Automatic unlocking manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses an automatic unlocking manipulator which comprises a mechanical arm and a flexible unlocking mechanism arranged on the mechanical arm. The flexible unlocking mechanism comprises a pneumatic clamping jaw, an unlocking mechanism and a flexible adjusting mechanism, wherein the pneumatic clamping jaw is used for fixing a to-be-unlocked cover during unlocking and taking out the lock cover after unlocking, the unlocking mechanism is used for automatically unlocking the to-be-unlocked cover, and the flexible adjusting mechanism is used for assisting the pneumatic clamping jaw and the unlocking mechanism in unlocking the lock covers in different states. The pneumatic clamping jaw and the unlocking mechanism are fixed to the bottom end of the mechanical arm through the flexible adjusting mechanism. According to the utility model, high-precision and high-flexibility automatic unlocking is realized through the flexible self-adaptive adjustment of the flexible adjusting mechanism, so that the unlocking operation of the lock cover can be flexibly coped and smoothly finished when the lock cover is used for sealing containers in different states, and the unlocked lock cover can be stably taken out of the container; and the requirements on automatic equipment in modern industrial production are effectively met.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, especially a kind of automatic unlocking mechanical hand. BACKGROUND

[0002] With the rapid development of China's industry, automation demand is increasingly diversified and complex. The existing automatic production line puts forward relatively strict requirements to the specifications, sizes and product positions and other conditions of products, and many factories, although having strong automation upgrade desire, are helpless to continue to rely on manual operation because of the difficulty in meeting these harsh product conditions. Especially when facing the task needing high flexibility and adaptability, this contradiction is particularly prominent.

[0003] For example, in the process of realizing the automatic unlocking of the cover body of closed container, due to the uncertainty of the position of the closed container, combined with the low manufacturing precision of the container itself, the height or perpendicularity of the container cannot be maintained at an accurate value, which makes the traditional mechanical arm face great challenges when performing such tasks, and it is difficult to have enough flexibility and accuracy to cope with the unlocking operation of the cover body of closed container in different states, thereby limiting the efficiency and quality of automated production. Therefore, it is urgent to develop a new solution to improve the flexibility and adaptability of the mechanical hand, so as to effectively handle the automatic unlocking problem of the cover body of closed container under various uncertainties and precision problems, and thus meet the higher requirements of modern industrial production on automated equipment. SUMMARY

[0004] The utility model aims at providing a kind of automatic unlocking mechanical hand, high precision and high flexibility automatic unlocking are realized by the flexible self-adaptive adjustment of flexible adjustment mechanism, ensure that in the face of different states of closed container, can be flexibly responded, smoothly complete the unlocking operation of lock cover and take out the unlocked lock cover from container smoothly, effectively meet the requirements of modern industrial production on automated equipment.

[0005] The above technical purpose of the utility model is realized by the following technical scheme:

[0006] An automatic unlocking mechanical hand, comprising a mechanical arm and a flexible unlocking mechanism arranged on the mechanical arm, the flexible unlocking mechanism comprises a pneumatic gripper for fixing the cover to be unlocked during unlocking and taking out the lock cover after unlocking, an unlocking mechanism for automatically unlocking the cover to be unlocked, and a flexible adjustment mechanism for assisting the pneumatic gripper and the unlocking mechanism to perform unlocking operation on the lock cover in different states, the pneumatic gripper and the unlocking mechanism are fixed at the bottom end of the mechanical arm through the flexible adjustment mechanism.

[0007] By adopting the technical scheme, the lock cover is clamped and fixed by the pneumatic clamping jaw driven by the mechanical arm during unlocking, the flexible adjusting mechanism automatically adjusts the angle of the pneumatic clamping jaw and the unlocking mechanism in the process of clamping the lock cover, the unlocking mechanism can be accurately positioned above the lock cover and accurately perform the unlocking action according to the actual state of the lock cover, then the unlocking mechanism is started and smoothly completes the unlocking operation of the lock cover, finally the unlocked lock cover is smoothly taken out of the container, so that high-precision and high-flexibility automatic unlocking is realized, this process not only realizes the perfect combination of high-precision and high-flexibility, but also significantly improves the automation level and operation efficiency of the production line, and through the flexible self-adaptive adjustment, the consistency and reliability of each unlocking operation are ensured, and different states of the lock cover can be flexibly coped with, effectively meeting the requirements of modern industrial production on automatic equipment.

