Manipulator

Abstract

The utility model provides a manipulator, and relates to the technical field of lithium battery detection. The manipulator comprises a transmission mechanism and a suction cup mechanism. The transmission mechanism comprises an input part, a linkage assembly and an output part, the input part and the output part are both connected with the linkage assembly, and the linkage assembly is used for converting rotary motion of the input part into reciprocating motion of the output part in the first direction and the second direction. Wherein an included angle is formed between the first direction and the second direction. The suction cup mechanism is connected with the output piece and used for sucking the workpieces. The mechanical arm is simple in structure, stable and reliable in operation and high in efficiency, workpieces are picked up in a vacuum adsorption mode, the workpieces are not prone to being damaged, safety is high, and the yield can be effectively increased.

Description

Technical Field

[0001] The utility model relates to the technical field of lithium battery detection, in particular to a manipulator. Background Art

[0002] The alignment of positive and negative electrodes is closely related to the performance of lithium batteries. The alignment of positive and negative electrodes needs to be measured during the production of lithium batteries. Therefore, X-RAY detection equipment is extremely important in the production of lithium batteries. The working principle of the X-RAY detection equipment is to emit X-rays through the X-RAY generator, penetrate the inside of the battery, receive the X-rays through the flat-panel detector, convert them into visible light, and then use the camera to image and take pictures. Finally, the image is processed and automatically analyzed and judged through relevant software. During the unloading process of the X-RAY detection equipment, due to the inaccurate position of the incoming material, the transfer platform is required for positioning. Here, the PPU manipulator is used to meet production needs.

[0003] The inventor has found that the existing manipulator has at least the following disadvantages:

[0004] The workpiece is gripped and fixed by a clamping claw structure, and the probability of damage to the workpiece during the clamping process is high, which can easily increase costs and reduce the yield rate due to damage to the workpiece. Utility Model Content

[0005] The utility model aims to provide a robot arm which can reduce the probability of damaging a workpiece when fixing the workpiece, is not likely to increase the cost, and effectively improves the yield rate.

[0006] The embodiment of the utility model is achieved as follows:

[0007] In a first aspect, the utility model provides a manipulator, comprising:

[0008] A transmission mechanism, the transmission mechanism comprising an input member, a linkage assembly and an output member, the input member and the output member are both connected to the linkage assembly, the linkage assembly is used to convert the rotational motion of the input member into reciprocating motion of the output member in a first direction and a second direction, the first direction and the second direction having an included angle;

[0009] And a suction cup mechanism, wherein the suction cup mechanism is connected to the output member and is used for adsorbing the workpiece.

[0010] In an optional embodiment, the linkage assembly includes a guide plate and a swing arm, the guide plate is provided with a first guide hole extending in the first direction and a second guide hole extending in the second direction, one end of the first guide hole in the first direction is connected to one end of the second guide hole in the second direction; the swing arm is provided with a strip limiting hole, the swing arm is connected to the input member, and the input member is rotatably connected to the guide plate; the output member passes through the strip limiting hole and is alternately penetrated into the first guide hole and the second guide hole.

[0011] Based on the above scheme, during the rotation of the input part, the swing arm is driven to swing, and the hole wall of the limiting hole on the swing arm contacts the output part, driving the output part to move. When the output part is located in the first guide hole, the first guide hole can guide the output part to move in the first direction. When the output part is located in the second guide hole, the second guide hole can guide the output part to move in the second direction, and finally the suction cup mechanism realizes reciprocating motion in the first direction or reciprocating motion in the second direction, and the suction cup mechanism moves smoothly.

[0012] In an optional embodiment, the guide plate is further provided with a third guide hole arranged relatively to the first guide hole at an interval, one end of the third guide hole in the first direction is connected to an end of the second guide hole in the second direction away from the first guide hole, and the first guide hole and the third guide hole both extend in the first direction toward one side of the input member.

[0013] Based on the above scheme, when the output member enters the third guide hole from the second guide hole, under the guidance of the third guide hole, the output member can reciprocate in the second direction. In this way, after the suction cup mechanism adsorbs the workpiece under the guidance of the first guide hole, the suction cup mechanism can transport the workpiece along the first direction under the guidance of the second guide hole, and when it is transported to the position of the third guide hole, the suction cup mechanism drives the workpiece to descend under the guidance of the third guide hole, so that the workpiece falls steadily on the platform, thereby realizing smooth transfer of the workpiece.

[0014] In an optional embodiment, the transmission mechanism also includes a first slide rail assembly, the first slide rail assembly includes a first guide rail and a first sliding seat, the first guide rail is connected to the guide plate and extends in the second direction, the first sliding seat is slidably engaged with the first guide rail; the output member is slidably engaged with the first sliding seat in the first direction.

