Vacuum adsorption type automatic blade loading and unloading manipulator

Abstract

The utility model discloses a vacuum adsorption type automatic blade loading and unloading manipulator, which relates to the technical field of manipulators, and is characterized by comprising a mounting plate and a fixing rod fixedly arranged on the right side of the mounting plate, and a grabbing mechanism and an auxiliary mechanism are arranged on the right side of the mounting plate; the auxiliary mechanism is located below the grabbing mechanism. The grabbing mechanism comprises a grabbing part and an adjusting part, and has the technical effects that the output end of an electric telescopic rod in the grabbing mechanism stretches out and draws back to drive a lifting plate to move up and down, and then the two clamping sleeves are driven to move synchronously through a connecting rail and a control frame so as to adjust the height to adapt to different material boxes; the two clamping sleeves are not limited when moving left and right through a connecting rail, a motor drives a double-shaft threaded rod to rotate, and two sliding sleeves are driven by a control block to be close to or away from each other; a fixing plate on the bottom face of the sliding sleeve is slidably connected with the inner side face of the clamping sleeve, and a guide rail on the bottom face of the top plate is slidably connected with the inner side face of the sliding sleeve.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a vacuum adsorption type automatic blade loading and unloading robotic arm. Background Technology

[0002] In current industrial production, the loading and unloading operations of vacuum suction blades are crucial. However, traditional loading and unloading methods rely heavily on manual labor, resulting in low efficiency and significant safety risks. With the rapid development of industrial automation, the demand for efficient, precise, and safe loading and unloading equipment is increasingly urgent, and robotic arms are now widely used in the material loading and unloading process.

[0003] Existing robotic arms cannot adjust the clamping plate according to the height of the material box when gripping it, resulting in a small contact area when gripping larger material boxes, which leads to poor stability and reduced safety. Therefore, a vacuum adsorption type automatic blade loading and unloading robotic arm is proposed. Utility Model Content

[0004] To achieve the above objectives, this utility model provides the following technical solution: a vacuum adsorption type automatic blade loading and unloading robot, including a mounting plate and a fixing rod fixedly disposed on the right side of the mounting plate, wherein a gripping mechanism and an auxiliary mechanism are disposed on the right side of the mounting plate;

[0005] The auxiliary mechanism is located below the gripping mechanism;

[0006] The gripping mechanism includes a gripping section and an adjustment section;

[0007] The gripping part includes a top plate, two clamping sleeves, a guide rail, and a motor; the adjusting part includes an electric telescopic rod and a lifting plate.

[0008] The left side of the top plate is fixedly connected to the right side of the fixing rod. Two sliding sleeves are slidably arranged on the bottom surface of the top plate. Two fixing plates are fixedly arranged on the bottom surfaces of the two sliding sleeves respectively. The surfaces of the two fixing plates are slidably connected to the inner surfaces of the two clamping sleeves respectively. The top surface of the top plate is fixedly connected to the bottom surface of the output end of the electric telescopic rod. The bottom surface of the output end of the electric telescopic rod extends through the top surface of the top plate to the bottom of the top plate. The bottom surface of the output end of the electric telescopic rod is fixedly connected to the top surface of the lifting plate. A connecting rail is fixedly arranged on the bottom surface of the lifting plate. Two control frames are slidably sleeved on the surface of the connecting rail. The front surfaces of the two control frames are fixedly connected to the back surfaces of the two clamping sleeves respectively.

[0009] Preferably, the auxiliary mechanism includes two auxiliary clamping plates, the top surfaces of the two auxiliary clamping plates are respectively hinged to the bottom surfaces of the two clamping sleeves, and two anti-sliding blocks are respectively fixedly provided on the adjacent side of the two auxiliary clamping plates.

[0010] Preferably, a sliding groove is provided through the top surface of the top plate, and two control blocks are slidably arranged on the inner wall of the sliding groove. The back of the two control blocks is fixedly connected to the front of the two sliding sleeves respectively.