[0008] The utility model further provides: the flexible adjusting mechanism includes with the fixed mode seat of mechanical arm bottom fixed connection and be used for with pneumatic clamping jaw and unlocking mechanism fixed connection's floating mode seat, the fixed mode seat with floating mode seat passes through floating head connection.

[0009] The fixed mode seat is internally provided with a tapered hole for connecting with the floating head, the floating mode seat includes a stepped hole connected with the floating head, the floating head includes a tapered head slidingly matched with the tapered hole and a cylindrical head slidingly matched with the upper end of the stepped hole, the tapered head and the cylindrical head are integrally formed, and the end of the cylindrical head away from the tapered head is fixedly connected with a locking block at the lower end of the stepped hole through a screw.

[0010] By adopting the above technical scheme, the floating mode seat bears the counterforce from different directions during the process that the pneumatic clamping jaw clamps and contacts the lock cover, so that the floating head slidingly matched with the floating mode seat floats up and down, and the gap between the floating head and the tapered hole wall changes synchronously when the floating head floats up and down relative to the fixed mode seat, so that the floating head can horizontally swing, thereby driving the floating mode seat to flexibly swing, and the pneumatic clamping jaw and the unlocking mechanism fixedly connected with the floating mode seat swing synchronously when the floating mode seat flexibly swings, thus realizing the flexible self-adaptive adjustment of the pneumatic clamping jaw and the unlocking mechanism, ensuring that the pneumatic clamping jaw and the unlocking mechanism can accurately fit the lock cover profile during the unlocking operation of the closed container with different heights or perpendicularities, and ensuring that the lock cover at any angle and position can be stably operated, thereby improving the overall operation precision and efficiency.

[0011] The utility model further provides: the fixed mode seat and floating mode seat are connected through a plurality of rotation stopping springs, one end of the rotation stopping spring is fixed in the mounting hole at the bottom of the fixed mode seat, and the other end of the rotation stopping spring is fixed in the mounting hole at the top of the floating mode seat.

[0012] By adopting the technical scheme, the rotation stopping spring can provide appropriate resistance, prevent the pneumatic clamping jaw and the unlocking mechanism from rotating randomly with the floating mold base relative to the fixed mold base, ensure the stability of the unlocking operation, meanwhile, the design of the plurality of rotation stopping springs also takes into account the buffering effect of the floating mold base, when strong vibration is encountered, the impact force can be effectively absorbed and dispersed, the damage to the unlocking mechanism is reduced, and the durability of the equipment is increased.

[0013] The utility model discloses further provide that: the unlocking mechanism includes the plurality of unlocking drive link that sets in the floating mold base outside periphery, the upper end of each unlocking drive link all is fixedly connected with the outer wall of floating mold base, the lower end of each unlocking drive link all is fixedly connected with the support plate, the lower portion of support plate is equipped with the pressing plate parallel with it, and the pressing plate is connected with unlocking drive link through floating mechanism.

[0014] By adopting the technical scheme, when the mechanical arm drives the pneumatic clamping jaw to move above the lock cover and clamps the lock cover, the unlocking drive link moves synchronously above the lock cover and drives the lower end pressing plate to carry out the accurate unlocking operation of the lock cover, the support plate fixedly connected with the lower end of each unlocking drive link is used for supporting and limiting the lower end of each unlocking drive link, so that the stability and cooperation in the unlocking process are effectively guaranteed, the accuracy of the unlocking action is ensured, the floating mechanism is used for buffering the pressing plate, ensures that the pressing plate exerts uniform and appropriate pressure on the lock cover in the unlocking process, effectively avoids the problems such as unlocking failure or lock cover damage caused by uneven pressure, thereby improve the overall reliability of the equipment and the accuracy of operation.