[0015] Based on the above solution, during the operation of the robot, when the output member reciprocates in the second direction, it moves under the guidance of the first slide rail assembly, and the movement is smooth and reliable.

[0016] In an optional embodiment, the transmission mechanism also includes a second slide rail assembly, the second slide rail assembly includes a second guide rail and a second sliding seat, the second guide rail is fixedly connected to the first sliding seat and extends in the first direction, the second sliding seat is slidably matched with the second guide rail, and the second sliding seat is fixedly connected to the output member.

[0017] Based on the above solution, during the operation of the robot, when the output member reciprocates in the first direction, it moves under the guidance of the second slide rail assembly, and the movement is smooth and reliable.

[0018] In an optional embodiment, the transmission mechanism further includes a conversion member, one side of which is fixedly connected to the first sliding seat, and the other side of which is fixedly connected to the second guide rail.

[0019] Based on the above solution, the first sliding seat and the second guide rail are connected via an adapter, and the adapter can adjust the relative position of the first sliding seat and the second guide rail, making installation more convenient.

[0020] In an optional embodiment, the suction cup mechanism includes a baffle, a mounting plate, an elastic member and a suction cup assembly, the baffle is connected to the mounting plate, and the mounting plate is connected to the output member; the suction cup assembly and the mounting plate are slidably matched, and the elastic member is arranged between the baffle and the suction cup assembly to make the suction cup assembly have a tendency to move away from the baffle.

[0021] Based on the above scheme, driven by the output member, the second sliding seat can reciprocate in the second direction relative to the second guide rail. In the actual operation process, the first direction can be the horizontal direction, and the second direction can be the vertical direction. The suction cup mechanism can reciprocate in the second direction driven by the second sliding seat. It is set that in the initial state, the second sliding seat is at the highest position of the second guide hole. As the output member moves downward, the second sliding seat drives the suction cup mechanism to descend. When the suction cup assembly contacts the workpiece, in order to increase the adsorption force, the suction cup assembly will press down the workpiece. The suction cup assembly will generate an external force that impacts the workpiece, and the external force can be transmitted to the elastic member by the suction cup assembly. The suction cup assembly can compress the elastic member, thereby playing a buffering and energy absorption effect through the elastic member, thereby effectively avoiding the situation where the suction cup assembly collides with the workpiece and causes damage to the workpiece, thereby improving the safety and reliability of the adsorption operation.

[0022] In an optional embodiment, the suction cup mechanism also includes a third slide rail assembly, the third slide rail assembly includes a third guide rail and a third sliding seat, the third guide rail is connected to the suction cup assembly, the third sliding seat is installed on the mounting plate, and the third guide rail and the third sliding seat are slidably matched; the elastic member is arranged between the baffle and the third guide rail.

[0023] Based on the above solution, when the suction cup assembly is in contact with the workpiece, the suction cup assembly moves in the second direction under the guidance of the third slide rail assembly, and the suction cup assembly moves smoothly.

[0024] In an optional embodiment, the suction cup assembly includes a suction cup mounting block, a suction cup aluminum block and a suction nozzle, the suction cup mounting block is connected to the third guide rail, the suction cup aluminum block is connected to the suction cup mounting block, and the suction nozzle is mounted on the suction cup aluminum block.

[0025] Based on the above scheme, the third guide rail drives the suction cup mounting block, the suction cup aluminum block and the suction nozzle to rise and fall together. When the workpiece needs to be adsorbed, the suction nozzle contacts the workpiece, and utilizes the air path formed in the suction cup mounting block, the suction cup aluminum block and the suction nozzle to generate negative pressure at the suction nozzle under the action of the vacuum pump. The negative pressure is used to adsorb the workpiece, and the adsorption is stable and reliable.

[0026] In an optional embodiment, the suction cup mechanism also includes a limit plate, a limit screw and two limit blocks; the limit plate is provided with a limit groove, the suction cup mounting block is installed on the limit plate, and the mounting plate can be slidably installed in the limit groove; the limit screw is fixed to the baffle and passes through the limit plate, and the limit plate and the limit screw can be slidably matched; the two limit blocks are respectively installed on opposite sides of the mounting plate, and the two limit blocks are used to abut against the limit plate to control the descending height of the limit plate.

[0027] Based on the above scheme, when the suction cup assembly is in a high position and does not adsorb the workpiece, under the action of gravity, the suction cup assembly has a tendency to move downward, and drives the limit plate to move downward together, and the limit plate can only move in the vertical direction, that is, the second direction, under the guidance of the limit screw. The limit plate and the limit screw cooperate to guide the suction cup assembly, so that the suction cup assembly can operate stably and reliably. When the suction cup assembly drops to a set height, the limit plate can simultaneously abut against the two limit blocks installed on both sides of the mounting plate. The two limit blocks cooperate to limit the position of the limit plate moving downward, thereby controlling the height of the suction nozzle, and then controlling the distance between the suction nozzle and the workpiece. The pressure exerted by the suction nozzle on the surface of the workpiece is moderate, and the suction nozzle effectively adsorbs the workpiece without easily causing indentations on the workpiece. In addition, the cooperation between the limit plate and the limit block can also prevent the suction cup assembly from detaching downward from the mounting plate.

