmission assembly includes two left clamp longitudinal telescopic rods, and each end of the left clamp is provided with a left clamp rotating shaft, which is rotatably connected to the two left clamp longitudinal telescopic rods respectively through the left clamp rotating shaft. The right clamp transmission assembly includes two right clamp longitudinal telescopic rods, and each end of the right clamp is provided with a right clamp rotating shaft, which is rotatably connected to the two right clamp longitudinal telescopic rods respectively through the right clamp rotating shaft.
[0011] By setting a rotating shaft in the left and right clamps, which is rotatably connected to the longitudinal telescopic rod, the left and right clamp transmission components are rotatably connected to their respective left and right clamping components, rather than being fixed. Combined with the left and right clamps restricting movement on the connecting slide rod, the glass magnesium board is flipped when the left clamp moves to the right and the right clamp moves to the left.
[0012] As a preferred technical solution, the left clamp transmission assembly includes two sets of left clamp transverse transmission screws, located on both sides of the left clamp. The right clamp transmission assembly includes two sets of right clamp transverse transmission screws, located on both sides of the right clamp. The two sets of left clamp transverse transmission screws are arranged parallel to the two sets of right clamp transmission assemblies, and are positioned between the two sets of right clamp transverse transmission screws. This ensures that the transverse movement of the left and right clamps does not intersect or restrict their positions, allowing for interchangeability. In other words, when the left clamp moves to the right, the right clamp moves to the left; their transverse movements do not intersect or become restricted, enabling position interchange and thus allowing the glass magnesium board to be clamped and flipped.
[0013] As a preferred technical solution, the left clamping seat is provided with two sets of left clamping blocks, which are arranged vertically to clamp the left side of the magnesium oxide board. The right clamping seat is provided with two sets of right clamping blocks, which are arranged vertically to clamp the right side of the magnesium oxide board. By setting two sets of clamping blocks to clamp the upper and lower sides of the magnesium oxide board, the clamping is more stable.
[0014] As a preferred technical solution, the magnesium oxide boards to be processed are placed in a stacked manner. The magnesium oxide board handling robot also includes a magnesium oxide board pusher assembly. The magnesium oxide board pusher assembly is located on one side of the left clamping assembly or the right clamping assembly to push the magnesium oxide board at the target position into the left clamping seat and the right clamping seat to achieve clamping of the magnesium oxide board.
[0015] When semi-finished magnesium oxide boards are stacked together, the magnesium oxide board pusher assembly can be used to gently push the upper layer of magnesium oxide boards into the left or right clamping assembly. Since the left and right clamping assemblies are side by side, that is, the left and right clamps are close together, the magnesium oxide boards are pushed into the left and right clamps. The clamps on one side of the left or right clamps move relative to each other, and the left and right clamps move away from each other until the other side moves to the other side of the magnesium oxide board and clamps the magnesium oxide board. Thus, the left and right clamps clamp the left and right sides of the magnesium oxide board.
[0016] As a preferred technical solution, the magnesium oxide board handling robot also includes a magnesium oxide board baffle assembly. The magnesium oxide board baffle assembly is disposed on the left clamping assembly or the right clamping assembly and corresponds to the position of the magnesium oxide board pusher assembly, so as to block the movement of the magnesium oxide board below the magnesium oxide board when the magnesium oxide board pusher assembly pushes the magnesium oxide board.
[0017] Because of the friction between the stacked magnesium oxide boards, when the magnesium oxide board pusher assembly pushes the upper layer of magnesium oxide board, it can easily cause the lower layer of magnesium oxide board to move. The magnesium oxide board baffle assembly is set to block the movement of the lower layer of magnesium oxide board and prevent the stacked magnesium oxide boards from tilting and collapsing.
[0018] As a preferred technical solution, this magnesium oxide board handling robot also includes a sliding connection mechanism. The magnesium oxide board clamping mechanism is connected to the XYZ axis transmission mechanism through the sliding connection mechanism, so that the magnesium oxide board clamping mechanism has lateral freedom relative to the XYZ axis transmission mechanism when performing clamping action.
