Manipulator structure for quickly loading and unloading coated workpieces

Abstract

The invention provides a mechanical arm structure for fast feeding and discharging of coated workpieces, and relates to the technical field of coated workpiece production. The device comprises a material placing frame, a material moving frame, a mechanical arm, a moving seat, an adsorption assembly and a controller, wherein the material placing frame is suitable for placing a workpiece; a conveying belt used for conveying workpieces is arranged on the material moving frame. The large arm end of the mechanical arm is arranged between the material placing frame and the material moving frame, the small arm end of the mechanical arm is connected with the moving seat, and the controller is electrically connected with the mechanical arm and can control the mechanical arm to drive the moving seat to move back and forth between the material placing frame and the conveying belt; the adsorption assembly is arranged on the moving seat and can adsorb a workpiece; and the controller is electrically connected with the adsorption assembly and can control the adsorption assembly to adsorb or release the workpiece when the moving seat is close to the material placing frame and the conveying belt. The surface of a workpiece is not prone to being scratched in the feeding process, and the completeness of a coating film is prevented from being affected; and a coating film on the workpiece is not easy to damage during blanking, so that the influence on the product yield is avoided.

Description

Technical Field

[0001] This application relates to the field of coated workpiece production technology, and in particular to a robotic arm structure for rapid loading and unloading of coated workpieces. Background Technology

[0002] The loading and unloading of workpieces for coating is a key process for achieving automated production in vacuum coating production lines, and it is widely used in large-scale coating scenarios for automotive parts, hardware parts, and other workpieces. Existing automated production lines generally use robotic arms for workpiece loading and unloading.

[0003] Existing robotic arms are typically equipped with rigid grippers to grasp and transfer workpieces. However, because rigid grippers easily form point or line contact with the workpiece surface during gripping, resulting in high local pressure, they can easily damage the workpiece surface during loading, affecting the integrity of subsequent coatings, or cause scratches, indentations, or even peeling of the coating during unloading. Furthermore, because existing grippers are designed with anti-slip textures to achieve gripping stability, this further increases the risk of coating damage. Such damage not only affects the appearance and performance of the workpiece but also directly leads to a decrease in product yield.

[0004] In view of this, there is a need to provide a robotic arm structure for rapid loading and unloading of coated workpieces. Summary of the Invention

[0005] To address the problem that existing robotic arms are prone to causing damage when moving workpieces, which in turn damages the coating on the workpiece or affects the integrity of the coating on the surface of the workpiece to be coated, this application provides a robotic arm structure for rapid loading and unloading of coated workpieces.

[0006] This application provides a robotic arm structure for rapid loading and unloading of coated workpieces, which adopts the following technical solution: it includes a material placement rack, a material transfer rack, a robotic arm, a moving base, an adsorption component, and a controller, wherein the material placement rack is suitable for placing workpieces; The transfer rack is equipped with a conveyor belt for transporting the workpiece; The upper arm of the robotic arm is located between the material placement rack and the material transfer rack, the lower arm of the robotic arm is connected to the moving seat, and the controller is electrically connected to the robotic arm and can control the robotic arm to drive the moving seat to move back and forth between the material placement rack and the conveyor belt. The adsorption component is disposed on the movable seat and is capable of adsorbing the workpiece; The controller is electrically connected to the adsorption component and can control the adsorption component to adsorb or release the workpiece when the moving seat is close to the material rack and the conveyor belt.

[0007] By adopting the above technical solution, the placement rack can hold workpieces, the conveyor belt on the transfer rack can transport workpieces, and the robotic arm, under the control of the controller, can drive the moving seat to move back and forth between the placement rack and the conveyor belt, and adsorb or release workpieces through the adsorption component. This enables rapid loading from the placement rack to the transfer rack or rapid unloading from the transfer rack to the placement rack. The adsorption component forms surface contact with the workpiece surface during adsorption, resulting in low pressure. Compared with traditional robotic arms that use grippers to hold workpieces, this robotic arm structure for rapid loading and unloading of coated workpieces is less likely to scratch the workpiece surface during loading, avoiding defects and affecting the integrity of the coating during subsequent coating processing; and it is less likely to damage the coating on the workpiece during unloading, avoiding affecting product yield.