[0028] The beneficial effects of the embodiments of the utility model are:

[0029] In summary, the input part of the manipulator provided in this embodiment can be connected to the motor, and the power is provided by the motor. When the motor drives the input part to rotate, it can drive the output part to reciprocate in the first direction and the second direction through the linkage assembly. When the output part moves in the first direction, it can drive the suction cup mechanism to translate, and when the output part moves in the second direction, it can drive the suction cup mechanism to rise and fall. In this way, when it is necessary to transfer the workpiece, the output part first drives the suction cup mechanism to translate in the first direction to the top of the workpiece, and then the output part continues to drive the suction cup mechanism to descend in the second direction. After the suction cup mechanism contacts the workpiece, it uses vacuum to absorb the workpiece. Subsequently, the motor reverses, the output part first rises in the second direction, and then translates in the first direction, and finally realizes the transfer of the workpiece position, with stable operation and high efficiency. The workpiece is fixed by suction by the suction cup mechanism, and the suction cup mechanism has a low probability of damaging the workpiece, is not easy to damage the workpiece, has a low transfer cost, and can also effectively improve the yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A schematic diagram of the structure of a manipulator according to an embodiment of the utility model;

[0032] Figure 2 It is a schematic diagram of the assembly of the transmission mechanism of the embodiment of the utility model;

[0033] Figure 3 It is an exploded schematic diagram of the transmission mechanism of an embodiment of the utility model;

[0034] Figure 4 It is an exploded schematic diagram of the suction cup mechanism of an embodiment of the utility model.

[0035] icon:

[0036] 001-first direction; 002-second direction; 100-motor; 200-transmission mechanism; 210-input member; 220-linkage assembly; 221-guide plate; 2211-first guide hole; 2212-second guide hole; 2213-third guide hole; 2214-assembly hole; 222-swing arm; 2221-strip limit hole; 2222-fixing hole; 230-output member; 231-shaft body; 232-first roller; 233-second roller; 240-first slide rail assembly; 241-first guide rail; 242-first sliding seat; 250-second slide rail assembly Parts; 251-second guide rail; 252-second sliding seat; 260-adapter; 300-suction cup mechanism; 310-baffle; 320-mounting plate; 330-elastic member; 340-suction cup assembly; 341-suction cup mounting block; 3411-card slot; 342-suction cup aluminum block; 343-suction nozzle; 350-third slide rail assembly; 351-third guide rail; 352-third sliding seat; 360-limiting plate; 361-limiting groove; 362-side groove wall; 363-bottom groove wall; 370-limiting screw; 380-limiting block; 400-connecting plate; 500-adjusting plate. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the prior art, in order to realize the transfer of the workpiece, a swivel mechanism and a clamping mechanism are used. The swivel mechanism converts the rotational motion into the horizontal motion and vertical motion of the clamping mechanism. When the clamping mechanism moves horizontally above the workpiece, it can descend and clamp the workpiece, and then adjust the position of the workpiece to realize the transfer of the workpiece. The clamping mechanism relies on a cylinder or a hydraulic cylinder to drive the clamping jaws to approach each other to clamp the workpiece. The force exerted by the clamping jaws on the workpiece is large, which is easy to damage the edge of the workpiece, thereby increasing the transfer cost.

[0044] In view of this, the designer provides a robot arm that transfers the workpiece by vacuum adsorption, which causes little damage to the surface of the workpiece, is not easy to damage the workpiece, and has a low transfer cost.

[0045] Please combine Figure 1-Figure 3In this embodiment, the manipulator includes a transmission mechanism 200 and a suction cup mechanism 300. The transmission mechanism 200 includes an input member 210, a linkage assembly 220 and an output member 230. The input member 210 and the output member 230 are both connected to the linkage assembly 220. The linkage assembly 220 is used to convert the rotational motion of the input member 210 into the reciprocating motion of the output member 230 in the first direction 001 and the second direction 002. Among them, the first direction 001 and the second direction 002 have an angle. Preferably, the first direction 001 and the second direction 002 are both straight directions and the angle between the two is 90°, and when the manipulator is running, the first direction 001 is a vertical direction and the second direction 002 is a horizontal direction. The suction cup mechanism 300 is connected to the output member 230, and the suction cup mechanism 300 can reciprocate in the first direction 001 and the second direction 002 driven by the output member 230. The suction cup mechanism 300 is used to absorb or release the workpiece.

