Manipulator structure for workpiece conveying of vacuum coating machine

Abstract

The utility model discloses a manipulator structure for conveying a workpiece of a vacuum coating machine, which comprises a tail end base, an adsorption component is arranged on the tail end base in a linear array, the adsorption component comprises a suction head, a mounting seat and a deformation block, the suction head is fixedly connected with the mounting seat, and the deformation block is fixedly connected with the mounting seat. And the mounting seat is positioned in a movable cavity formed in the mounting part of the tail end base to do piston motion so as to enable the suction head to move vertically. According to the manipulator structure, the adsorption assembly on the tail end base is utilized, the communication hole of the suction head is blocked by the workpiece so that the interior of the movable cavity can be closed, the deformation block is deformed and bent through vacuum negative pressure, and the mounting base drives the suction head to vertically lift under the tensile force of the deformation block and the negative pressure; and the suction head with the higher horizontal height can be adsorbed to the surface of the workpiece due to the lifting of the suction head with the lower horizontal height, so that the adsorption fixing stability of the suction head to the workpiece is improved, and the problems that the suction head with the higher horizontal height cannot be attached to the surface of the coated workpiece, pressure leakage is avoided, and the adsorption stability is reduced are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator structure used for conveying workpieces of a vacuum coating machine. Background Art

[0002] When transporting coated workpieces, a robot is often used to intelligently grasp, transport and transport the workpieces.

[0003] According to publication number CN213381615U, publication (announcement) date: 2021.06.08, a manipulator for coating workpieces is disclosed, including: a main body, a gripping device, a detection device and an execution device. The gripping device and the detection device are both arranged on the main body. The detection device includes a detection contact, which is arranged on the main body. When the gripping device grips the workpiece, the detection contact can abut against the surface of the workpiece to detect whether the surface is a coating surface. The execution device is electrically connected to the detection device. When the surface abutted by the detection contact is a coating surface, the detection device generates a signal, and the execution device can receive the signal detected by the detection device and execute a preset action. The manipulator for coating workpieces proposed in the utility model can detect whether the coating surface of the workpiece is in the correct production and processing position while transporting the workpiece, saving manpower and time and improving production efficiency.

[0004] In the prior art including the above-mentioned patent, a suction cup group is arranged on a main body. The main body is moved close to the coated workpiece so that the suction cup group descends and contacts the surface of the coated workpiece, and then the workpiece is grasped by the suction cup group. The suction cup group is often composed of multiple suction heads, and the lowest contact points of the multiple suction heads are difficult to maintain at the same horizontal height due to assembly reasons. When the multiple suction heads are simultaneously descended and close to the coated workpiece, it is easy to cause the suction heads with a higher horizontal height to fail to fit with the surface of the coated workpiece, thereby causing pressure leakage and reduced adsorption stability. Utility Model Content

[0005] The utility model aims to provide a manipulator structure for transferring workpieces of a vacuum coating machine, so as to solve the above problems.

[0006] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator structure for transferring workpieces of a vacuum coating machine, comprising an end base, on which a linear array of adsorption components are arranged, the adsorption components comprising a suction head, a mounting seat and a deformation block, the suction head is fixedly connected to the mounting seat, the mounting seat is located in an active cavity opened in the mounting portion of the end base and performs piston movement to enable the suction head to move vertically, the deformation block is symmetrically arranged in the active cavity, and the suction head and the mounting seat are both provided with connecting holes connected to the active cavity, the bottom of the suction head adsorbs the workpiece to block the connecting hole, and the deformation block is deformed under pressure so that the mounting seat drives the suction head to lift vertically.

[0007] Preferably, it further comprises a vacuum tube, which is connected with the connecting cavity opened in the end base, and the movable cavities are all connected with the connecting cavity.

[0008] Preferably, a concave arc groove for deformation is provided in the middle of the opposite side of the deformation block.

[0009] Preferably, a shielding ring sleeve is fixedly connected to the mounting portion and is used to cover the outside of the suction head. The bottom of the shielding ring sleeve is flared, and in a default state, the bottom horizontal height of the shielding ring sleeve is higher than the bottom horizontal height of the lowest position of the lower suction head. The suction head slides to lift the workpiece so that the flared end of the shielding ring sleeve is deformed and expanded and contacts the surface of the workpiece.

[0010] Preferably, it further comprises an air pipe arranged on the terminal base, the air pipe is connected with a spray pipe arranged in the terminal base, and the end of the spray pipe is connected to between the suction head and the shielding ring sleeve.

[0011] Preferably, an inclined chamfered portion is provided on the inner side of the flared end of the shielding ring sleeve.