[0015] The utility model discloses further provide that: the bottom of unlocking drive link is equipped with the guide hole with its same shaft, and the floating mechanism includes the guide rod that is axially sliding cooperation with the guide hole, and the upper end of guide rod is equipped with reset spring no.

[0016] By adopting the technical scheme, when the pressing plate contacts the lock cover, along with the continuous downward movement of the unlocking drive link, the guide rod compresses reset spring no. under the reaction force of the pressing plate, maintains the sustained pressure on the lock cover, until the lock cover is completely opened, in this process, reset spring no. accumulates elastic potential energy, and after the lock cover is opened, reset spring no. continuously extrudes guide rod under the action of elastic potential energy, so that the pressing plate below guide rod can continuously abut on the lock cover, provide stable support, ensure that the lock cover does not suddenly lock under the action of external force in the unlocking state, guarantee the operation safety, when the pneumatic clamping jaw leaves along with the mechanical arm and releases the lock cover, reset spring no. on the guide rod gradually restores the original state, releases the accumulated potential energy, helps the pressing plate to stably withdraw from the lock cover, completes the unlocking action.

[0017] The further setting of the utility model discloses: the outer wall of the guide rod is equipped with the anti -rotation key, the outer wall of the unlocking drive link is equipped with the keyway that communicates with its guide hole, the anti -rotation key and keyway longitudinal sliding fit.

[0018] Through adopting above-mentioned technical scheme, under the cooperation of anti -rotation key and keyway, the relative rotation between guide rod and unlocking drive link does not occur, ensure the stability of guide rod in longitudinal sliding process, further improve the accuracy and reliability in the process of unlocking.

[0019] The further setting of the utility model discloses: the lock cover includes the conical cover body that cooperates with the upper end opening of container, the convex of the top of cover body is equipped for being clamped fixed by pneumatic gripper, and the locking mechanism is equipped between the cover body and the upper end opening of container.

[0020] Through adopting above-mentioned technical scheme, when the lock cover cooperates with the upper end opening of container through the conical cover body, utilizes the automatic guiding effect of conical surface, makes the lock cover in the opening and closing process, can be more smooth and accurately positioned, can reduce the friction and abrasion due to the inaccuracy of alignment, in addition, the convex design of lock cover considers the grasping stability of pneumatic gripper, makes it more firm when grasping, prevents the slipping phenomenon due to vibration, further improves the safety performance of the whole unlocking process.

[0021] The further setting of the utility model discloses: the locking mechanism includes lock head and lock pin, the lock head can slide along the longitudinal guide groove on the cover body, the lock pin is arranged below the lock head and is slidably connected with the horizontal guide groove that is communicated with the longitudinal guide groove, the end of the lock pin that is away from the center of cover body is opposite the lock slot on the inner wall of container, the center of lock pin is equipped with an inclined through groove, the upper end of through groove extends to the side close to the center of cover body, the lower end of through groove extends to the side away from the center of cover body, the lower end of lock head can slide along the through groove;

[0022] The upper end of lock head protrudes from the upper surface of cover body, reset spring no. 2 is sleeved on the outer wall of lock head, one end of reset spring no. 2 abuts against limit surface no. 1 of lock head, the other end of reset spring no. 2 abuts against limit surface no. 2 of lock head.

[0023] By adopting the technical scheme, the locking mechanism connects and locks the lock cover and the container through the locking pin, at this time, one end of the locking pin away from the center of the cover body is located in the locking groove of the inner wall of the container, and the other end of the locking pin close to the center of the cover body is located in the horizontal guide groove of the cover body, when the unlocking operation is needed, the pressing plate is in contact with the lock cover and extrudes the lock head, so that the lock head moves downward along the longitudinal guide groove, when the lock head moves downward along the longitudinal guide groove, the lower end of the lock head slides from the upper end of the through slot on the locking pin to the lower end of the through slot, so as to drive the locking pin to slide from the side away from the center of the cover body to the side close to the center of the cover body, so that the one end of the locking pin located in the locking groove of the inner wall of the container is separated from the locking groove of the inner wall of the container, so that the automatic unlocking operation is realized, and the reset spring two ensures that the lock head is automatically returned after unlocking, maintains the stability and reusability of the locking mechanism, and further improves the convenience and durability of the unlocking system. In addition, the inclined through slot of the locking pin ingeniously utilizes the mechanical principle, ensures smooth transition during the unlocking process, reduces mechanical impact, prolongs the service life of the locking mechanism, and the reset function of the reset spring two ensures that the lock head can be accurately returned after each unlocking, and the system can be stably operated for a long time.