[0011] Preferably, the left side of the motor is fixedly connected to the right side of the top plate, the left side of the motor output end extends through the right side of the top plate to the inner wall of the slide groove, a double-axis threaded rod is fixedly provided on the left side of the motor output end, the left side of the double-axis threaded rod sequentially threads through the right side of the two control blocks to the left of the left control block, and the left side of the double-axis threaded rod is rotatably connected to the inner wall of the slide groove through a bearing seat.

[0012] Preferably, the bottom surface of the top plate is fixedly connected to the top surface of the guide rail, and the surface of the guide rail is slidably connected to the inner surfaces of the two sliding sleeves respectively.

[0013] Preferably, two sets of anti-slip strips are fixedly provided on the adjacent sides of the two clamping sleeves, and both sets of anti-slip strips are made of wear-resistant rubber.

[0014] Preferably, two fixing frames are fixedly provided on the opposite sides of the two clamping sleeves, and two second hinge members are fixedly provided on the inner sides of the two fixing frames. Two dampers and two springs are fixedly provided on the adjacent sides of the two second hinge members. Two second hinge members are fixedly provided on the opposite sides of the two auxiliary clamping plates. The opposite sides of the two second hinge members are fixedly connected to the adjacent sides of the two dampers and the two springs. The initial state of the two springs is an extended state. Beneficial effects

[0015] Compared with the prior art, this utility model provides a vacuum adsorption type automatic blade loading and unloading robot, which has the following beneficial effects:

[0016] 1. The extension and retraction of the output end of the electric telescopic rod in the gripping mechanism can drive the lifting plate to move up and down. In turn, through the connecting rail and control frame, it drives the two clamping sleeves to move synchronously to adjust the height to adapt to different material boxes. Furthermore, the connecting rail allows the two clamping sleeves to move left and right without restriction. The motor drives the dual-axis threaded rod to rotate, and through the control block, it drives the two sliding sleeves to move closer or further apart. The fixed plate on the bottom surface of the sliding sleeve is slidably connected to the inner side of the clamping sleeve, and the guide rail on the bottom surface of the top plate is also slidably connected to the inner side of the sliding sleeve to ensure stable and accurate clamping. At the same time, the anti-slip strips on the side of the two clamping sleeves that are close together increase the friction with the material box to prevent slippage. Overall, it achieves efficient, accurate and stable clamping function.

[0017] 2. The top surfaces of the two auxiliary clamping plates in the auxiliary mechanism are hinged to the bottom surfaces of the two clamping sleeves. When the clamping sleeves contact the material box, the auxiliary clamping plates will also contact the material box. The anti-slip block on the side of the auxiliary clamping plates closest to each other can prevent slippage. The damper and spring are connected to the second hinge on the inner side of the fixing frame on the side of the two clamping sleeves furthest from each other. When the auxiliary clamping plates contact the material box, they can compress the left and right ends of the material box. The spring is initially in an extended state and can be adaptively adjusted according to the shape and size of the material box to improve the stability of clamping and fixing. Attached Figure Description

[0018] Figure 1 This is a three-dimensional view of the left side of this utility model;

[0019] Figure 2 This is a three-dimensional schematic diagram of the present invention viewed from below;

[0020] Figure 3 This is a top-view perspective view of the present invention;

[0021] Figure 4 This is a three-dimensional view of the rear side of the present invention;

[0022] Figure 5 This utility model Figure 2 Enlarged 3D schematic diagram of area A in the middle;

[0023] Figure 6 This utility model Figure 3 Enlarged 3D schematic diagram of area B in the middle.