[0012] Preferably, the shielding ring is made of rubber.

[0013] In the above technical scheme, the utility model provides a manipulator structure for transferring workpieces of a vacuum coating machine, which has the following beneficial effects: by utilizing the adsorption components on the end base, when it is necessary to adsorb and grasp the workpiece, first, the suction heads of all the adsorption components are located at the lowest vertical position, and the air is extracted in the active cavity to generate negative pressure. At this time, the negative pressure is transmitted to the bottom of the suction head through the connecting hole. When the end base moves vertically downward so that the suction head is close to the surface of the workpiece, the connecting hole of the suction head is blocked by the workpiece to make the active cavity airtight. The negative pressure generated by the vacuum will cause the deformation block to deform to bend toward the middle of the active cavity. The mounting seat is pulled by the deformation block and the negative pressure to drive the suction head to lift vertically. Since the suction heads with lower horizontal heights in the multiple groups of adsorption components have already adsorbed the surface of the workpiece and lifted, the suction heads with higher horizontal heights in the adsorption components can also be adsorbed to the surface of the workpiece due to the lifting of the suction heads with lower horizontal heights, thereby improving the suction and fixing stability of the suction heads on the workpiece, avoiding the problem that the suction heads with higher horizontal heights cannot fit with the surface of the coated workpiece, and avoiding the problem of pressure leakage and reduced adsorption stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0015] Figure 1 A schematic diagram of the overall structure provided for an embodiment of the utility model;

[0016] Figure 2 A schematic cross-sectional view of the overall structure provided for an embodiment of the utility model;

[0017] Figure 3 The embodiment of the utility model provides Figure 2 A local enlarged schematic diagram of point A in FIG.

[0018] Figure 4 A schematic diagram of the working principle of the suction head provided in an embodiment of the utility model when sucking and fixing a workpiece.

[0019] Description of reference numerals:

[0020] 1. End base; 11. Connecting column; 12. Mounting part; 13. Active cavity; 14. Connecting cavity; 2. Suction head; 3. Mounting seat; 4. Deformation block; 41. Concave arc groove; 5. Vacuum tube; 6. Shielding ring; 61. Inclined chamfered part; 7. Air pipe; 71. Ejection pipe; 91. Connecting hole. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0022] like Figure 1-4 As shown, a manipulator structure for transferring workpieces of a vacuum coating machine comprises an end base 1, on which a linear array of adsorption components is arranged, the adsorption components comprising a suction head 2, a mounting seat 3 and a deformation block 4, the suction head 2 is fixedly connected to the mounting seat 3, the mounting seat 3 is located in an active cavity 13 opened in the mounting portion 12 of the end base 1 and performs piston movement to enable the suction head 2 to move vertically, the deformation block 4 is symmetrically arranged in the active cavity 13, and the suction head 2 and the mounting seat 3 are both provided with a connecting hole 91 connected to the active cavity 13, the bottom of the suction head 2 adsorbs the workpiece to block the connecting hole 91, and the deformation block 4 is deformed under pressure to enable the mounting seat 3 to drive the suction head 2 to lift vertically.

[0023] Specifically, Figure 1 As shown, the terminal base 1 is connected to the robot assembly by setting a connecting column 11, and the terminal base 1 is also provided with a plurality of groups of adsorption components in a linear array, such as Figure 3As shown, the adsorption assembly includes a suction head 2, a mounting seat 3 and a deformation block 4. The mounting seat 3 is located in an active cavity 13 in the mounting portion 12 and performs piston movement so that the suction head 2 can move vertically. The deformation block 4 is in a vertical state by default to push the mounting seat 3 to slide downward so that the suction head 2 is located at the lowest position. When the workpiece needs to be adsorbed and grasped, first, the suction heads 2 of all adsorption assemblies are located at the lowest vertical position, and air is extracted in the active cavity 13 to generate negative pressure. At this time, the negative pressure is transmitted to the bottom of the suction head 2 through the connecting hole 91. When the end base 1 moves vertically downward to make the suction head 2 close to the surface of the workpiece, the connecting hole 91 of the suction head 2 1 is blocked by the workpiece so that the active cavity 13 is sealed, and the negative pressure generated by the vacuum will cause the deformation block 4 to deform to bend toward the middle of the active cavity 13. The mounting seat 3 is pulled by the deformation block 4 to drive the suction head 2 to be lifted vertically. Since the suction heads 2 with lower levels in the multiple adsorption components have already adsorbed the surface of the workpiece and lifted, the suction heads 2 with higher levels in the adsorption components can also be adsorbed to the surface of the workpiece due to the lifting of the suction heads 2 with lower levels, thereby improving the suction and fixing stability of the suction heads 2 on the workpiece, avoiding the problem that the suction heads 2 with higher levels cannot fit with the surface of the coated workpiece, and avoiding the problem of pressure leakage and reduced adsorption stability.