[0008] Specifically, the adsorption assembly includes an adsorption belt, a winding unit, a driving unit, and a suction unit. A mounting surface is formed on the side of the movable seat away from the robotic arm. A mounting rail is provided on the mounting surface along its length. One end of the adsorption belt is wound onto the winding unit, and the other end of the adsorption belt extends along the mounting surface and is slidably connected to the mounting rail. The belt body on the mounting surface forms an adsorption area, which can abut against the workpiece. The driving unit is connected to the adsorption belt and can drive the end of the adsorption belt away from the winding unit to slide along the mounting rail, thereby changing the size of the adsorption area along the length of the mounting rail. The suction unit is connected to the adsorption belt and can drive the adsorption area of ​​the adsorption belt to adsorb the abutting workpiece.

[0009] By adopting the above technical solution, the user can drive the adsorption belt of the adsorption component to slide on the mounting rail through the drive unit, and then adjust the size of the adsorption area in the length direction of the mounting rail according to the specifications of the workpiece, so that the adsorption component can be adapted to workpieces of different sizes, thereby improving the adaptability of the robot to different workpieces and its working efficiency.

[0010] Furthermore, the winding unit includes a winding roller, a winding motor, and a reversing roller. The winding roller is rotatably connected to the movable base on the side away from the mounting surface. The winding motor is drively connected to the winding roller and can drive the winding roller to rotate. The reversing roller is rotatably connected to the movable base and located between the winding roller and the mounting rail. One end of the adsorption belt is wound around the winding roller, and the other end of the adsorption belt passes around the reversing roller and is connected to the mounting rail. The portion of the adsorption belt between the end of the adsorption belt away from the winding roller and the reversing roller forms the adsorption area.

[0011] By adopting the above technical solution, the winding motor can drive the winding roller to rotate and perform winding and unwinding operations on the adsorption belt; the reversing roller can change the direction of the adsorption belt, so that the adsorption belt is reasonably arranged on the moving seat, so as to adjust the size of the adsorption area according to actual needs and improve the adaptability and flexibility of the adsorption assembly.

[0012] Furthermore, the adsorption belt includes multiple dovetail blocks, multiple connecting belts, and multiple suction cups. The mounting rail is a dovetail groove adapted to the dovetail blocks. The dovetail blocks and the connecting belts are arranged in an alternating row. Each dovetail block is connected to an adjacent connecting belt. Each dovetail block can be inserted into the dovetail groove and slide along the dovetail groove. The dovetail block located at one end of the adsorption belt is connected to the driving unit. The connecting belt located at the other end of the adsorption belt is wound around the take-up roller. The suction cups correspond one-to-one with the dovetail blocks. The large-diameter end of each dovetail block can abut against the groove wall of the dovetail groove. Each suction cup is located on the small-diameter end of the corresponding dovetail block. The suction unit can suck up the gas in the suction cup located in the adsorption area.

[0013] By adopting the above technical solution, the dovetail blocks and dovetail grooves not only ensure a stable connection between the suction cups and the moving base within the adsorption area, but also allow the adsorption belt to flexibly adjust the size of the adsorption area by changing the number of dovetail blocks engaging with the dovetail grooves, thus adapting to the adsorption needs of workpieces of different sizes. The staggered arrangement of the dovetail blocks and connecting belts ensures the stability and integrity of the adsorption belt structure, while also allowing the adsorption belt to achieve a certain degree of bending for easy winding. Furthermore, the suction cups on each dovetail block allow users to easily adjust the number of suction cups within the adsorption area according to the specifications of the workpiece, improving the adaptability and flexibility of the adsorption assembly.

[0014] Furthermore, the suction unit includes a suction pump and multiple sealing valves. An air extraction chamber is formed inside the movable seat along the length of the dovetail groove. The wall of the air extraction chamber is provided with an air outlet leading to the outside and multiple air inlets leading to the dovetail groove. The air inlet of the suction pump is connected to the air outlet. Each suction cup has an air extraction hole leading to the outside on its inner wall. Each dovetail block has a connecting hole. One end of each connecting hole is connected to the corresponding air extraction hole, and the other end of each connecting hole can abut against and connect with the air inlet located in the adsorption area. Each sealing valve corresponds to one air inlet, and each sealing valve is located in the corresponding air inlet. When the air inlet is connected to any of the connecting holes, the sealing valve corresponding to the air inlet can be opened and the suction pump can draw gas from the connecting hole. When the air inlet is not connected to the connecting hole, the sealing valve corresponding to the air inlet can be closed and the air inlet can be sealed.

[0015] By adopting the above technical solution, and utilizing the cooperation of a suction pump, a sealing valve, a suction chamber, an air inlet, an air outlet, a suction cup, a suction port, and a connecting hole, selective suction of the suction cup located within the adsorption area can be achieved. When the air inlet is connected to the connecting hole, the sealing valve opens to draw gas, thereby allowing the suction cup to adsorb the workpiece. When the air inlet is not connected to the connecting hole, the sealing valve closes to block the air inlet, which can avoid unnecessary gas leakage, improve adsorption efficiency, and help to flexibly adjust the adsorption force to adapt to workpieces of different sizes and weights, achieving rapid, accurate, and stable adsorption and handling of workpieces.