[0024] In the diagram: 1. Mounting plate; 2. Fixing rod; 3. Gripping mechanism; 31. Top plate; 32. Electric telescopic rod; 33. Clamping sleeve; 34. Anti-slip strip; 35. Guide rail; 36. Lifting plate; 37. Control frame; 38. Connecting rail; 39. Double-axis threaded rod; 310. Control block; 311. Motor; 312. Fixing plate; 313. Sliding sleeve; 4. Auxiliary mechanism; 41. Fixing frame; 42. Auxiliary clamping plate; 43. Anti-slip block; 44. First hinge; 45. Damper; 46. Second hinge; 47. Spring. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example 1

[0026] like Figures 1-6As shown, this embodiment proposes a mounting plate 1 and a fixing rod 2 fixedly installed on the right side of the mounting plate 1. The right side of the mounting plate 1 is provided with a gripping mechanism 3 and an auxiliary mechanism 4.

[0027] The auxiliary mechanism 4 is located below the gripping mechanism 3;

[0028] The gripping mechanism 3 includes a gripping section and an adjustment section;

[0029] The gripping part includes a top plate 31, two clamping sleeves 33, a guide rail 35, and a motor 311; the adjusting part includes an electric telescopic rod 32 and a lifting plate 36.

[0030] The left side of the top plate 31 is fixedly connected to the right side of the fixed rod 2. Two sliding sleeves 313 are slidably arranged on the bottom surface of the top plate 31. Two fixed plates 312 are fixedly arranged on the bottom surfaces of the two sliding sleeves 313 respectively. The surfaces of the two fixed plates 312 are slidably connected to the inner surfaces of the two clamping sleeves 33 respectively. The top surface of the top plate 31 is fixedly connected to the bottom surface of the output end of the electric telescopic rod 32. The bottom surface of the output end of the electric telescopic rod 32 extends through the top surface of the top plate 31 to the bottom of the top plate 31. The bottom surface of the output end of the electric telescopic rod 32 is fixedly connected to the top surface of the lifting plate 36. A connecting rail 38 is fixedly arranged on the bottom surface of the lifting plate 36. Two control frames 37 are slidably sleeved on the surface of the connecting rail 38. The front surfaces of the two control frames 37 are fixedly connected to the back surfaces of the two clamping sleeves 33 respectively. A sliding groove is opened through the top surface of the top plate 31. Two sliding sleeves are slidably arranged on the inner wall of the sliding groove. Two control blocks 310 are fixedly connected to the front of two sliding sleeves 313 respectively on their back sides. The left side of the motor 311 is fixedly connected to the right side of the top plate 31. The left side of the output end of the motor 311 extends through the right side of the top plate 31 to the inner wall of the slide groove. A double-axis threaded rod 39 is fixedly installed on the left side of the output end of the motor 311. The left side of the double-axis threaded rod 39 extends through the right side of the two control blocks 310 in sequence to the left side of the left control block 310. The left side of the double-axis threaded rod 39 is rotatably connected to the inner wall of the slide groove through a bearing seat. The bottom surface of the top plate 31 is fixedly connected to the top surface of the guide rail 35. The surface of the guide rail 35 is slidably connected to the inner side of the two sliding sleeves 313 respectively. Two sets of anti-slip strips 34 are fixedly installed on the adjacent side of the two clamping sleeves 33. Both sets of anti-slip strips 34 are made of wear-resistant rubber.

[0031] In this embodiment, the extension and retraction of the output end of the electric telescopic rod 32 in the gripping mechanism can drive the lifting plate 36 to move up and down. In turn, through the connecting rail 38 and the control frame 37, the two clamping sleeves 33 move synchronously to adjust the height to adapt to different material boxes. Furthermore, the connecting rail 38 allows the two clamping sleeves 33 to move left and right without restriction. The motor 311 drives the dual-axis threaded rod 39 to rotate, and through the control block 310, the two sliding sleeves 313 move closer or further apart. The fixing plate 312 on the bottom surface of the sliding sleeve 313 is slidably connected to the inner side of the clamping sleeve 33, and the guide rail 35 on the bottom surface of the top plate 31 is also slidably connected to the inner side of the sliding sleeve 313 to ensure stable and accurate clamping. At the same time, the anti-slip strip 34 on the side of the two clamping sleeves 33 that are close to each other increases the friction with the material box to prevent slippage. Overall, it realizes efficient, accurate and stable clamping function. Example 2