[0024] Furthermore, it includes a vacuum tube 5 , which is connected to a connecting cavity 14 opened in the end base 1 , and the active cavities 13 are all connected to the connecting cavity 14 .

[0025] The vacuum tube 5 is connected to the connecting chamber 14, and the active chamber 13 is connected to the connecting chamber 14. An external vacuum pump can be connected through the vacuum tube 5, and negative pressure can be applied to the active chamber 13 through the vacuum pump, the vacuum tube 5 and the connecting chamber 14 to improve the stability of the negative pressure.

[0026] In the above technical solution, the suction assembly on the end base 1 is used. When the workpiece needs to be sucked and grasped, first, the suction heads 2 of all suction assemblies are located at the lowest vertical position, and the air is extracted in the active chamber 13 to generate negative pressure. At this time, the negative pressure is transmitted to the bottom of the suction head 2 through the connecting hole 91. When the end base 1 moves vertically downward to make the suction head 2 close to the surface of the workpiece, the connecting hole 91 of the suction head 2 is blocked by the workpiece to make the active chamber 13 airtight. The negative pressure generated by the vacuum will cause the deformation block 4 to deform to move toward the active chamber 13. The middle part of the cavity 13 is bent, and the mounting seat 3 is pulled by the deformation block 4 and the negative pressure to drive the suction head 2 to be vertically lifted. Since the suction heads 2 with lower levels in the multiple adsorption components have already adsorbed the surface of the workpiece and lifted, the suction heads 2 with higher levels in the adsorption components can also be adsorbed to the surface of the workpiece due to the lifting of the suction heads 2 with lower levels, thereby improving the adsorption and fixing stability of the suction heads 2 on the workpiece, avoiding the problem that the suction heads 2 with higher levels cannot fit with the surface of the coated workpiece, and avoiding the problem of pressure leakage and reduced adsorption stability.

[0027] As an embodiment further provided by the present invention, a concave arc groove 41 for deformation is provided in the middle of the opposite side of the deformation block 4 .

[0028] Specifically, Figure 3 As shown, a concave arc groove 41 is provided in the middle of the back side of the deformation block 4. The existence of the concave arc groove 41 can improve the deformation ability of the deformation block 4 when negative pressure is generated in the middle of the active cavity 13, thereby facilitating the mounting seat 3 to drive the suction head 2 to perform vertical lifting movement, thereby ensuring the sliding stability of the suction head 2.

[0029] As an embodiment further provided by the present invention, a shielding ring sleeve 6 for covering the outside of the suction head 2 is fixedly connected to the mounting portion 12, the bottom of the shielding ring sleeve 6 is flared, and in the default state, the bottom horizontal height of the shielding ring sleeve 6 is higher than the bottom horizontal height of the lowest position of the lower suction head 2, and the suction head 2 slides to lift the workpiece so that the flared end of the shielding ring sleeve 6 is deformed and expanded and contacts the surface of the workpiece.

[0030] Specifically, Figure 3 As shown, the shielding ring sleeve 6 is set on the mounting portion 12 in the default state to cover the outside of the suction head 2, which can alleviate the aging and hardening problems caused by dust accumulation and light exposure on the suction head 2, and increase the service life of the suction head 2. In the default state without adsorbing the workpiece, the bottom of the shielding ring sleeve 6 is higher than the bottom of the suction head 2 to avoid the shielding ring sleeve 6 interfering with the normal adsorption and fixing process of the suction head 2. Furthermore, when the suction head 2 moves down with the end base 1 to adsorb and fix the workpiece, the bottom of the suction head 2 contacts the workpiece so that the suction head 2 is lifted by the negative pressure and the pulling force of the deformation block 4, and the workpiece is also adsorbed and lifted by the suction head 2 to be close to the shielding ring sleeve 6. At this time, Figure 4 As shown, the workpiece approaches, causing the flared end of the shielding ring sleeve 6 to deform and expand and come into contact with the surface of the workpiece, and the shielding ring sleeve 6 is still covered on the outside of the suction head 2. The shielding ring sleeve 6 is utilized to shield the suction head 2 during the process of the suction head 2 adsorbing and grasping the workpiece, thereby preventing other objects from accidentally touching the suction head 2 and causing the workpiece to fall, thereby improving the grasping safety, and secondly, it can cover and protect the coating on the surface of the workpiece, thereby improving the surface protection of the workpiece.