[0016] Furthermore, the sealing valve includes a sealing magnetic ring, a plug, a limiting rod, a magnetic component, and a limiting ring. The sealing magnetic ring is disposed on the wall of the air inlet. One side of the plug can abut against the inner ring of the sealing magnetic ring and seal the air inlet. The other side of the plug is connected to one end of the limiting rod, and the other end of the limiting rod is connected to the magnetic component. The outer ring of the limiting ring is connected to the wall of the air inlet through a connecting rod. The inner ring of the limiting ring is sleeved on the limiting rod. The rod body of the limiting rod abuts against the inner ring of the limiting ring and can move along the length direction of the air inlet. Each of the communicating holes is provided with an opening magnetic suction component. When the air inlet is not connected to the connecting hole, the sealing magnetic ring in the air inlet can attract the magnetic component and make the plug abut against the inner ring of the sealing magnetic ring. When the air inlet is connected to any of the connecting holes, the opening magnetic component in the connecting hole can attract the magnetic component and make the plug separate from the inner ring of the sealing magnetic ring.

[0017] By adopting the above technical solution, the sealing magnetic ring, plug, limiting rod, magnetic component, limiting ring, and opening magnetic suction component in the connecting hole of the sealing valve cooperate with each other. Based on the connection status between the air inlet and the connecting hole, it can automatically control the contact or separation between the plug and the inner ring of the sealing magnetic ring, thereby realizing the opening and closing of the air inlet. This ensures that when the air inlet and the connecting hole are connected, the suction pump can smoothly draw gas from the connecting hole, allowing the suction cup in the adsorption area to better adsorb the workpiece; when the air inlet is not connected to the connecting hole, it promptly seals the air inlet to prevent air leakage, improving the working efficiency and stability of the adsorption assembly.

[0018] Furthermore, the drive unit includes a lead screw, a ball sleeve, and a drive motor. A mounting groove is formed on the mounting surface along the length direction of the dovetail groove. The lead screw is rotatably connected in the mounting groove along the length direction of the mounting groove. The ball sleeve is fitted onto the lead screw and is adapted to the lead screw. The outer wheel surface of the ball sleeve is connected to the dovetail block located on the adsorption belt at the end away from the take-up roller via a connecting rod. The drive motor is driven by the lead screw and can drive the lead screw to rotate.

[0019] By adopting the above technical solution, the drive motor drives the lead screw to rotate, causing the ball sleeve to move linearly along the lead screw. This, in turn, drives the dovetail block on the adsorption belt, located away from the take-up roller, to slide along the dovetail groove via the connecting rod. This structure can precisely control the movement of the adsorption belt, thereby flexibly changing the size of the adsorption area along the length of the mounting rail to adapt to the adsorption needs of workpieces of different sizes. This improves the adaptability of the robot structure to workpieces of different specifications and the flexibility of the adsorption operation.

[0020] Furthermore, the drive unit also includes a limiting rod and a limiting sleeve. A limiting groove is formed on the mounting surface along the length direction of the dovetail groove. The dovetail groove is located between the mounting groove and the limiting groove. The limiting rod is fixedly connected to the limiting groove along the length direction of the limiting groove. The limiting sleeve is sleeved on the limiting rod and can slide along the limiting rod. The outer wheel surface of the limiting sleeve is connected to the dovetail block located on the adsorption belt at the end away from the take-up roller through a connecting rod.

[0021] By adopting the above technical solution, the setting of the limiting rod and the limiting sleeve makes the adsorption belt more stable during movement. The dovetail groove is located between the mounting groove and the limiting groove, which makes the adsorption belt more uniformly stressed and further ensures that the adsorption belt slides smoothly along the dovetail groove, avoiding deviation or shaking. This improves the accuracy of the adsorption belt in adsorbing and placing workpieces, and thus improves the accuracy of the entire robot arm structure in loading and unloading workpieces.

[0022] Specifically, the transfer rack includes multiple fixing clamps, the conveyor belt is arranged horizontally on the transfer rack, and the multiple fixing clamps are arranged along the length of the conveyor belt. Each fixing clamp includes at least two fixing claws, and a fixed gap adapted to the workpiece is formed between the corresponding fixing claws. The controller can control the robotic arm to move the moving seat closer to the conveyor belt and insert the workpiece adsorbed by the adsorption component into the fixed gap.