[0024] The utility model discloses the beneficial effect is:

[0025] 1. The utility model discloses when unlocking, the pneumatic clamping jaw is fixed with lock cover by mechanical arm, in the process of clamping lock cover, the flexible adjusting mechanism is automatically adjusted to the angle of pneumatic clamping jaw and unlocking mechanism self -adaptation, guarantee unlocking mechanism can be accurately positioned above lock cover and accurately executes the unlocking action according to the actual state of lock cover, subsequently, the unlocking mechanism starts and smoothly completes the unlocking operation of lock cover, finally, the lock cover after unlocking is smoothly taken out from the container, therefore, high -precision and high -flexible automatic unlocking are realized, this process not only realizes the perfect combination of high -precision and high -flexible, also significantly improves the automation level and operation efficiency of production line, and through flexible self -adaptation, the consistency and reliability of each unlocking operation are guaranteed, in the face of the closed container under different states, can be flexibly coped with, effectively satisfy the requirement of automatic equipment in modern industrial production.

[0026] 2. The floating mold base in the flexible adjusting mechanism bears counteracting forces from different directions during the process of the pneumatic clamping jaw clamping and contacting the lock cover, so that the floating head slidingly matched with the floating mold base floats up and down, and the gap between the floating head and the conical hole wall changes synchronously when the floating head floats up and down relative to the fixed mold base, so that the floating head can swing horizontally, thereby driving the floating mold base to swing flexibly, and the floating mold base drives the pneumatic clamping jaw and the unlocking mechanism fixedly connected with the floating mold base to swing synchronously when the floating mold base swings flexibly, so that the flexible self-adaptive adjustment of the pneumatic clamping jaw and the unlocking mechanism is realized, and it is ensured that the pneumatic clamping jaw and the unlocking mechanism can accurately fit the lock cover profile during the unlocking operation on the closed container with different heights or perpendicularities, so that the lock cover at any angle and position can be stably operated, thereby improving the overall operation precision and efficiency.

[0027] 3. The rotation stopping spring arranged between the fixed mold base and the floating mold base in the utility model can provide appropriate resistance to prevent the pneumatic clamping jaw and the unlocking mechanism from rotating randomly relative to the fixed mold base with the floating mold base, and ensure the stability of the unlocking operation, and the design of multiple rotation stopping springs also takes into account the buffering effect of the floating mold base, so that the impact force can be effectively absorbed and dispersed when strong vibration is encountered, the damage to the unlocking mechanism is reduced, and the durability of the equipment is increased.

[0028] 4. When the mechanical arm drives the pneumatic clamping jaw to move above the lock cover and clamps the lock cover, the unlocking driving rods move synchronously above the lock cover and drive the lower end pressing plates to perform the precise unlocking operation on the lock cover, the support plates fixedly connected with the lower ends of the unlocking driving rods are used for supporting and limiting the lower ends of the unlocking driving rods, so that the stability and cooperation of the unlocking driving rods in the unlocking process are effectively ensured, the precision of the unlocking action is ensured, the floating mechanism is used for buffering the pressing plates, so that uniform and appropriate pressure is exerted on the lock cover by the pressing plates during the unlocking process, problems such as unlocking failure or lock cover damage caused by uneven pressure are avoided, and thus the overall reliability of the equipment and the operation precision are improved.