[0031] As a further embodiment provided by the present invention, it also includes an air pipe 7 arranged on the terminal base 1, the air pipe 7 is connected to the ejection pipe 71 arranged in the terminal base 1, and the end of the ejection pipe 71 is connected to between the suction head 2 and the shielding ring sleeve 6.

[0032] Specifically, Figure 2 As shown, the air pipe 7 is connected to the ejection pipe 71 provided in the terminal base 1, and as shown in FIG. Figure 3As shown, the end of the ejection pipe 71 is connected between the suction head 2 and the shielding ring 6. When the suction head 2 moves downward with the end base 1 to adsorb and fix the workpiece, the bottom of the suction head 2 contacts the workpiece so that the suction head 2 is lifted by the negative pressure and the pulling force of the deformation block 4, and the workpiece is also lifted by the suction head 2 and close to the shielding ring 6. At this time, Figure 4 As shown, the workpiece approaches, causing the flared end of the shielding ring sleeve 6 to deform and expand and come into contact with the surface of the workpiece, and the shielding ring sleeve 6 is still covered on the outside of the suction head 2, and a small amount of gas can be sprayed into the shielding ring sleeve 6 through the air pipe 7 to increase the air pressure in the shielding ring sleeve 6, thereby improving the airtightness between the bottom of the suction head 2 and the workpiece, and further improving the gripping stability of the suction head 2 on the workpiece.

[0033] As an embodiment further provided by the present invention, an inclined chamfered portion 61 is provided inside the flared end of the shielding ring sleeve 6 .

[0034] Specifically, an inclined chamfered portion 61 is provided on the inner side of the flared end of the shielding ring sleeve 6. When the flared end of the shielding ring sleeve 6 is deformed and expanded and contacts the surface of the workpiece, the inclined chamfered portion 61 contacts the surface of the workpiece to increase the contact area with the workpiece, thereby further improving the gripping stability of the workpiece.

[0035] As an embodiment further provided by the present invention, the shielding ring sleeve 6 is made of rubber.

[0036] Specifically, the shielding ring sleeve 6 is made of rubber to improve its flexibility and durability.

[0037] The above only describes some exemplary embodiments of the present invention by way of illustration. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A manipulator structure for transferring workpieces of a vacuum coating machine, characterized in that: The invention comprises an end base (1) on which a suction component is arranged in a linear array, wherein the suction component comprises a suction head (2), a mounting seat (3) and a deformation block (4); the suction head (2) is fixedly connected to the mounting seat (3); the mounting seat (3) is located in an active cavity (13) provided in a mounting portion (12) of the end base (1) and performs piston movement to enable the suction head (2) to move vertically; the deformation block (4) is symmetrically arranged in the active cavity (13); and the suction head (2) and the mounting seat (3) are both provided with a connecting hole (91) connected to the active cavity (13); the bottom of the suction head (2) adsorbs a workpiece to block the connecting hole (91); and the deformation block (4) is deformed under pressure to enable the mounting seat (3) to drive the suction head (2) to lift vertically.

2. The manipulator structure for transferring workpieces of a vacuum coating machine according to claim 1, characterized in that: It also comprises a vacuum tube (5) which is in communication with a connecting cavity (14) provided in the end base (1), and the movable cavities (13) are all in communication with the connecting cavity (14).

3. The manipulator structure for transferring workpieces of a vacuum coating machine according to claim 2, characterized in that: A concave arc groove (41) for deformation is provided in the middle of the opposite side of the deformation block (4).

4. The manipulator structure for transferring workpieces of a vacuum coating machine according to claim 3, characterized in that: The mounting portion (12) is fixedly connected with a shielding ring sleeve (6) for covering the outside of the suction head (2); the bottom of the shielding ring sleeve (6) is flared, and in a default state, the bottom level of the shielding ring sleeve (6) is higher than the bottom level of the lowest position of the lower suction head (2); the suction head (2) slides to lift the workpiece so that the flared end of the shielding ring sleeve (6) is deformed and enlarged and contacts the surface of the workpiece.

5. The manipulator structure for transferring workpieces of a vacuum coating machine according to claim 4, characterized in that: It also comprises an air pipe (7) arranged on the terminal base (1), the air pipe (7) being connected to a spray pipe (71) arranged in the terminal base (1), and the end of the spray pipe (71) being connected to between the suction head (2) and the shielding ring sleeve (6).

6. The robot structure for transferring workpieces of a vacuum coating machine according to claim 5, characterized in that: An inclined chamfered portion (61) is provided inside the expanded end of the shielding ring sleeve (6).

7. The robot structure for transferring workpieces of a vacuum coating machine according to claim 6, characterized in that: The shielding ring sleeve (6) is a rubber part.

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