[0019] Because the frictional force is relatively large when the stacked magnesium oxide boards move relative to each other, the first clamped magnesium oxide board can be lifted upwards and to the right, separating that side from the lower magnesium oxide board, while the other side remains against the lower magnesium oxide board. Then, the corresponding clamping seat slides to the other side of the magnesium oxide board, clamping that other side, and then lifted upwards again, thus clamping both sides of the magnesium oxide board. By setting a sliding connection mechanism, the magnesium oxide board clamping mechanism can move laterally relative to the XYZ axis transmission mechanism, having a certain degree of freedom. This allows the aforementioned arc-shaped movement of lifting one side of the clamped magnesium oxide board upwards and to the right to be achieved when the XYZ axis transmission mechanism stops. This reduces the contact area between the magnesium oxide board and the lower magnesium oxide board during movement, thereby reducing friction and wear.
[0020] As a preferred technical solution, the sliding connection mechanism includes a bracket connecting slider, a slide rail, and a reset drive cylinder. The bracket connecting slider is connected to the XYZ axis transmission mechanism, and the slide rail is connected to the magnesium oxide board clamping mechanism. The bracket connecting slider and the slide rail are slidably connected, allowing the magnesium oxide board clamping mechanism to move laterally relative to the XYZ axis transmission mechanism. The reset drive cylinder is drively connected to the bracket connecting slider to drive the magnesium oxide board clamping mechanism to reset relative to the XYZ axis transmission mechanism. The bracket connecting slider and the slide rail allow the magnesium oxide board clamping mechanism to move laterally relative to the XYZ axis transmission mechanism. The reset drive cylinder ensures that the magnesium oxide board clamping mechanism resets to a preset position after completing the clamping action, and then the XYZ axis transmission mechanism moves as a whole to the target position for loading. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the automated production line for magnesium oxide board according to an embodiment of the present invention.
[0022] Figure 2 This is a schematic diagram of the structure of the magnesium oxide board handling robot according to an embodiment of the present invention.
[0023] Figure 3 This is a structural schematic diagram of the magnesium oxide board handling robot from another perspective, according to an embodiment of the present invention.
[0024] Figure 4 This is a schematic diagram of the left clamp of the magnesium oxide board handling robot according to an embodiment of the present invention.
[0025] Figure 5 This is a schematic diagram of the right clamp of the magnesium oxide board handling robot according to an embodiment of the present invention.
[0026] Figure 6 This is a schematic diagram of the structure of the magnesium oxide board baffle assembly of the magnesium oxide board handling robot according to an embodiment of the present invention.
[0027] Figure 7 This is a schematic diagram of the connecting slide bar of the magnesium oxide board handling robot according to an embodiment of the present invention.
[0028] Figure 8 This is a reference diagram showing the usage state of the magnesium oxide board handling robot performing clamping actions according to an embodiment of the present invention.
[0029] Figure 9 This is a reference diagram showing another usage state of the magnesium oxide board handling robot performing a clamping action according to an embodiment of the present invention.
[0030] Figure 10 This is a reference diagram showing the usage state of the magnesium oxide board handling robot performing a flipping action according to an embodiment of the present invention.
[0031] Explanation of reference numerals in the attached figures: XYZ axis transmission mechanism 1, X axis transmission assembly 11, Y axis transmission assembly 12, Z axis transmission assembly 13, mounting plate 14; Conveyor mechanism 2, lifting platform 21; 3. Magnesium oxide board; 4. Magnesium oxide board clamping mechanism, left clamping assembly 41, left clamp seat 411, left clamp seat rotating shaft 412, left clamp block 413, left clamp seat transmission assembly 42, left clamp seat longitudinal telescopic rod 421, left clamp seat transverse transmission screw 422, right clamping assembly 43, right clamp seat 431, right clamp seat rotating shaft 432, right clamp block 433, roller 434, right clamp seat transmission assembly 44, right clamp seat longitudinal telescopic rod 441, right clamp seat transverse transmission screw 442, connecting slide bar 45, servo motor 451, screw 452; Magnesium oxide board pusher assembly 6, pusher drive motor 61, pusher 62; 7. Fiberglass magnesium board baffle assembly, 71. Baffle drive cylinder, 72. Support plate, 73. Front baffle, 74. Sliding connection mechanism 8, bracket connecting slider 81, slide rail 82, reset drive cylinder 83. Detailed Implementation
[0032] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0033] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this embodiment are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicator will also change accordingly. Furthermore, unless otherwise explicitly specified and limited, the terms "connected" and "fixed" should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal connection 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.