[0029] 5. The lock cover in the utility model is matched with the upper end opening of the container through the conical cover body, and the automatic guiding effect of the conical surface is utilized, so that the lock cover can be positioned more smoothly and accurately during the opening and closing process, and the friction and wear caused by inaccurate alignment can be reduced, in addition, the protruding design of the lock cover takes into account the grasping stability of the pneumatic clamping jaw, so that the lock cover can be grasped more firmly, the slipping phenomenon caused by vibration is prevented, and the safety performance of the entire unlocking process is further improved.

[0030] 6.The utility model discloses a locking mechanism is connected and is locked to the lock cover and the container through the lock pin, when the lock pin is away from the one end of the cover body center in the lock groove of the inner wall of the container, the one end of the lock pin is close to the horizontal guide groove of the cover body, when needing to carry out the operation of unlocking, the lock head is moved down along the longitudinal guide groove, the lower end of the lock head is slid from the upper end of the through groove on the lock pin to the lower end of the through groove, thereby driving the lock pin to slide from the side away from the cover body center to the side close to the cover body center, the one end of the lock pin is separated from the lock groove of the inner wall of the container, therefore, the automatic unlocking operation is realized, and the reset spring no.2 ensures that the lock head is automatically returned after unlocking, maintains the stability and reusability of the locking mechanism, further improves the convenience and durability of the unlocking system. In addition, the inclined through groove of the lock pin ingeniously utilizes the mechanical principle, ensures the smooth transition in the unlocking process, reduces the mechanical impact, prolongs the service life of the locking mechanism, and the reset function of the reset spring no.2 ensures that the lock head can be accurately returned after each unlocking, and maintains the long-term stable operation of the system. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment description will be simply introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0032] Figure 1 It is the overall structure schematic diagram of the automatic unlocking mechanical hand of the utility model.

[0033] Figure 2 It is Figure 1 The local enlarged schematic diagram of A in it.

[0034] Figure 3 It is the cross section structure schematic diagram when the automatic unlocking mechanical hand of the utility model works.

[0035] Figure 4 It is Figure 3 The local enlarged schematic diagram of B in it.

[0036] Figure 5 It is Figure 4 The local enlarged schematic diagram of C in it.

[0037] Figure 6 It is Figure 4 The local enlarged schematic diagram of D in it.

[0038] In the figure, 1, mechanical arm; 2, flexible unlocking mechanism; 3, lock cover; 31, cover body; 32, protrusion; 4, pneumatic clamping jaw; 5, unlocking mechanism; 51, unlocking driving rod; 52, support plate; 53, pressing plate; 54, guide hole; 6, flexible adjusting mechanism; 61, fixed die holder; 62, floating die holder; 63, floating head; 64, conical hole; 65, stepped hole; 66, conical head; 67, cylindrical head; 68, locking block; 69, rotation-stopping spring; 7, floating mechanism; 71, guide rod; 72, reset spring I; 73, rotation-preventing key; 74, key groove; 8, container; 9, locking mechanism; 91, lock head; 92, locking pin; 93, longitudinal guide groove; 94, horizontal guide groove; 95, locking groove; 96, through groove; 97, reset spring II; 98, limiting surface I; 99, limiting surface II. DETAILED DESCRIPTION

[0039] The technical solutions of the present application will be described below in connection with specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] As shown in Figure 1 and Figure 2 , an automatic unlocking mechanical hand comprises a mechanical arm 1 and a flexible unlocking mechanism 2 arranged on the mechanical arm 1, wherein the flexible unlocking mechanism 2 comprises a pneumatic clamping jaw 4 for fixing a lock cover 3 to be unlocked during unlocking and taking out the lock cover 3 after unlocking, an unlocking mechanism 5 for automatically unlocking the lock cover 3 to be unlocked, and a flexible adjusting mechanism 6 for assisting the pneumatic clamping jaw 4 and the unlocking mechanism 5 in unlocking operation on the lock cover 3 in different states, and the pneumatic clamping jaw 4 and the unlocking mechanism 5 are both fixed at the bottom end of the mechanical arm 1 through the flexible adjusting mechanism 6.