[0046] Based on the above, the working principle of the manipulator provided in this embodiment is as follows:

[0047] Please combine Figure 2 , setting, the manipulator is mainly suitable for transferring the workpiece at the first position to the second position, that is, the manipulator places the workpiece at the second position after taking the material from the first position. In the initial position, the suction cup mechanism 300 of the manipulator is directly above the first position, and the second position is located on the right side of the first position. During operation, the output member 230 can be connected to the output shaft of the motor 100. After the motor 100 is started, it drives the input member 210 to rotate counterclockwise, and drives the output member 230 to move downward in the first direction 001 through the linkage assembly 220, thereby driving the suction cup mechanism 300 to move downward. After the suction cup mechanism 300 moves downward and contacts the workpiece, it uses vacuum to absorb the workpiece to complete the loading action. Subsequently, the motor 100 drives the input member 210 to rotate clockwise, and the output member 230 first moves upward in the first direction 001. After rising to the set height, as the input member 210 continues to rotate clockwise, the output member 230 can move rightward in the second direction 002, thereby driving the workpiece to translate rightward in the second direction 002 through the suction cup mechanism 300, and releasing the workpiece when it translates to the second position, completing the unloading action. The loading and unloading of the workpiece is completed quickly by the manipulator, and the whole process runs smoothly and efficiently. The workpiece is adsorbed by the suction cup mechanism 300, and the probability of damage to the workpiece by the suction cup mechanism 300 is low, the workpiece is not easily damaged, and the transfer cost is low.

[0048] The following embodiments illustrate the detailed structure of the robot provided in this application by way of examples.

[0049] Please combine Figure 1In this embodiment, optionally, the manipulator includes a motor 100, a transmission mechanism 200 and a suction cup mechanism 300. The motor 100 is connected to the suction cup mechanism 300 through the transmission mechanism 200, and the transmission mechanism 200 can convert the rotational motion of the motor 100 into a reciprocating linear motion of the suction cup mechanism 300 in a first direction 001 and a second direction 002, wherein the first direction 001 and the second direction 002 are perpendicular to each other. During operation, the first direction 001 extends vertically and the second direction 002 extends horizontally. The suction cup mechanism 300 is used to absorb or release the workpiece. When the suction cup mechanism 300 moves in the first direction 001, it can drive the workpiece to rise and fall, and when the suction cup mechanism 300 moves in the second direction 002, it can drive the workpiece to move left and right.

[0050] It should be understood that the number of the suction cup mechanisms 300 can be one or more. When the number of the suction cup mechanisms 300 is more than one, the multiple suction cup mechanisms 300 are all connected to the output member 230, and each suction cup mechanism 300 corresponds to transferring one workpiece. The multiple suction cup mechanisms 300 can achieve synchronous movement driven by the output member 230, thereby transferring multiple workpieces at the same time, improving the workpiece transfer efficiency, and reducing the workpiece transfer cost. For example, in this embodiment, the number of suction cup mechanisms 300 is described as two. In order to facilitate design and reduce manufacturing and processing costs, the structures of the multiple suction cup mechanisms 300 are set to be the same. In this embodiment, in order to avoid repeated descriptions, the specific structure and working method of one suction cup mechanism 300 are used for expansion.

[0051] Please combine Figure 1 In addition, in order to realize the connection between multiple suction cup mechanisms 300 and the output member 230, a connecting plate 400 is installed on the output member 230, and multiple adjustment plates 500 are provided on the connecting plate 400. The number of adjustments is consistent with the number of suction cup mechanisms 300. For example, in this embodiment, the number of adjustment plates 500 and suction cup mechanisms 300 are both two, and the two suction cup mechanisms 300 are respectively installed on two adjustment plates 500.

[0052] In this embodiment, the motor 100 may be a servo motor 100, and a reducer may be provided between the output shaft of the motor 100 and the input member 210, so as to adjust the rotation speed as required and be applicable to different operation scenarios. In addition, the output shaft of the motor 100 or the output shaft of the reducer and the input member 210 may be provided in a detachable connection manner, which is convenient for disassembly and assembly, and for subsequent maintenance or replacement.

[0053] Please combine Figure 1-Figure 3In this embodiment, the transmission mechanism 200 optionally includes an input member 210, a linkage assembly 220, an output member 230, a first slide rail assembly 240, a second slide rail assembly 250 and an adapter 260. The input member 210 is connected to the linkage assembly 220, and the output member 230 is connected to the linkage assembly 220 through the first slide rail assembly 240 and the second slide rail assembly 250. The input member 210 is connected to the output shaft of the motor 100 for rotating under the drive of the motor 100. The linkage assembly 220 can convert the rotational motion of the input member 210 into a reciprocating linear motion of the output member 230 in the first direction 001 and the second direction 002. The first slide rail assembly 240 can guide the output member 230 to reciprocate in the second direction 002, and the second slide rail assembly 250 can guide the output member 230 to reciprocate in the first direction 001, thereby ensuring the stability of the motion of the output member 230.