[0034] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible to those skilled in the art. If a combination of technical solutions contradicts each other or cannot be implemented, such a combination should be considered non-existent and not within the scope of protection claimed by the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0035] The magnesium oxide board handling robot of the present invention is applied to the automated production line of magnesium oxide board to transport magnesium oxide boards from the previous station to the next station, thereby realizing the function of automated feeding.
[0036] like Figure 1 As shown, the automated production line for magnesium oxide boards in this embodiment of the invention includes a magnesium oxide board handling robot and a conveyor mechanism 2. Combined with... Figures 2-10 The magnesium oxide board handling robot of this invention includes an XYZ axis transmission mechanism 1 and a magnesium oxide board clamping mechanism 4. The XYZ axis transmission mechanism 1 includes an X-axis transmission assembly 11, a Y-axis transmission assembly 12, a Z-axis transmission assembly 13, and a mounting plate 14. The conveyor line mechanism 2 includes a lifting platform 21. The magnesium oxide board clamping mechanism 4 is mounted on the mounting plate 14. The X-axis transmission assembly 11, the Y-axis transmission assembly 12, and the Z-axis transmission assembly 13 can drive the magnesium oxide board clamping mechanism 4 to move along the X, Y, and Z directions. This drives the magnesium oxide board clamping mechanism 4 to move to the target position to perform the clamping action and transport the clamped magnesium oxide board 3 to the lifting platform 21 of the conveyor line mechanism 2 for loading. Then, the lifting platform 21 moves down, and the conveyor line mechanism 2 transports the magnesium oxide board 3 transported by the magnesium oxide board handling robot to the processing equipment for processing, thus realizing the automated production and processing of magnesium oxide boards.
[0037] Furthermore, such as Figure 2 and Figure 3As shown, the magnesium oxide board clamping mechanism 4 of this embodiment includes a left clamping assembly 41, a left clamping seat transmission assembly 42, a right clamping assembly 43, a right clamping seat transmission assembly 44, and a connecting slide rod 45. The left clamping assembly 41 includes a left clamping seat 411 for clamping the left side of the magnesium oxide board 3, and the right clamping assembly 43 includes a right clamping seat 431 for clamping the right side of the magnesium oxide board 3. The left clamping seat 411 is rotatably connected to the left clamping seat transmission assembly 42 and is driven by the left clamping seat transmission assembly 42 to move laterally and longitudinally. The right clamping seat 431 is rotatably connected to the right clamping seat transmission assembly 44 and is driven by the right clamping seat transmission assembly 44 to move laterally and longitudinally. The left clamp 411 and the right clamp 431 are connected to the connecting slide rod 45 so that the left clamp 411 and the right clamp 431 are restricted by the connecting slide rod 45 when moving horizontally and vertically. When performing the flipping action, the left clamp 411 and the right clamp 431 clamp the left and right sides of the glass magnesium board 3 respectively. The left clamp 411 and the right clamp 431 are thus restricted to both ends of the connecting slide rod 45. The left clamp 411 and the right clamp 431 are driven by the left clamp transmission assembly 42 and the right clamp transmission assembly 44 respectively to move horizontally and vertically, so as to flip around the connecting slide rod 45 to the interchange position, thereby realizing the flipping of the glass magnesium board 3.
[0038] Therefore, by setting up two independent clamping components (i.e., left clamping component 41 and right clamping component 43), the two clamping components can clamp the left and right sides of the magnesium oxide board 3 and be driven by the XYZ axis transmission mechanism 1 to move to the target position for automated feeding. Compared with the suction cup holding method, there is no need to consider the unevenness, burrs and microcracks on the surface of the magnesium oxide board 3. Furthermore, the movement of the left clamp 411 and the right clamp 431 is restricted by the connecting slide rod 45. That is, the two clamping components are restricted to moving on the same connecting slide rod 45, and can move laterally and longitudinally through independent clamping drive components. When flipping is required, since the two clamping components are restricted to both ends of the connecting slide rod 45 in the clamping state, the movement of the two clamping components driven by their respective clamping drive components is not a unidirectional lateral or longitudinal movement, but rather a circular arc trajectory. That is, due to the restriction of the connecting slide rod 45 and the linkage of the clamping drive components, the two clamping components can be flipped around the connecting slide rod 45, achieving position interchange and thus enabling the flipping of the magnesium oxide board 3. Therefore, the magnesium oxide board handling robot of the present invention can clamp the magnesium oxide board 3 for translation or flipping, achieving automated feeding.