[0041] Further, as shown in Figure 3 and Figure 4 , the flexible adjusting mechanism 6 comprises a fixed die holder 61 fixedly connected with the bottom of the mechanical arm 1 and a floating die holder 62 for fixedly connecting with the pneumatic clamping jaw 4 and the unlocking mechanism 5, and the fixed die holder 61 and the floating die holder 62 are connected through a floating head 63.

[0042] Further, as shown in Figure 4 and Figure 5 , the floating die holder 62 comprises a conical hole 64, a stepped hole 65, a conical head 66, a cylindrical head 67, and a locking block 68, and the conical hole 64, the stepped hole 65, the conical head 66, the cylindrical head 67, and the locking block 68 are arranged in sequence from top to bottom.As shown in the figure, the fixed die holder 61 is internally provided with a tapered hole 64 for connecting with the floating head 63, the floating die holder 62 comprises a stepped hole 65 connected with the floating head 63, the floating head 63 comprises a tapered head 66 slidably fitted with the tapered hole 64 and a cylindrical head 67 slidably fitted with the upper end of the stepped hole 65, the tapered head 66 is integrally formed with the cylindrical head 67, and the end of the cylindrical head 67 away from the tapered head 66 is fixedly connected with the locking block 68 at the lower end of the stepped hole 65 through a screw.

[0043] Further, as shown in the figure, Figure 5 the fixed die holder 61 and the floating die holder 62 are connected through a plurality of rotation-stopping springs 69, one end of the rotation-stopping spring 69 is fixed in the mounting hole at the bottom of the fixed die holder 61, and the other end of the rotation-stopping spring 69 is fixed in the mounting hole at the top of the floating die holder 62.

[0044] Further, as shown in the figure, Figure 4 the unlocking mechanism 5 comprises a plurality of unlocking drive rods 51 circumferentially arranged outside the floating die holder 62, the upper end of each unlocking drive rod 51 is fixedly connected with the outer wall of the floating die holder 62, the lower end of each unlocking drive rod 51 is fixedly connected with the support plate 52, the lower side of the support plate 52 is provided with a pressing plate 53 parallel thereto, and the pressing plate 53 is connected with the unlocking drive rod 51 through the floating mechanism 7.

[0045] Further, as shown in the figure, Figure 4 the bottom of the unlocking drive rod 51 is provided with a guide hole 54 coaxial therewith, the floating mechanism 7 comprises a guide rod 71 axially slidably fitted with the guide hole 54, a return spring 72 is arranged between the upper end of the guide rod 71 and the top wall of the guide hole 54, and the lower end of the guide rod 71 is fixedly connected with the pressing plate 53.

[0046] Further, as shown in the figure, Figure 4 the outer wall of the guide rod 71 is provided with an anti-rotation key 73, the outer wall of the unlocking drive rod 51 is provided with a key groove 74 communicating with the guide hole 54, and the anti-rotation key 73 and the key groove 74 are longitudinally slidably fitted.

[0047] Further, as shown in the figure, Figure 4 the lock cover 3 comprises a tapered cover body 31 matched with the upper end opening of the container 8, the top of the cover body 31 is provided with a protrusion 32 for being clamped and fixed by the pneumatic clamping jaw 4, and the cover body 31 and the upper end opening of the container 8 are provided with the locking mechanism 9.

[0048] Further, as shown in the figure, Figure 4 and Figure 6As shown, the locking mechanism 9 includes a lock head 91 and a lock pin 92, the lock head 91 can slide along the longitudinal guide groove 93 on the cover body 31, the lock pin 92 is arranged below the lock head 91 and is in sliding fit with the horizontal guide groove 94 communicated with the longitudinal guide groove 93, one end of the lock pin 92 away from the center of the cover body 31 is opposite to the lock groove 95 on the inner wall of the container 8, the center of the lock pin 92 is provided with an inclined through groove 96, the upper end of the through groove 96 extends to the side close to the center of the cover body 31, and the lower end of the through groove 96 extends to the side away from the center of the cover body 31, and the lower end of the lock head 91 can slide along the through groove 96.