[0054] Optionally, the linkage assembly 220 includes a guide plate 221 and a swing arm 222. The guide plate 221 can be set as a rectangular plate, the length direction of the guide plate 221 is consistent with the second direction 002, and the width direction of the guide plate 221 is consistent with the first direction 001. The guide plate 221 is provided with a first guide hole 2211, a second guide hole 2212 and a third guide hole 2213 whose ends are connected in sequence, the first guide hole 2211 and the third guide hole 2213 are arranged in parallel and spaced apart, the first guide hole 2211 and the third guide hole 2213 both extend in the first direction 001, and the second guide hole 2212 extends in the second direction 002, so that the first guide hole 2211, the second guide hole 2212 and the third guide hole 2213 are all through holes and the area defined by the three extends in an inverted U shape.

[0055] The guide plate 221 is also provided with an assembly hole 2214, which is located between the first guide hole 2211 and the third guide hole 2213, that is, the first guide hole 2211, the third guide hole 2213 and the assembly hole 2214 are all located on the same side of the second guide hole 2212 in the first direction 001. Optionally, the assembly hole 2214 is a circular hole, the axis of the assembly hole 2214 is perpendicular to the plane determined by the first direction 001 and the second direction 002, and the axis of the assembly hole 2214 is perpendicular to the central axis of the second guide hole 2212. A bearing can be installed in the assembly hole 2214, and the input member 210 is inserted into the inner ring of the bearing, and the input member 210 is rotatably matched with the guide plate 221 through the bearing. The swing arm 222 is a long strip structure, and is provided with a fixing hole 2222 and a strip-shaped limiting hole 2221. The fixing hole 2222 is a circular hole, and its axis is spaced apart from the center line of the swing arm 222. A fastener such as a pin can be fixed to the input member 210 after passing through the fixing hole 2222, so as to achieve a fixed connection between the input member 210 and the swing arm 222. The input member 210 can drive the swing arm 222 to rotate around the axis of the fixing hole 2222. The strip-shaped limiting hole 2221 can be set as a waist-shaped hole, and the length direction of the strip-shaped limiting hole 2221 is consistent with the length direction of the swing arm 222.

[0056] It can be understood that when the first position and the second position are at the same height, the lengths of the first guide hole 2211 and the third guide hole 2213 in the second direction 002 are the same, and when the first position and the second position are at different heights, the lengths of the first guide hole 2211 and the third guide hole 2213 in the second direction 002 are different. Reasonable setting of the lengths of the first guide hole 2211 and the third guide hole 2213 in the second direction 002 can meet the use requirements of the manipulator to transfer the workpiece at the first position to the second position. In addition, in other embodiments, when it is not necessary to place the workpiece at the second position but only to operate the workpiece near the second position, the guide plate 221 may not be provided with the third guide hole 2213, which will not be described in detail here.

[0057] Optionally, the output member 230 includes a shaft body 231, a first roller 232 and a second roller 233. The first roller 232 and the second roller 233 are both rotatably mounted outside the shaft body 231. The first roller 232 can roll in the first guide hole 2211, the second guide hole 2212 and the third guide hole 2213. The second roller 233 is located in the strip-shaped limiting hole 2221. The second roller 233 contacts the hole wall of the strip-shaped limiting hole 2221. The second roller 233 can slide relative to the swing arm 222 in the strip-shaped limiting hole 2221 while rotating relative to the shaft body 231, and the end of the shaft body 231 away from the guide plate 221 extends out of the swing arm 222. During the movement of the output member 230 in the first direction 001 and the second direction 002, the friction between the output member 230 and the guide plate 221 is the rolling friction formed between the first roller 232 and the guide plate 221, which has low friction, low wear and stable operation. The friction force between the output member 230 and the swing arm 222 is the rolling friction force formed between the second roller 233 and the swing arm 222 , which has small friction force and stable operation.

[0058] Optionally, the first slide rail assembly 240 includes a first guide rail 241 and a first sliding seat 242. The first guide rail 241 is connected to the guide plate 221 and extends in the second direction 002. The first guide rail 241 is located below the first guide hole 2211, the second guide hole 2212, and the third guide hole 2213. The assembly hole 2214 is located between the second guide hole 2212 and the first guide rail 241. The first sliding seat 242 is slidably matched with the first guide rail 241 in the second direction 002.