[0039] Furthermore, combined Figure 3 and Figure 7In this embodiment of the invention, two sets of connecting slide rods 45 are provided, arranged in parallel. The two ends of the left clamp 411 are fixedly connected to the two sets of connecting slide rods 45 respectively, and the two ends of the right clamp 431 are slidably connected to the two sets of connecting slide rods 45 respectively. When the right clamp 431 is driven to slide on the connecting slide rods 45, the relative distance between it and the left clamp 411 can be adjusted. By setting two sets of parallel connecting slide rods 45, the left clamp 411, the right clamp 431, and the two sets of connecting slide rods 45 are arranged around the magnesium oxide board 3. After the left clamping block 413 in the left clamp 411 clamps one side of the magnesium oxide board 3, the right clamp 431 can move to the right relative to the left clamp 411 to the target position. The right clamping block 433 in the right clamp 431 clamps the other side of the magnesium oxide board 3. The movement of the left clamp 411 and the right clamp 431 is restricted by the parallel connecting slide rods 45, which makes the movement of the magnesium oxide board 3 more stable and can clamp magnesium oxide boards 3 of different sizes. It is understood that in this embodiment of the invention, a servo motor 451 and a lead screw 452 can be provided in the connecting slide rod 45. The servo motor 451 has its own braking function, and the lead screw 452 has a self-locking function, which restricts and fixes the left clamp 411 and the right clamp 431 to the two ends of the connecting slide rod 45. In other preferred embodiments, this can also be achieved by providing clamping blocks inside the left clamp 411 and the right clamp 431, that is, by providing clamping blocks for clamping the connecting slide rod 45 to fix the left clamp 411 and the right clamp 431 to the connecting slide rod 45, etc. The structure of the clamping assembly restricting and fixing to the connecting slide rod can be implemented using existing locking structures, which will not be described in detail here.
[0040] Furthermore, such as Figure 3 and Figure 5 As shown, the right clamping assembly 43 of this embodiment further includes a plurality of rollers 434, which are arranged along the right clamp 431 to reduce wear on the magnesium oxide board 3 when the right clamp 431 moves relative to the left clamp 411. It is understood that the left clamp 411 of this embodiment is fixed to one end of the connecting slide rod 45, and the right clamp 431 can slide along the connecting slide rod 45. The rollers 434 reduce the friction between the right clamp 431 and the magnesium oxide board 3 when the right clamp 431 moves, thus reducing wear.
[0041] Furthermore, combined Figures 2-5The left clamp transmission assembly 42 of this embodiment includes two left clamp longitudinal telescopic rods 421. A left clamp 411 has a left clamp rotating shaft 412 at each end, which is rotatably connected to the two left clamp longitudinal telescopic rods 421. The right clamp transmission assembly 44 includes two right clamp longitudinal telescopic rods 441. A right clamp 431 has a right clamp rotating shaft 432 at each end, which is rotatably connected to the two right clamp longitudinal telescopic rods 441. By setting rotating shafts on the left clamp 411 and right clamp 431, and rotatably connecting these shafts to the longitudinal telescopic rods, the left and right clamp transmission assemblies 44 and their respective left and right clamping assemblies 43 are rotatably connected, not fixed. Combined with the left clamp 411 and right clamp 431 restricting movement on the connecting slide rod 45, the clamped magnesium oxide board 3 is flipped when the left clamp 411 moves to the right and the right clamp 431 moves to the left.