[0023] By adopting the above technical solution, the transfer rack is equipped with a conveyor belt and multiple fixing clamps. The conveyor belt can transport workpieces in the horizontal direction, and the multiple fixing clamps are distributed along the length of the conveyor belt. The fixing claws of the fixing clamps form a fixed gap adapted to the workpiece, so that the workpiece can be stably fixed and transported on the conveyor belt. At the same time, the controller controls the robotic arm to move the moving seat close to the conveyor belt and insert the workpiece adsorbed by the adsorption component into the fixed gap. This realizes the orderly transfer of workpieces from the transfer rack to the conveyor belt, ensures the smooth loading and unloading of coated workpieces, and improves the efficiency and accuracy of loading and unloading.

[0024] Specifically, the bottom of the material rack is equipped with multiple casters.

[0025] By adopting the above technical solution, the multiple casters at the bottom of the material rack allow the material rack to move flexibly, making it easy to adjust the position of the material rack to adapt to different production layouts or to meet the position change requirements in the production process, thereby improving the flexibility and adaptability of the material rack.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. It enables rapid loading and unloading of coated workpieces, solving the problems of low efficiency of manual loading and unloading and slow response speed and long loading and unloading cycle of traditional robotic arms, thus meeting the rapid turnover requirements of coating production lines; 2. It can accurately position and place workpieces, solving the problem of large positioning errors in manual operation and reducing the scrap rate in production; 3. The adsorption component is used to adsorb the workpiece, which avoids the problem of the rigid gripper of the traditional robot arm easily damaging the surface of the workpiece and the coating, thus ensuring the integrity of the coating. Attached Figure Description

[0027] Figure 1 This is a perspective view of a robotic arm structure for rapid loading and unloading of coated workpieces according to this application; Figure 2 This is a rear view of a robotic arm structure for rapid loading and unloading of coated workpieces according to this application, showing only a portion of the transfer rack and not the coating machine or the workpieces adsorbed by this robotic arm structure. Figure 3 It is along Figure 2 A schematic cross-sectional view taken along the central axis in the AA direction, where the material rack is not shown; Figure 4 yes Figure 3 A schematic enlarged view of region B, showing the sealing valve.

[0028] Reference numerals: 1. Material placement rack; 11. Casters; 2. Transfer rack; 21. Conveyor belt; 22. Fixed claw; 3. Robotic arm; 4. Moving seat; 41. Dovetail groove; 42. Air inlet; 5. Adsorption assembly; 51. Adsorption belt; 511. Dovetail block; 5111. Opening magnetic suction component; 512. Connecting belt; 513. Suction cup; 5131. Air extraction hole; 52. Rewinding unit; 521. Rewinding roller; 522. Rewinding mechanism. 523. Reversing roller; 53. Drive unit; 531. Lead screw; 532. Ball sleeve; 533. Drive motor; 534. Limiting slide bar; 535. Limiting sleeve; 54. Suction unit; 541. Suction pump; 542. Sealing valve; 5421. Sealing magnetic ring; 5422. Plug; 5423. Limiting rod; 5424. Magnetic component; 5425. Limiting ring; 6. Workpiece; 7. Coating machine. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-4Further explanation: See Figure 1 and Figure 2 A robotic arm structure for rapid loading and unloading of coated workpieces includes a placement rack 1, a transfer rack 2, a robotic arm 3, a moving base 4, an adsorption assembly 5, and a controller (not shown in the figure). The placement rack 1 has a receiving area enclosed by columns and beams for accommodating a stack of workpieces 6. One side of this receiving area has a feed port for the robotic arm 3 to drive the moving base 4 to move the workpieces 6 in and out of the receiving area. The bottom of the placement rack 1 is equipped with multiple casters 11, allowing for flexible movement and easy adjustment of its position to adapt to different production layouts or to meet positional changes during production, thus improving the flexibility and adaptability of the placement rack 1. The transfer rack 2 includes a conveyor belt 21. The conveyor belt 21 is horizontally mounted on the transfer rack 2, and the multiple fixed clamps are mounted on the conveyor belt 21 along the length of the belt body. Each fixed clamp includes at least two fixed claws 22, and a fixed gap is formed between the corresponding fixed claws 22 to match the workpiece 6. The frame of the transfer rack 2 also has a material inlet for the robotic arm 3 to drive the moving seat 4 to move the workpiece 6 closer to or away from the conveyor belt 21. The coating machine 7 is located on one side of the transfer rack 2 and has a material inlet. The end of the conveyor belt 21 away from the material inlet extends into the material inlet so that the transfer rack 2 can input the workpiece 6 to be coated into the coating machine 7 or take away the coated workpiece 6 from the coating machine 7.