[0059] Optionally, the second slide rail assembly 250 includes a second guide rail 251 and a second sliding seat 252. The second guide rail 251 is fixedly connected to the first sliding seat 242 and extends in the first direction 001, the second sliding seat 252 is slidably matched with the second guide rail 251 in the first direction 001, and the second sliding seat 252 is fixedly connected to the end of the shaft body 231 extending from the swing arm 222.

[0060] Optionally, the adapter 260 is a plate-shaped structure, and one plate surface of the adapter 260 is in contact with the first sliding seat 242 and can be fixedly connected to the first sliding seat 242 by screws. A mounting groove is provided on the other plate surface of the adapter 260, and the second guide rail 251 is clamped in the mounting groove, and the second guide rail 251 can be fixed to the adapter 260 by screws. The connection between the first sliding seat 242 and the second guide rail 251 is achieved by the adapter 260, and the connection structure is simple and easy to disassemble and assemble.

[0061] Please combine Figure 1 and Figure 4In this embodiment, optionally, the suction cup mechanism 300 includes a baffle 310, a mounting plate 320, an elastic member 330, a suction cup assembly 340, a third slide rail assembly 350, a limit plate 360, a limit screw 370 and two limit blocks 380. The baffle 310 and the top of the mounting plate 320 can be fixedly connected by a screw or other structural member. The baffle 310 can be fixed to the bottom surface of the adjustment plate 500 by a screw or other structural member. The suction cup assembly 340 is slidably matched with the mounting plate 320 in the first direction 001 through the third slide rail assembly 350. One end of the elastic member 330 is mounted on the bottom surface of the baffle 310, and the other end of the elastic member 330 can abut against the suction cup assembly 340, that is, when the suction cup assembly 340 moves upward, the elastic member 330 can be compressed, and the elastic member 330 plays a buffering and energy absorption effect. The limiting plate 360 ​​is slidably matched with the limiting screw 370, and the limiting screw 370 is fixed on the baffle 310. The limiting plate 360 ​​is fixedly connected with the suction cup assembly 340, and the limiting plate 360 ​​is slidably matched with the mounting plate 320. The limiting plate 360 ​​can limit the left and right shaking of the suction cup assembly 340. Two limiting blocks 380 are respectively fixed on the opposite sides of the mounting plate 320, and each limiting block 380 can be detachably connected to the mounting plate 320 by a structural member such as a screw. The limiting plate 360 ​​is located above the two limiting blocks 380. When the limiting plate 360 ​​slides downward, it can abut against the two limiting blocks 380. The two limiting blocks 380 cooperate to limit the position of the limiting plate 360 ​​to fall, thereby controlling the lowest position of the suction cup assembly 340 to prevent the suction cup assembly 340 from sliding downward and separating from the mounting plate 320.

[0062] Optionally, the elastic member 330 may be a spring. The elastic member 330 has a simple structure, is easy to install, can provide continuous and stable elastic force, and has a long service life.

[0063] It should be understood that in other embodiments, the elastic member 330 may also be a rubber member or the like.

[0064] Optionally, the limiting plate 360 ​​is provided with a limiting groove 361, which is a U-shaped groove and has two opposite side groove walls 362. The limiting plate 360 ​​is clamped on the mounting plate 320 through the limiting groove 361, and the two side groove walls 362 are respectively slidably matched with two opposite side surfaces of the mounting plate 320 to play a limiting role.

[0065] In addition, there are two limit screws 370, one end of each of which is screwed and fixed on the baffle 310, and the other end is suspended. When the two limit blocks 380 are removed, the constraint of the limit plate 360 ​​sliding downward disappears, and the limit plate 360 ​​can slide downward and detach from the mounting plate 320 together with the suction cup assembly 340. By adjusting the height of the limit block 380 on the mounting plate 320, the lowest position of the limit plate 360 ​​can be adjusted, thereby adjusting the lowest position of the suction cup assembly 340 relative to the workpiece.

[0066] Optionally, the third slide rail assembly 350 includes a third guide rail 351 and a third sliding seat 352. The third guide rail 351 is fixedly connected to the suction cup assembly 340 by means of structural members such as screws, and the third sliding seat 352 can be installed on the mounting plate 320 by means of structural members such as screws, and the third guide rail 351 and the third sliding seat 352 can be slidably matched in the first direction 001. One end of the elastic member 330 is fixed to the bottom of the baffle 310, and the other end can contact the top surface of the third guide rail 351. When the output member 230 drives the suction cup mechanism 300 to descend to adsorb the workpiece, the suction cup assembly 340 first contacts the workpiece. In order to improve the adsorption stability, the suction cup assembly 340 needs to press down the workpiece. The reaction force of the suction cup assembly 340 pressing down the workpiece is transmitted to the elastic member 330 through the third guide rail 351, so that the elastic member 330 plays a buffering and energy absorption effect, thereby effectively avoiding the situation where the suction cup assembly 340 collides with the workpiece and damages the workpiece, thereby improving the safety and reliability of the adsorption operation.