[0042] Furthermore, combined Figure 2 and Figure 3 In this embodiment of the invention, the left clamp transmission assembly 42 includes two sets of left clamp transverse transmission screws 422, which are located on both sides of the left clamp 411. The right clamp transmission assembly 44 includes two sets of right clamp transverse transmission screws 442, which are located on both sides of the right clamp 431. The two sets of left clamp transverse transmission screws 422 and the two sets of right clamp transmission assemblies 44 are arranged parallel to each other, and the two sets of left clamp transverse transmission screws 422 are located between the two sets of right clamp transverse transmission screws 442, so that the transverse movement of the left clamp 411 and the right clamp 431 will not be restricted by intersection, thus enabling interchange of positions. That is, when the left clamp transmission assembly 42 moves to the right, the right clamp transmission assembly 44 moves to the left, and their transverse movements will not intersect. Similarly, the transverse movements of the left clamp 411 and the right clamp 431 connected to each other will not intersect and will not be restricted, so that the interchange of their positions can be realized, thereby enabling the clamping and flipping of the magnesium oxide board 3.
[0043] Furthermore, combined Figure 4 and Figure 5 The left clamp 411 contains two sets of left clamping blocks 413, which are arranged vertically to clamp the left side of the magnesium oxide board. The right clamp 431 contains two sets of right clamping blocks 433, which are arranged vertically to clamp the right side of the magnesium oxide board. The left and right clamping blocks 411 and 431 are hollow and have internal spaces for accommodating the clamping blocks. By using two sets of clamping blocks to clamp the upper and lower surfaces of the magnesium oxide board, the clamping is more stable.
[0044] Furthermore, such as Figure 1 As shown, the magnesium oxide boards 3 that have been processed in the previous step are usually stacked. Therefore, this magnesium oxide board handling robot can be equipped with a magnesium oxide board pusher assembly 6. Figure 2 and Figure 3 As shown, the magnesium oxide board pusher assembly 6 of this embodiment includes a pusher drive motor 61 and a pusher 62 driven by the pusher drive motor 61. The pusher drive motor 61 is mounted on the mounting plate 14, and the pusher 62 is located on the right clamping seat 431 side. The pusher 62 is driven by the pusher drive motor 61 to push the magnesium oxide board 3 into the left clamping seat 411 and the right clamping seat 431. In other preferred embodiments, depending on the direction of the pusher assembly 6, the magnesium oxide board pusher assembly 6 can also be located on the left clamping assembly 41 side to push the magnesium oxide board 3 at the target position into the left clamping seat 411 and the right clamping seat 431. Further details are omitted here.
[0045] Therefore, when the semi-finished magnesium oxide boards 3 are stacked together, the magnesium oxide board pusher assembly 6 can be used to gently push the upper layer of magnesium oxide boards 3 into the left clamping assembly 41 or the right clamping assembly 43. At this time, the left clamping assembly 41 and the right clamping assembly 43 are side by side, that is, the left clamp 411 and the right clamp 431 are close together. Thus, the magnesium oxide board 3 is pushed into the left clamp 411 and the right clamp 431. The clamp of the left clamp 411 or the right clamp 431 moves relative to each other, and the left clamp 411 and the right clamp 431 move away from each other until the other clamp moves to the other side of the magnesium oxide board 3 and clamps the magnesium oxide board 3. Thus, the left clamp 411 and the right clamp 431 clamp the left and right sides of the magnesium oxide board 3.