[0030] See Figure 1 , Figure 2 and Figure 3The upper arm of the robotic arm 3 is located between the material placement rack 1 and the material transfer rack 2. The lower arm of the robotic arm 3 is connected to the moving base 4. A rotary table and multiple electrically driven shafts can be connected between the upper arm and the lower arm of the robotic arm 3. The controller is electrically connected to the motors of the rotary table and the electrically driven shafts, so that the controller can control the lower arm to move in any direction within the space around the upper arm. The specific structure of the robotic arm 3 is existing technology and will not be described in detail here. The adsorption assembly 5 includes an adsorption belt 51, a winding unit 52, a drive unit 53, and a suction unit 54. A mounting surface is formed on the side of the moving base 4 away from the robotic arm 3. The mounting surface is provided with a mounting groove, a limiting groove, and a dovetail groove 4 along its own length direction. The mounting rail of type 1 has a dovetail groove 41 located between the mounting groove and the limiting groove; the suction belt 51 includes multiple dovetail blocks 511, multiple connecting belts 512, and multiple suction cups 513. Each dovetail block 511 is adapted to the dovetail groove 41 and can be inserted into the dovetail groove 41 and slide along the dovetail groove 41. The dovetail blocks 511 and connecting belts 512 are arranged in an alternating row, and each dovetail block 511 is connected to the adjacent connecting belt 512. The suction cups 513 correspond one-to-one with the dovetail blocks 511. The large diameter end of each dovetail block 511 can abut against the groove wall of the dovetail groove 41, and each suction cup 513 is located on the small diameter end of the corresponding dovetail block 511; the winding unit 52 includes a winding roller 521, a winding motor 522, and... A reversing roller 523 and a take-up roller 521 are rotatably connected to the movable seat 4 on the side away from the mounting surface. A take-up motor 522 is driven by the take-up roller 521 and can drive the take-up roller 521 to rotate. The reversing roller 523 is rotatably connected to the movable seat 4 and is located between the take-up roller 521 and the mounting rail. A connecting strip 512 located at one end of the adsorption belt 51 is wound around the take-up roller 521 and is bolted to the take-up roller 521 through a through hole in the connecting strip 512 and a screw hole on the roller surface of the take-up roller 521. A connecting rod is provided on both sides of the dovetail block 511 located at the other end of the adsorption belt 51 along the width direction of the mounting surface. The drive unit 53 includes a lead screw 531 and a ball sleeve 532. The drive motor 533, the limiting slide rod 534 and the limiting sleeve 535 are included. The lead screw 531 is rotatably connected to the mounting groove via bearings along the length of the mounting groove. The ball sleeve 532 is sleeved on the lead screw 531 and is adapted to the lead screw 531. The limiting slide rod 534 is fixedly connected to the limiting groove along the length of the limiting groove. The limiting sleeve 535 is sleeved on the limiting slide rod 534 and can slide along the limiting slide rod 534. The outer wheel surface of the ball sleeve 532 is connected to the connecting rod on one side of the dovetail block 511 located on the adsorption belt 51 away from the take-up roller 521. The outer wheel surface of the limiting sleeve 535 is connected to the connecting rod on the other side of the dovetail block 511 located on the adsorption belt 51 away from the take-up roller 521.The drive motor 533 is located in the mounting slot, and its output shaft is connected to the lead screw 531, enabling the lead screw 531 to rotate. Both the take-up motor 522 and the drive motor 533 are electrically connected to the controller. The portion of the adsorption belt 51 located between the end away from the take-up roller 521 and the reversing roller 523 forms the adsorption area. This allows the user to control the take-up motor 522 to take up the belt while the drive motor 533 rotates the lead screw 531, driving the ball sleeve 532 closer to the reversing roller 523 to reduce the adsorption area. Alternatively, the user can control the take-up motor 522 to unwind the belt while the drive motor 533 rotates the lead screw 531, driving the ball sleeve 532 away from the reversing roller 523 to expand the adsorption area.