[0067] Optionally, the suction cup assembly 340 includes a suction cup mounting block 341, a suction cup aluminum block 342, and a plurality of suction nozzles 343. A card slot 3411 is provided on the suction cup mounting block 341, and the bottom groove wall 363 of the limiting card slot 3411 of the limiting plate 360 ​​is inserted into the card slot 3411, so as to improve the firmness of the combination between the limiting plate 360 ​​and the suction cup mounting block 341, and the limiting plate 360 ​​can be fixed to the suction cup mounting block 341 by structural members such as screws. The suction cup mounting block 341 is fixedly connected to the third guide rail 351 by structural members such as screws. The suction cup aluminum block 342 is fixedly connected to the bottom of the suction cup mounting block 341 by structural members such as screws, and a plurality of suction nozzles 343 are all installed on the suction cup aluminum block 342. An air pipe joint can be provided on the suction cup aluminum block 342, and an internal passage connected to the air pipe joint can be provided inside the suction cup aluminum block 342, and the suction nozzle 343 is connected to the internal passage after being fixed on the suction cup aluminum block 342. In this way, when the air pipe joint is connected to the vacuum pump, the vacuum pump is started, which can generate negative pressure at the suction nozzle 343, so that the suction nozzle 343 can absorb the workpiece more firmly and the workpiece is not easy to get loose.

[0068] It should be understood that the number of the suction nozzles 343 is set as needed and is not specifically limited in this embodiment.

[0069] Please combine Figure 2, taking the current position as the initial position, the working process and working principle of the robot are explained in detail.

[0070] When the manipulator is in operation, when the input member 210 rotates counterclockwise driven by the motor 100, the swing arm 222 is driven to rotate counterclockwise. Driven by the hole wall of the strip-shaped limiting hole 2221, the second roller 233 rotates while sliding in the strip-shaped limiting hole 2221. The force of the swing arm 222 is transmitted to the first roller 232 through the shaft 231. The first roller 232 moves to the left under the guidance of the second guide hole 2212. At the same time, the second sliding seat 252, the second guide rail 251 and the first sliding seat 242 move to the left together. When the first guide hole 2211 and the second guide hole 2212 are connected, the swing arm 222 continues to rotate counterclockwise. When the first roller 232 enters the first guide hole 2211, the first roller 232 no longer moves horizontally, but moves downward under the guidance of the first guide hole 2211. During the downward movement of the output member 230, the second sliding seat 252 moves downward relative to the second guide rail 251, playing a role in stabilizing the output member 230. After the output member 230 moves downward, it can drive the suction cup mechanism 300 to move downward. When the suction cup mechanism 300 moves downward to a set position, such as a position where the first roller 232 contacts the bottom wall of the first guide hole 2211, the suction nozzle 343 completes the suction action of the workpiece in the first position to achieve material loading. Subsequently, the motor 100 drives the input member 210 to rotate clockwise, and the first roller 232 rises in the first guide hole 2211 under the guidance of the second guide rail 251 and the second sliding seat 252. When it rises to the second guide hole 2212, the first roller 232 moves rightward in the second guide hole 2212 under the guidance of the first guide rail 241 and the first sliding seat 242, and the suction cup mechanism 300 moves rightward with the workpiece. When the first roller 232 moves to the third guide hole 2213, the position directly below the third guide hole 2213 is also the second position. In this way, when the first roller 232 moves through the second guide hole 2212, the workpiece moves from the first position to directly above the second position. Next, under the guidance of the second guide rail 251 and the second sliding seat 252, the first roller 232 descends in the third guide hole 2213, and the suction cup mechanism 300 and the workpiece descend together. When the first roller 232 descends to contact the bottom hole wall of the third guide hole 2213, the descending action is completed, and the suction nozzle 343 releases the workpiece to complete the unloading. During the lifting and translation of the workpiece, the second roller 233 always rotates and slides back and forth relative to the strip-shaped limiting hole 2221 in the length direction of the strip-shaped limiting hole 2221.

[0071] The robot arm provided in this embodiment drives the suction cup mechanism 300 to translate and elevate through the transmission mechanism 200. The suction cup mechanism 300 operates stably and reliably. The suction cup mechanism 300 utilizes vacuum to absorb the workpiece, which is not easy to damage the workpiece. The loading and unloading efficiency is high and the workpiece transfer cost is low.