[0046] Furthermore, due to the friction between the stacked magnesium oxide boards 3, when the magnesium oxide board pusher assembly 6 pushes the upper magnesium oxide board 3, it easily causes the lower magnesium oxide board 3 to move. For example... Figure 2 and Figure 3 As shown, the magnesium oxide board handling robot may further include a magnesium oxide board baffle assembly 7. The baffle assembly 7 is mounted on the left clamping assembly 41 or the right clamping assembly 43 and corresponds to the position of the magnesium oxide board pusher assembly 6. It is used to prevent the movement of lower layers of magnesium oxide boards 3 when the pusher assembly 6 pushes the magnesium oxide board 3. By using the baffle assembly 7, the movement of lower layers of magnesium oxide boards 3 is prevented, thus preventing the stacked magnesium oxide boards 3 from tilting and collapsing. Preferably, as shown... Figure 3 , Figure 5 and Figure 6As shown, the magnesium oxide board baffle assembly 7 of this embodiment is disposed on the right clamping assembly 43. The magnesium oxide board baffle assembly 7 can be pushed out or retracted to the right clamping assembly 43. The magnesium oxide board baffle assembly 7 includes a baffle drive cylinder 71, a support plate 72, a front baffle 73 and a spring 74. The baffle drive cylinder 71 is mounted on the right clamping seat 431 and connected to the support plate 72. The spring 74 is disposed between the front baffle 73 and the support plate 72. When the magnesium oxide board pusher assembly 6 pushes the top layer of stacked magnesium oxide board 3 into the space between the left clamping seat 411 and the right clamping seat 431, the baffle drive cylinder 71 drives the support plate 72 forward. The front baffle 73 moves upward relative to the support plate 72 under the action of the spring 74. The support plate 72 and the front baffle 73 block the magnesium oxide board 3 stacked on the lower layer of magnesium oxide board 3, which can prevent the lower layer of magnesium oxide board from moving.
[0047] Furthermore, since the frictional force is relatively large when the stacked magnesium oxide boards 3 move relative to each other, the first clamped magnesium oxide board 3 can be lifted upwards and to the right on one side, separating that side from the lower magnesium oxide board 3, while the other side remains against the lower magnesium oxide board 3. Then, the corresponding clamping seat slides to the other side of the magnesium oxide board 3, clamping that other side, and then is lifted upwards to clamp both sides of the magnesium oxide board 3. To achieve the aforementioned actions, the magnesium oxide board clamping mechanism needs to move laterally relative to the XYZ axis transmission mechanism, that is, it needs a certain degree of lateral freedom with respect to the XYZ axis transmission mechanism. Preferably, as follows... Figure 2 As shown, the magnesium oxide board handling robot of this embodiment of the invention also includes a sliding connection mechanism 8. The magnesium oxide board clamping mechanism 4 is connected to the XYZ axis transmission mechanism 1 through the sliding connection mechanism 8, so that the magnesium oxide board clamping mechanism 4 has lateral freedom relative to the XYZ axis transmission mechanism 1 when performing the clamping action. By setting the sliding connection mechanism 8, the magnesium oxide board clamping mechanism 4 can move laterally relative to the XYZ axis transmission mechanism 1, so that when the XYZ axis transmission mechanism 1 stops, the aforementioned upward and rightward arc-shaped action of clamping the magnesium oxide board 3 can be realized, which can reduce the contact surface between the magnesium oxide board 3 and the lower magnesium oxide board 3 during the movement, thereby reducing friction and wear.
[0048] Preferably, such as Figure 2 As shown, the sliding connection mechanism 8 of this embodiment includes a bracket connecting slider 81, a slide rail 82, and a reset drive cylinder 83. The bracket connecting slider 81 is connected to the XYZ axis transmission mechanism 1, and the slide rail 82 is connected to the magnesium oxide board clamping mechanism 4. The bracket connecting slider 81 and the slide rail 82 are slidably connected so that the magnesium oxide board clamping mechanism 4 can move laterally relative to the XYZ axis transmission mechanism 1. The reset drive cylinder 83 is drively connected to the bracket connecting slider 81 to drive the magnesium oxide board clamping mechanism 4 to reset relative to the XYZ axis transmission mechanism 1. The bracket connecting slider 81 and the slide rail 82 allow the magnesium oxide board clamping mechanism 4 to move laterally relative to the XYZ axis transmission mechanism 1. The reset drive cylinder 83 causes the magnesium oxide board clamping mechanism 4 to reset to its initial position after completing the clamping action. Then, the XYZ axis transmission mechanism 1 moves as a whole to the target position for feeding.
[0049] Combination Figure 8 and Figure 9 The following describes the workflow of the magnesium oxide board handling robot of this embodiment performing the clamping action.