[0031] See Figure 3 and Figure 4 The suction unit 54 includes a suction pump 541 and multiple sealing valves 542. An air extraction chamber is formed inside the movable seat 4 along the length of the dovetail groove 41. The chamber wall has an outlet hole leading to the outside and multiple inlets 42 leading to the dovetail groove 41. The air inlet of the suction pump 541 is connected to the outlet hole, and the controller is electrically connected to the suction pump 541. Each suction cup 513 has an air extraction hole 5131 leading to the outside on its inner wall, and each dovetail block 511 has a connecting hole. One end of each connecting hole is connected to the corresponding air extraction hole 5131, and the other end of each connecting hole can abut and connect with the inlet 42 located within the adsorption area. Each sealing valve 542 corresponds to one inlet 42, and each sealing valve 542 is located within the corresponding inlet 42. 542 includes a sealing magnetic ring 5421, a plug 5422, a limiting rod 5423, a magnetic component 5424, and a limiting ring 5425. The sealing magnetic ring 5421 is disposed on the wall of the air inlet 42. One side of the plug 5422 can abut against the inner ring of the sealing magnetic ring 5421 and block the air inlet 42. The other side of the plug 5422 is connected to one end of the limiting rod 5423. The other end of the limiting rod 5423 is connected to the magnetic component 5424. The outer ring of the limiting ring 5425 is connected to the wall of the air inlet 42 through a connecting rod. The inner ring of the limiting ring 5425 is sleeved on the limiting rod 5423 and abuts against the rod body of the limiting rod 5423 and can restrict the movement of the limiting rod 5423 along the length direction of the air inlet 42. Each connecting hole is connected to an opening magnetic suction component 5111 through a connecting rod.

[0032] Specifically, the opening magnetic suction element 5111, the sealing magnetic ring 5421, and the magnetic element 5424 can all be magnets. This allows the sealing magnetic ring 5421 within the air inlet 42 to attract the magnetic element 5424 and cause the plug 5422 to abut against the inner ring of the sealing magnetic ring 5421 when the air inlet 42 is not connected to the connecting hole. This closes the corresponding sealing valve 542 and seals the air inlet 42. When the connecting holes of each dovetail block 511 within the suction area are individually connected to an air inlet 42, the opening magnetic suction element 5111 within each connecting hole attracts a corresponding magnetic element 5424 and causes the corresponding plug 5422 to separate from the inner ring of the sealing magnetic ring 5421. This allows the gas in each suction cup 513 to sequentially pass through the extraction hole 5131, the connecting hole, the opening magnetic suction element 5111, and the connecting hole. The gaps between the hole walls, the gap between the wall of a corresponding air inlet 42 and the magnetic component 5424, the gap between the wall of a corresponding air inlet 42 and the limiting rod 5423, the gap between the wall of a corresponding air inlet 42 and the plug 5422, the inner ring of the sealing magnetic ring 5421, the air extraction chamber and the air outlet are drawn into the suction pump 541, thereby enabling selective suction of the suction cup 513 located in the adsorption area. When the air inlet 42 is connected to the connecting hole, the sealing valve 542 opens to perform gas suction, thereby allowing the suction cup 513 to adsorb the workpiece 6. When the air inlet 42 is not connected to the connecting hole, the sealing valve 542 closes to seal the air inlet 42, which can avoid unnecessary gas leakage, improve adsorption efficiency, and help to flexibly adjust the size of the adsorption area to adapt to workpieces 6 of different sizes, so as to achieve fast, accurate and stable adsorption and handling of workpieces 6.

[0033] It should be noted that the opening magnetic component 5111 can use a strong magnet made of materials such as neodymium iron boron, so that when the connecting holes of each dovetail block 511 in the adsorption area are individually connected to an air inlet 42, the opening magnetic component 5111 can overcome the attraction of the sealing magnetic ring 5421 on the magnetic component 5424 and adsorb the magnetic component 5424 onto the opening magnetic component 5111. Furthermore, it can maintain the state of adsorbing the magnetic component 5424 onto the opening magnetic component 5111 while the controller controls the suction pump 541 to start and the suction cup 513 adsorbs the workpiece 6 and forms a negative pressure in the connecting hole. The opening magnetic component 5111... The magnetic force of 1 should not be too large. It is necessary to ensure that the connecting hole of each dovetail block 511 in the adsorption area is connected to an air inlet 42 individually. When the suction pump 541 is turned on, the opening magnetic suction member 5111 in the dovetail block 511 located at the end of the adsorption belt 51 away from the winding roller 521 cannot pull the magnetic member 5424 in the air inlet 42 that is adjacent to the opening magnetic suction member 5111 and is not connected to the connecting hole away from the corresponding sealing magnetic ring 5421 and the suction force of the suction pump 541. This ensures that the sealing valve 542 located outside the adsorption area is in the closed state.