[0072] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A robot, characterized in that: include: A transmission mechanism (200), the transmission mechanism (200) comprising an input member (210), a linkage assembly (220) and an output member (230), the input member (210) and the output member (230) both being connected to the linkage assembly (220), the linkage assembly (220) being used for converting the rotational motion of the input member (210) into reciprocating motion of the output member (230) in a first direction (001) and a second direction (002), the first direction (001) and the second direction (002) having an included angle; and a suction cup mechanism (300), wherein the suction cup mechanism (300) is connected to the output member (230), and the suction cup mechanism (300) is used for adsorbing the workpiece.

2. The robot according to claim 1, characterized in that: The linkage assembly (220) comprises a guide plate (221) and a swing arm (222); the guide plate (221) is provided with a first guide hole (2211) extending in the first direction (001) and a second guide hole (2212) extending in the second direction (002); one end of the first guide hole (2211) in the first direction is connected to one end of the second guide hole (2212) in the second direction; the swing arm (222) is provided with a strip-shaped limiting hole (2221); the swing arm (222) is connected to the input member (210); the input member (210) is rotatably connected to the guide plate (221); the output member (230) passes through the strip-shaped limiting hole (2221) and is alternately penetrated in the first guide hole (2211) and the second guide hole (2212).

3. The robot according to claim 2, characterized in that: The guide plate (221) is further provided with a third guide hole (2213) arranged at an interval relative to the first guide hole (2211), one end of the third guide hole (2213) in the first direction is connected to an end of the second guide hole (2212) in the second direction away from the first guide hole (2211), and both the first guide hole (2211) and the third guide hole (2213) extend in the first direction (001) toward one side of the input member (210).

4. The robot according to claim 2, characterized in that: The transmission mechanism (200) further comprises a first slide rail assembly (240), wherein the first slide rail assembly (240) comprises a first guide rail (241) and a first sliding seat (242), wherein the first guide rail (241) is connected to the guide plate (221) and extends in the second direction (002), and the first sliding seat (242) is slidably matched with the first guide rail (241); the output member (230) is slidably matched with the first sliding seat (242) in the first direction (001).

5. The robot according to claim 4, characterized in that: The transmission mechanism (200) further comprises a second slide rail assembly (250), the second slide rail assembly (250) comprising a second guide rail (251) and a second sliding seat (252), the second guide rail (251) being fixedly connected to the first sliding seat (242) and extending in the first direction (001), the second sliding seat (252) being slidably matched with the second guide rail (251), and the second sliding seat (252) being fixedly connected to the output member (230).

6. The robot according to claim 5, characterized in that: The transmission mechanism (200) further comprises a conversion member (260), one side of the conversion member (260) being fixedly connected to the first sliding seat (242), and the other side of the conversion member (260) being fixedly connected to the second guide rail (251).

7. The robot according to claim 1, characterized in that: The suction cup mechanism (300) comprises a baffle (310), a mounting plate (320), an elastic member (330) and a suction cup assembly (340); the baffle (310) is connected to the mounting plate (320), and the mounting plate (320) is connected to the output member (230); the suction cup assembly (340) and the mounting plate (320) are slidably matched, and the elastic member (330) is arranged between the baffle (310) and the suction cup assembly (340) to enable the suction cup assembly (340) to have a movement tendency away from the baffle (310).

8. The robot according to claim 7, characterized in that: The suction cup mechanism (300) further comprises a third slide rail assembly (350), wherein the third slide rail assembly (350) comprises a third guide rail (351) and a third sliding seat (352), wherein the third guide rail (351) is connected to the suction cup assembly (340), and the third sliding seat (352) is mounted on the mounting plate (320), and the third guide rail (351) and the third sliding seat (352) are slidably matched; and the elastic member (330) is arranged between the baffle plate (310) and the third guide rail (351).

9. The robot according to claim 8, characterized in that: The suction cup assembly (340) comprises a suction cup mounting block (341), a suction cup aluminum block (342) and a suction nozzle (343); the suction cup mounting block (341) is connected to the third guide rail (351); the suction cup aluminum block (342) is connected to the suction cup mounting block (341); and the suction nozzle (343) is mounted on the suction cup aluminum block (342).

10. The robot according to claim 9, characterized in that: The suction cup mechanism (300) further comprises a limiting plate (360), a limiting screw (370) and two limiting blocks (380); the limiting plate (360) is provided with a limiting groove (361), the suction cup mounting block (341) is mounted on the limiting plate (360), and the mounting plate (320) is slidably mounted in the limiting groove (361); the limiting screw (370) is fixed to the baffle (310) and passes through the limiting plate (360), and the limiting plate (360) and the limiting screw (370) are slidably matched; the two limiting blocks (380) are respectively mounted on opposite sides of the mounting plate (320), and the two limiting blocks (380) are used to abut against the limiting plate (360) to control the descending height of the limiting plate (360).

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