[0050] like Figure 8 As shown, the magnesium oxide board clamping mechanism 4 is driven by the XYZ axis transmission mechanism 1 to move to a position above the stacked magnesium oxide boards 3. At this time, the left clamping assembly 41 and the right clamping assembly 43 are located on the left side of the magnesium oxide board 3, the magnesium oxide board pusher assembly 6 is located on the right side of the magnesium oxide board 3, and the magnesium oxide board baffle assembly 7 is located to the right of the right clamping assembly 43, corresponding to the magnesium oxide board pusher assembly 6. Two sets of connecting slide rods 45 are located on the front and rear sides of the magnesium oxide board 3. When the magnesium oxide board pusher assembly 6 pushes the upper layer of magnesium oxide board 3 into the left clamping assembly 41 and the right clamping assembly 43 (that is, when pushing in the left clamping seat 411 and the right clamping seat 431), the magnesium oxide board baffle assembly 7 abuts against the left side of the lower layer of magnesium oxide board 3, preventing it from being driven by the upper layer of magnesium oxide board 3 and causing it to tilt and collapse. Figure 8 As shown, the left clamping assembly 41 and the right clamping assembly 43 are arranged side by side. When the magnesium oxide board 3 is inserted into the right clamping assembly 43 and pushed into the position of the left clamping assembly 41, the left clamping assembly 41 clamps the left side of the magnesium oxide board 3. Figure 9 The XYZ axis transmission mechanism 1, the left clamp transmission assembly 42, the right clamp transmission assembly 44, and the sliding connection mechanism 8 work together in a coordinated manner. When the magnesium oxide board clamping mechanism 4 moves upward, the left clamping assembly 41 is driven by the left clamp transmission assembly 42 to lift upward and to the right, and the right clamping assembly 43 is driven by the right clamp transmission assembly 44 to move downward and to the right, that is, to slide along the right side of the magnesium oxide board 3 and clamp the right side of the magnesium oxide board 3. Thus, the magnesium oxide board clamping mechanism 4 clamps the left and right sides of the magnesium oxide board 3 to achieve the clamping action, and then the subsequent actions are performed.
[0051] Combination Figure 9 and Figure 10 The following describes the workflow of the magnesium oxide board handling robot performing the flipping action in this embodiment.
[0052] like Figure 8 As shown, after the left clamping assembly 41 and the right clamping assembly 43 clamp the two sides of the magnesium oxide board 3 respectively, the left clamping seat transmission assembly 42 drives the left clamping assembly 41 to move upward and to the right, and the right clamping seat transmission assembly 44 drives the right clamping assembly 43 to move downward and to the left. Since the left clamping assembly 41 and the right clamping assembly 43 are restricted by the connecting slide rod 45 (that is, restricted to both ends of the connecting slide rod 45), the movement trajectory of the left clamping assembly 41 and the right clamping assembly 43 is not a single-direction horizontal or vertical movement, but a circular arc. The left clamping seat transmission assembly 42 and the right clamping seat transmission assembly 44 work together to enable the left and right clamping assemblies to rotate around the connecting slide rod 45 and realize the position exchange, thereby realizing the rotation action of the magnesium oxide board 3.
[0053] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.
Claims
1. A magnesium oxide board handling robot, comprising an XYZ axis transmission mechanism and a magnesium oxide board clamping mechanism, wherein the XYZ axis transmission mechanism is connected to the magnesium oxide board clamping mechanism to drive the magnesium oxide board clamping mechanism to move along the X / Y / Z directions to a target position, characterized in that, The magnesium oxide board clamping mechanism includes a left clamping assembly, a left clamping seat transmission assembly, a right clamping assembly, a right clamping seat transmission assembly, and a connecting slide rod. The left clamping assembly includes a left clamping seat for clamping the left side of the magnesium oxide board, and the right clamping assembly includes a right clamping seat for clamping the right side of the magnesium oxide board. The left clamping seat is rotatably connected to the left clamping seat transmission assembly and is driven by the left clamping seat transmission assembly to move laterally and longitudinally. The right clamping seat is rotatably connected to the right clamping seat transmission assembly and is driven by the right clamping seat transmission assembly to move laterally and longitudinally. The left and right clamping seats are respectively connected to the connecting slide rod so that the left and right clamping seats are restricted by the connecting slide rod when moving laterally and longitudinally. When performing the flipping action, the left and right clamping seats clamp the left and right sides of the magnesium oxide board respectively, thereby restricting the left and right clamping seats to the two ends of the connecting slide rod. The left and right clamping seats are driven by the left clamping seat transmission assembly and the right clamping seat transmission assembly respectively to move laterally and longitudinally, so as to flip around the connecting slide rod to the interchanged position, thereby realizing the flipping of the magnesium oxide board.