[0034] The implementation principle of the robotic arm structure for rapid loading and unloading of coated workpieces described in this application is as follows: The placement rack 1 can hold workpieces 6, and the conveyor belt 21 on the transfer rack 2 can transport workpieces 6. Under the control of the controller, the robotic arm 3 can drive the moving seat 4 to move back and forth between the placement rack 1 and the conveyor belt 21, and adsorb or release workpieces 6 through the adsorption component 5. This enables rapid loading from the placement rack 1 to the transfer rack 2 or rapid unloading from the transfer rack 2 to the placement rack 1. The adsorption component 5 can form surface contact with the surface of the workpiece 6 when adsorbing it, with low pressure. Compared with the traditional robotic arm that uses grippers to hold workpieces 6 in the prior art, this robotic arm structure for rapid loading and unloading of coated workpieces can not easily scratch the surface of the workpiece 6 during loading, avoiding defects and affecting the integrity of the coating during subsequent coating processing; and it can not easily damage the coating on the workpiece 6 during unloading, avoiding affecting the product yield.

[0035] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic arm structure for rapid loading and unloading of coated workpieces, characterized in that: It includes a material placement rack (1), a material transfer rack (2), a robotic arm (3), a moving seat (4), an adsorption assembly (5), and a controller, wherein the material placement rack (1) is adapted to place workpieces (6); The transfer rack (2) is equipped with a conveyor belt (21) for transporting the workpiece (6); The upper arm of the robotic arm (3) is located between the material rack (1) and the transfer rack (2), the lower arm of the robotic arm (3) is connected to the moving seat (4), and the controller is electrically connected to the robotic arm (3) and can control the robotic arm (3) to drive the moving seat (4) to move back and forth between the material rack (1) and the conveyor belt (21). The adsorption component (5) is disposed on the movable seat (4) and is capable of adsorbing the workpiece (6); The controller is electrically connected to the adsorption assembly (5) and can control the adsorption assembly (5) to adsorb or release the workpiece (6) when the moving seat (4) is close to the material rack (1) and the conveyor belt (21).

2. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 1, characterized in that: The adsorption assembly (5) includes an adsorption belt (51), a winding unit (52), a driving unit (53), and a suction unit (54). A mounting surface is formed on the side of the movable seat (4) away from the robotic arm (3). A mounting rail is provided on the mounting surface along its own length direction. One end of the adsorption belt (51) is wound on the winding unit (52), and the other end of the adsorption belt (51) extends along the mounting surface and is slidably connected to the mounting rail. The belt body of the adsorption belt (51) on the mounting surface forms an adsorption area. The adsorption area can abut against the workpiece (6). The driving unit (53) is connected to the adsorption belt (51) and can drive the end of the adsorption belt (51) away from the winding unit (52) to slide along the mounting rail to change the size of the adsorption area in the length direction of the mounting rail. The suction unit (54) is connected to the adsorption belt (51) and can drive the adsorption area of ​​the adsorption belt (51) to adsorb the abutting workpiece (6).

3. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 2, characterized in that: The winding unit (52) includes a winding roller (521), a winding motor (522), and a reversing roller (523). The winding roller (521) is rotatably connected to the side of the movable seat (4) away from the mounting surface. The winding motor (522) is driven by the winding roller (521) and can drive the winding roller (521) to rotate. The reversing roller (523) is rotatably connected to the movable seat (4) and located between the winding roller (521) and the mounting rail. One end of the adsorption belt (51) is wound around the winding roller (521), and the other end of the adsorption belt (51) passes around the reversing roller (523) and is connected to the mounting rail. The portion of the adsorption belt (51) between the end of the adsorption belt (51) away from the winding roller (521) and the reversing roller (523) forms the adsorption area.

4. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 3, characterized in that: The adsorption band (51) includes multiple dovetail blocks (511), multiple connecting bands (512), and multiple suction cups (513). The mounting rail is a dovetail groove (41) adapted to the dovetail blocks (511). The dovetail blocks (511) and the connecting bands (512) are arranged in an alternating row. Each dovetail block (511) is connected to the adjacent connecting band (512). Each dovetail block (511) can be inserted into the dovetail groove (41) and slide along the dovetail groove (41). The dovetail block located at one end of the adsorption band (51) (511) is connected to the drive unit (53) for transmission. The connecting belt (512) located at the other end of the adsorption belt (51) is wound around the take-up roller (521). The suction cup (513) corresponds one-to-one with the dovetail block (511). The large diameter end of each dovetail block (511) can abut against the groove wall of the dovetail groove (41). Each suction cup (513) is located on the small diameter end of the corresponding dovetail block (511). The suction unit (54) can suck the gas in the suction cup (513) located in the adsorption area.

5. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 4, characterized in that: The suction unit (54) includes a suction pump (541) and multiple sealing valves (542). The movable seat (4) has a suction chamber formed inside along the length of the dovetail groove (41). The suction chamber has an air outlet hole leading to the outside and multiple air inlets (42) leading to the dovetail groove (41) on its wall. The air inlet of the suction pump (541) is connected to the air outlet hole. Each suction cup (513) has an air outlet hole on its inner wall. The exhaust port (5131) is provided with a connecting hole on each of the dovetail blocks (511). One end of each connecting hole is connected to the corresponding exhaust port (5131), and the other end of each connecting hole can abut and connect with the air inlet (42) located in the adsorption area. The sealing valve (542) corresponds to the air inlet (42) one by one, and each sealing valve (542) is located in the corresponding air inlet (42). When the air inlet (42) is connected to any of the connecting holes, the sealing valve (542) corresponding to the air inlet (42) can be opened and the suction pump (541) can draw gas from the connecting hole. When the air inlet (42) is not connected to the connecting hole, the sealing valve (542) corresponding to the air inlet (42) can be closed and the air inlet (42) can be sealed.

6. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 5, characterized in that: The sealing valve (542) includes a sealing magnetic ring (5421), a plug (5422), a limiting rod (5423), a magnetic component (5424), and a limiting ring (5425). The sealing magnetic ring (5421) is disposed on the wall of the air inlet (42). One side of the plug (5422) can abut against the inner ring of the sealing magnetic ring (5421) and seal the air inlet (42). The other side of the plug (5422) is connected to one end of the limiting rod (5423). The other end of the limiting rod (5423) is connected to the magnetic component (5424). The outer ring of the limiting ring (5425) is connected to the wall of the air inlet (42) through a connecting rod. The inner ring of the limiting ring (5425) is sleeved on the limiting rod (5423). The rod body of the limiting rod (5423) abuts against the inner ring of the limiting ring (5425) and can move along the length direction of the air inlet (42). Each of the communicating holes is provided with an opening magnetic suction component (5111). When the air inlet (42) is not connected to the connecting hole, the sealing magnetic ring (5421) inside the air inlet (42) can attract the magnetic element (5424) and make the plug (5422) abut against the inner ring of the sealing magnetic ring (5421). When the air inlet (42) is connected to any of the connecting holes, the opening magnetic suction element (5111) inside the connecting hole can attract the magnetic element (5424) and make the plug (5422) separate from the inner ring of the sealing magnetic ring (5421).

7. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 4, characterized in that: The drive unit (53) includes a lead screw (531), a ball sleeve (532), and a drive motor (533). A mounting groove is provided on the mounting surface along the length direction of the dovetail groove (41). The lead screw (531) is rotatably connected in the mounting groove along the length direction of the mounting groove. The ball sleeve (532) is sleeved on the lead screw (531) and adapted to the lead screw (531). The outer wheel surface of the ball sleeve (532) is connected to the dovetail block (511) located on the adsorption belt (51) away from the take-up roller (521) through a connecting rod. The drive motor (533) is connected to the lead screw (531) and can drive the lead screw (531) to rotate.

8. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 7, characterized in that: The drive unit (53) further includes a limiting slide rod (534) and a limiting sleeve (535). A limiting groove is formed on the mounting surface along the length direction of the dovetail groove (41). The dovetail groove (41) is located between the mounting groove and the limiting groove. The limiting slide rod (534) is fixedly connected to the limiting groove along the length direction of the limiting groove. The limiting sleeve (535) is sleeved on the limiting slide rod (534) and can slide along the limiting slide rod (534). The outer wheel surface of the limiting sleeve (535) is connected to the dovetail block (511) located on the adsorption belt (51) away from the winding roller (521) through a connecting rod.

9. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 1, characterized in that: The transfer rack (2) includes multiple fixing clamps. The conveyor belt (21) is arranged horizontally on the transfer rack (2). The multiple fixing clamps are arranged along the length of the conveyor belt (21). Each fixing clamp includes at least two fixing claws (22). A fixed gap is formed between the corresponding fixing claws (22) to match the workpiece (6). The controller can control the robotic arm (3) to drive the moving seat (4) to approach the conveyor belt (21) and insert the workpiece (6) adsorbed by the adsorption component (5) into the fixed gap.

10. The robotic arm structure for rapid loading and unloading of coated workpieces according to claim 1, characterized in that: The bottom of the material rack (1) is equipped with multiple casters (11).

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