[0032] like Figures 1-6 As shown, based on the same concept as Embodiment 1 above, this embodiment also proposes that the auxiliary mechanism 4 includes two auxiliary clamping plates 42, the top surfaces of the two auxiliary clamping plates 42 are respectively hinged to the bottom surfaces of the two clamping sleeves 33, two anti-sliding blocks 43 are respectively fixedly arranged on the side of the two auxiliary clamping plates 42 that are close to each other, two fixing frames 41 are respectively fixedly arranged on the side of the two clamping sleeves 33 that are far from each other, two second hinge members 46 are respectively fixedly arranged on the inner side of the two fixing frames 41, two dampers 45 and two springs 47 are respectively fixedly arranged on the side of the two second hinge members 46 that are close to each other, two second hinge members 46 are respectively fixedly arranged on the side of the two auxiliary clamping plates 42 that are far from each other, and the side of the two second hinge members 46 that are far from each other is fixedly connected to the side of the two dampers 45 and the side of the two springs 47 that are close to each other. The initial state of the two springs 47 is the extended state.

[0033] In this embodiment, the top surfaces of the two auxiliary clamping plates 42 in the auxiliary mechanism are hinged to the bottom surfaces of the two clamping sleeves 33. When the clamping sleeves 33 contact the material box, the auxiliary clamping plates 42 also contact the material box. The anti-slip block 43 on the side of the auxiliary clamping plates 42 closest to each other can prevent slippage. The damper 45 and the spring 47 connected to the second hinge member 46 on the inner side of the fixing frame 41 on the side of the two clamping sleeves 33 furthest from each other can compress the left and right ends of the material box when the auxiliary clamping plates 42 contact the material box. The spring 47 is initially in an extended state and can be adaptively adjusted according to the shape and size of the material box to improve the stability of clamping and fixing.

[0034] In use, the mounting plate 1 is connected to the external moving device. The external moving device can control the gripping mechanism 3 and the auxiliary mechanism 4 to move. When loading and unloading a material box equipped with a vacuum adsorption blade, the height of the two clamping sleeves 33 is first adjusted according to the height of the material box. During the adjustment, the output end of the electric telescopic rod 32 is extended and retracted. When the output end of the electric telescopic rod 32 extends and retracts, the lifting plate 36 can move up and down. During the up and down movement of the lifting plate 36, the two clamping sleeves 33 can be driven to move synchronously through the two control frames 37. After the two clamping sleeves 33 are adjusted to the height of the material box, the electric telescopic rod 32 is closed. When the motor 311 is turned on, the output end of the motor 311 can drive the double-axis threaded rod 39 to rotate. When the double-axis threaded rod 39 rotates, the two sliding sleeves 313 can be driven to move closer to each other through the two control blocks 310. When the two sliding sleeves 313 move closer to each other, they can contact the left and right sides of the material box, thereby fixing it.

[0035] When the two clamping sleeves 33 are close to each other and contact the left and right sides of the material box respectively, the two auxiliary clamping plates 42 will also contact the left and right sides of the material box. After contact, by setting two first hinges 44, two second hinges 46, two dampers 45 and two springs 47, the two auxiliary clamping plates 42 can squeeze the left and right ends of the material box, which can improve the stability of clamping and fixing. Furthermore, by setting two anti-slip blocks 43, the two auxiliary clamping plates 42 can be prevented from sliding when they contact the left and right ends of the material box.

[0036] After the fixing is completed, the material box can be transferred by the external moving mechanism. The external moving mechanism is an existing device and will not be described in detail in this patent. When it needs to be removed, it is only necessary to control the output end of the motor 311 to reverse so that the two clamping sleeves 33 move away from each other. The electric telescopic rod 32 and the motor 311 in this patent are both controlled by the external automatic control system.

[0037] The above are merely specific embodiments of this utility model, but the technical features of this utility model are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on this utility model to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of this utility model.