[0049] Further, the upper end of the lock head 91 protrudes from the upper surface of the cover body 31, the outer wall of the lock head 91 is sleeved with a reset spring two 97, one end of the reset spring two 97 abuts against a limiting surface one 98 of the lock head 91, and the other end of the reset spring two 97 abuts against a limiting surface two 99 of the lock head 91.

[0050] The working principle of the utility model is as follows: the locking mechanism 9 connects and locks the lock cover 3 and the container 8 through the lock pin 92, at this time the container 8 is sealed by the lock cover 3, at this time one end of the lock pin 92 away from the center of the cover body 31 is located in the lock groove 95 on the inner wall of the container 8, and the other end of the lock pin 92 close to the center of the cover body 31 is located in the horizontal guide groove 94 of the cover body 31; when the unlocking operation is performed, the mechanical arm 1 drives the pneumatic clamp jaw 4 to move above the lock cover 3 and clamps the lock cover 3, meanwhile the floating die holder 62 in the flexible adjusting mechanism 6 can bear the counter force from different directions, so that the floating head 63 in sliding fit with the floating die holder 62 can float up and down and swing horizontally, so that the floating die holder 62 and the pneumatic clamp jaw 4 and the unlocking mechanism 5 fixedly connected with the floating die holder 62 can automatically adjust the position when contacting the lock cover 3, thereby ensuring that the pneumatic clamp jaw 4 and the unlocking mechanism 5 can adapt to the lock cover 3 of different heights or perpendicularity, and precise fitting is realized.

[0051] When the pneumatic clamp jaw 4 clamps the lock cover 3, the unlocking driving rod 51 in the unlocking mechanism 5 moves synchronously above the lock cover 3, and drives the pressing plate 53 below the unlocking driving rod 51 to extrude the lock head 91 through the guide rod 71, the lock head 91 moves downward along the longitudinal guide groove 93 after being extruded by the pressing plate 53, so that the lock pin 92 slides from the side away from the center of the cover body 31 to the side close to the center of the cover body 31, and finally the lock pin 92 is separated from the lock groove 95 on the inner wall of the container 8, thereby completing the unlocking process of the lock cover 3.

[0052] In this process, the reset spring one 72 is compressed by the pressure of the guide rod 71, and at the same time the continuous pressure on the lock cover 3 is maintained, so that the lock cover 3 cannot be accidentally locked during the unlocking process. The reset spring two 97 is compressed by the extrusion of the lock head 91, so that the lock head 91 can be smoothly reset after the unlocking is completed, and the stability of the system is maintained.

[0053] Before the lock cover 3 leaves the container 8, the reset spring 72 continues to press the guide rod 71 under the action of elastic potential energy, so that the pressing plate 53 below the guide rod 71 can continuously abut against the lock cover 3, providing stable support, ensuring that the lock cover 3 will not be suddenly locked in the unlocked state due to external force, ensuring the safety of operation, and the reset spring 97 ensures that the lock head 91 can automatically return to the original position after being unlocked, maintaining the long-term stable operation of the system.

[0054] When the pneumatic clamping jaw 4 is withdrawn and released from the lock cover 3 along with the mechanical arm 1, the two reset springs quickly recover the deformation, release the stored energy, help the pressing plate 53 to smoothly move away from the lock cover 3, and at the same time the lock head 91 also automatically returns to the starting position.

Claims

1. An automatic unlocking robot hand, characterized by: The flexible unlocking mechanism (2) includes a pneumatic clamp jaw (4) for fixing the cover (3) to be unlocked during unlocking and taking out the cover (3) after unlocking, an unlocking mechanism (5) for automatically unlocking the cover (3) to be unlocked, and a flexible adjusting mechanism (6) for assisting the pneumatic clamp jaw (4) and the unlocking mechanism (5) to unlock the cover (3) in different states, and the pneumatic clamp jaw (4) and the unlocking mechanism (5) are fixed at the bottom end of the mechanical arm (1) through the flexible adjusting mechanism (6).