2. The magnesium oxide board handling robot according to claim 1, characterized in that, The connecting slide rods are provided in two sets, which are arranged in parallel. The two ends of the left clamp are fixedly connected to the two sets of connecting slide rods respectively, and the two ends of the right clamp are slidably connected to the two sets of connecting slide rods respectively. When the right clamp is driven to slide on the connecting slide rods, the relative distance between it and the left clamp can be adjusted.
3. The magnesium oxide board handling robot according to claim 2, characterized in that, The right clamping assembly also includes multiple rollers arranged along the right clamp to reduce wear on the magnesium oxide board when the right clamp moves relative to the left clamp.
4. The magnesium oxide board handling robot according to claim 1, characterized in that, The left clamp transmission assembly includes two left clamp longitudinal telescopic rods. Each end of the left clamp is provided with a left clamp rotating shaft, which is rotatably connected to the two left clamp longitudinal telescopic rods through the left clamp rotating shaft. The right clamp transmission assembly includes two right clamp longitudinal telescopic rods. Each end of the right clamp is provided with a right clamp rotating shaft, which is rotatably connected to the two right clamp longitudinal telescopic rods through the right clamp rotating shaft.
5. The magnesium oxide board handling robot according to claim 1, characterized in that, The left clamp transmission assembly includes two sets of left clamp transverse transmission screws, which are located on both sides of the left clamp. The right clamp transmission assembly includes two sets of right clamp transverse transmission screws, which are located on both sides of the right clamp. The two sets of left clamp transverse transmission screws are arranged in parallel with the two sets of right clamp transmission assemblies, and the two sets of left clamp transverse transmission screws are located between the two sets of right clamp transverse transmission screws, so that the transverse movement of the left and right clamps will not be restricted by cross-trajectories, thus enabling interchange of positions.
6. The magnesium oxide board handling robot according to claim 1, characterized in that, The left clamp has two sets of left clamping blocks, which are arranged vertically to clamp the left side of the magnesium oxide board. The right clamp has two sets of right clamping blocks, which are arranged vertically to clamp the right side of the magnesium oxide board.
7. The magnesium oxide board handling robot according to claim 1, characterized in that, The magnesium oxide boards to be processed are stacked. This magnesium oxide board handling robot also includes a magnesium oxide board pusher assembly. The magnesium oxide board pusher assembly is located on one side of the left clamping assembly or the right clamping assembly to push the magnesium oxide board at the target position into the left clamping seat and the right clamping seat to achieve clamping of the magnesium oxide board.
8. The magnesium oxide board handling robot according to claim 7, characterized in that, This magnesium oxide board handling robot also includes a magnesium oxide board baffle assembly, which is located on the left or right clamping assembly and corresponds to the position of the magnesium oxide board pusher assembly. It is used to block the movement of the magnesium oxide board below the magnesium oxide board when the magnesium oxide board pusher assembly pushes the magnesium oxide board.
9. The magnesium oxide board handling robot according to claim 7, characterized in that, This magnesium oxide board handling robot also includes a sliding connection mechanism. The magnesium oxide board clamping mechanism is connected to the XYZ axis transmission mechanism through the sliding connection mechanism, so that the magnesium oxide board clamping mechanism has lateral freedom relative to the XYZ axis transmission mechanism when performing clamping action.
10. The magnesium oxide board handling robot according to claim 9, characterized in that, The sliding connection mechanism includes a bracket connecting slider, a slide rail, and a reset drive cylinder. The bracket connecting slider is connected to the XYZ axis transmission mechanism, and the slide rail is connected to the magnesium oxide board clamping mechanism. The bracket connecting slider and the slide rail are slidably connected so that the magnesium oxide board clamping mechanism moves laterally relative to the XYZ axis transmission mechanism. The reset drive cylinder is driven by the bracket connecting slider so as to drive the magnesium oxide board clamping mechanism to reset relative to the XYZ axis transmission mechanism.