Claims

1. A vacuum adsorption type automatic blade loading and unloading robot, comprising a mounting plate (1) and a fixing rod (2) fixedly disposed on the right side of the mounting plate (1), characterized in that: The mounting plate (1) is provided with a gripping mechanism (3) and an auxiliary mechanism (4) on the right side. The auxiliary mechanism (4) is located below the gripping mechanism (3); The gripping mechanism (3) includes a gripping part and an adjustment part; The gripping part includes a top plate (31), two clamping sleeves (33), a guide rail (35), and a motor (311); the adjusting part includes an electric telescopic rod (32) and a lifting plate (36). The left side of the top plate (31) is fixedly connected to the right side of the fixing rod (2). Two sliding sleeves (313) are slidably arranged on the bottom surface of the top plate (31). Two fixing plates (312) are fixedly arranged on the bottom surface of the two sliding sleeves (313). The surfaces of the two fixing plates (312) are slidably connected to the inner surfaces of the two clamping sleeves (33). The top surface of the top plate (31) is fixedly connected to the bottom surface of the output end of the electric telescopic rod (32). The bottom surface of the output end of the electric telescopic rod (32) extends through the top surface of the top plate (31) to the bottom of the top plate (31). The bottom surface of the output end of the electric telescopic rod (32) is fixedly connected to the top surface of the lifting plate (36). A connecting rail (38) is fixedly arranged on the bottom surface of the lifting plate (36). Two control frames (37) are slidably arranged on the surface of the connecting rail (38). The front of the two control frames (37) is fixedly connected to the back of the two clamping sleeves (33).

2. The vacuum adsorption type automatic blade loading and unloading robot according to claim 1, characterized in that: The auxiliary mechanism (4) includes two auxiliary clamping plates (42), the top surfaces of the two auxiliary clamping plates (42) are respectively hinged to the bottom surfaces of the two clamping sleeves (33), and two anti-sliding blocks (43) are respectively fixedly provided on one side of the two auxiliary clamping plates (42).

3. The vacuum adsorption type automatic blade loading and unloading robot according to claim 1, characterized in that: The top plate (31) has a through groove on its top surface, and two control blocks (310) are slidably arranged on the inner wall of the groove. The back of the two control blocks (310) is fixedly connected to the front of the two sliding sleeves (313).

4. The vacuum adsorption type automatic blade loading and unloading robot according to claim 3, characterized in that: The left side of the motor (311) is fixedly connected to the right side of the top plate (31). The left side of the output end of the motor (311) extends through the right side of the top plate (31) to the inner wall of the slide. A double-axis threaded rod (39) is fixedly provided on the left side of the output end of the motor (311). The left side of the double-axis threaded rod (39) sequentially threads through the right side of the two control blocks (310) and extends to the left side of the left control block (310). The left side of the double-axis threaded rod (39) is rotatably connected to the inner wall of the slide through a bearing seat.

5. The vacuum adsorption type automatic blade loading and unloading robot according to claim 1, characterized in that: The bottom surface of the top plate (31) is fixedly connected to the top surface of the guide rail (35), and the surface of the guide rail (35) is slidably connected to the inner surfaces of the two sliding sleeves (313).

6. The vacuum adsorption type automatic blade loading and unloading robot according to claim 1, characterized in that: Two sets of anti-slip strips (34) are fixedly provided on one side of the two clamping sleeves (33), and both sets of anti-slip strips (34) are made of wear-resistant rubber.

7. The vacuum adsorption type automatic blade loading and unloading robot according to claim 2, characterized in that: Two fixing brackets (41) are fixedly provided on the opposite sides of the two clamping sleeves (33). Two second hinge members (46) are fixedly provided on the inner sides of the two fixing brackets (41). Two dampers (45) and two springs (47) are fixedly provided on the adjacent sides of the two second hinge members (46). Two second hinge members (46) are fixedly provided on the opposite sides of the two auxiliary clamping plates (42). The opposite sides of the two second hinge members (46) are fixedly connected to the adjacent sides of the two dampers (45) and the two springs (47). The two springs (47) are initially in an extended state.

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