2. An automatic unlocking robot hand according to claim 1, characterized in that: The flexible adjusting mechanism (6) includes a fixed die seat (61) fixedly connected with the bottom of the mechanical arm (1) and a floating die seat (62) for fixedly connecting with the pneumatic clamp jaw (4) and the unlocking mechanism (5), and the fixed die seat (61) is connected with the floating die seat (62) through a floating head (63).

3. An automatic unlocking robot hand according to claim 2, characterized in that: The fixed die seat (61) is internally provided with a tapered hole (64) for connecting with the floating head (63), the floating die seat (62) includes a stepped hole (65) connected with the floating head (63), the floating head (63) includes a tapered head (66) slidably matched with the tapered hole (64) and a cylindrical head (67) slidably matched with the upper end of the stepped hole (65), the tapered head (66) is integrally formed with the cylindrical head (67), and the end of the cylindrical head (67) away from the tapered head (66) is fixedly connected with a locking block (68) located at the lower end of the stepped hole (65) through a screw.

4. An automatic unlocking robot hand according to claim 3, characterized in that: The fixed die seat (61) and the floating die seat (62) are connected through a plurality of rotation stopping springs (69), one end of the rotation stopping spring (69) is fixed in a mounting hole at the bottom of the fixed die seat (61), and the other end of the rotation stopping spring (69) is fixed in a mounting hole at the top of the floating die seat (62).

5. An automatic unlocking robot hand according to claim 1, characterized in that: The unlocking mechanism (5) includes a plurality of unlocking drive rods (51) circumferentially arranged outside the floating die seat (62), the upper end of each unlocking drive rod (51) is fixedly connected with the outer wall of the floating die seat (62), the lower end of each unlocking drive rod (51) is fixedly connected with a support plate (52), the lower side of the support plate (52) is provided with a pressing plate (53) parallel thereto, and the pressing plate (53) is connected with the unlocking drive rod (51) through a floating mechanism (7).

6. An automatic unlocking robot hand according to claim 5, characterized in that: The bottom of the unlocking drive rod (51) is provided with a guide hole (54) coaxial therewith, the floating mechanism (7) includes a guide rod (71) axially slidably matched with the guide hole (54), a reset spring (72) is arranged between the upper end of the guide rod (71) and the top wall of the guide hole (54), and the lower end of the guide rod (71) is fixedly connected with the pressing plate (53).

7. An automatic unlocking robot hand according to claim 6, characterized in that: A rotation preventing key (73) is arranged on the outer wall of the guide rod (71), a key groove (74) is arranged on the outer wall of the unlocking drive rod (51) and communicates with the guide hole (54), and the rotation preventing key (73) and the key groove (74) are longitudinally slidably matched.

8. An automatic unlocking robot hand according to claim 7, characterized in that: The lock cover (3) comprises a conical cover body (31) matched with the upper end opening of the container (8), the top of the cover body (31) is provided with a protrusion (32) for being clamped and fixed by the pneumatic clamp jaw (4), and the cover body (31) is provided with a locking mechanism (9) between the cover body (31) and the upper end opening of the container (8).

9. An automatic unlocking robot hand according to claim 8, characterized in that: The locking mechanism (9) comprises a lock head (91) and a lock pin (92), the lock head (91) can slide along the longitudinal guide groove (93) on the cover body (31), the lock pin (92) is arranged below the lock head (91) and is in sliding fit with the horizontal guide groove (94) communicated with the longitudinal guide groove (93), one end of the lock pin (92) away from the center of the cover body (31) is opposite to the lock groove (95) on the inner wall of the container (8), the center of the lock pin (92) is provided with an inclined through groove (96), the upper end of the through groove (96) extends to the side close to the center of the cover body (31), the lower end of the through groove (96) extends to the side away from the center of the cover body (31), and the lower end of the lock head (91) can slide along the through groove (96).

10. An automatic unlocking robot hand according to claim 9, characterized in that: The upper end of the lock head (91) protrudes from the upper surface of the cover body (31), the outer wall of the lock head (91) is sleeved with a reset spring two (97), one end of the reset spring two (97) abuts against a limiting face one (98) of the lock head (91), and the other end of the reset spring two (97) abuts against a limiting face two (99) of the lock head (91).

Images