Mechanical arm suction cup for taking plate face of ultra-large lead alloy anode plate

Abstract

The utility model discloses a mechanical arm sucking disc for taking the plate surface of an ultra-large lead alloy anode plate, which comprises a mechanical arm main body, the bottom end of the mechanical arm main body is fixedly connected with a connecting plate, the bottom end of the connecting plate is movably connected with a hinged frame, and the bottom end of the hinged frame is provided with a fixed plate. When the device takes the lead alloy plate, the mechanical arm body pushes the mounting plate to descend, the mounting plate drives the electric suction cup at the bottom to descend, the electric suction cup is attached to the top of the lead alloy plate and continuously pushes the electric suction cup to press the lead alloy plate, and meanwhile the buffer spring at the top end of the connecting sleeve can effectively buffer the lead alloy plate; and then a controller is started through a control box to enable an electric suction cup to tightly suck the lead alloy plate, so that the lead alloy plate can be prevented from being deformed due to the fact that the pressure is too large when the lead alloy plate is taken, and the problems that the weight of the lead alloy plate is large, and holes are distributed in the plate surface are solved. And the stability is insufficient when the lead alloy plate is moved due to insufficient suction force of the suction cups.

Description

Technical Field

[0001] This utility model relates to the field of suction cup technology, specifically a robotic arm suction cup for picking up the surface of an ultra-large lead alloy anode plate. Background Technology

[0002] During the processing of ultra-large lead alloy plates, due to their heavy weight and weak mechanical strength caused by their metallic properties, traditional gripping devices can deform the lead alloy plates when applying sufficient gripping force. Furthermore, due to the characteristics of large lead alloy anode plates, a large number of round or square holes need to be opened on the plate surface. Traditional suction cup devices cannot meet the requirements for safe and smooth gripping. Therefore, a special suction cup device is now needed to pick up lead alloy plates.

[0003] According to Chinese Patent Application No. CN202220475530.1, a suction cup for a robotic arm is disclosed, which includes a mounting assembly, a suction cup assembly, and a control assembly. The mounting assembly includes a connecting seat for connecting the robotic arm and a support frame fixedly connected to the connecting seat. A mounting bracket is provided on the end face of the support frame away from the connecting seat, and the mounting bracket is connected to the support frame. The suction cup assembly includes a mounting rod and a suction cup. The mounting rod is connected to the mounting bracket, and the suction cup is located at the end of the mounting rod away from the connecting seat and is connected to the mounting rod. The control assembly includes a compression rod and a first sensor. The first sensor is mounted on the support frame, and the compression rod slides relative to the support frame. The first sensor detects the position of the compression rod and outputs a position signal.

[0004] However, the suction cup for the robotic arm proposed in this utility model will exert great pressure on the material being picked up during use, so if it is used to pick up the lead alloy plate, it may cause deformation of the lead alloy plate.

[0005] A novel robotic arm suction cup for picking up ultra-large lead alloy anode plates is proposed to solve the above problems. Utility Model Content

[0006] The purpose of this invention is to provide a robotic arm suction cup for picking up ultra-large lead alloy anode plates, so as to solve the problem mentioned in the background art that the plate surface is easily deformed when picking up lead alloy plates.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm suction cup for picking up the surface of an ultra-large lead alloy anode plate, comprising a robotic arm body, a connecting plate fixedly connected to the bottom end of the robotic arm body, a hinge frame movably connected to the bottom end of the connecting plate, a fixing plate provided at the bottom end of the hinge frame, a set of mounting plates provided on both sides of the fixing plate, the center line of the mounting plate and the center line of the fixing plate being on the same vertical plane, and a suction cup structure for picking up the lead alloy plate provided at the bottom end of the mounting plate;

[0008] The suction cup structure includes a controller. A set of controllers is fixedly connected to the top of the mounting plate and the two sides of the top of the fixed plate, respectively. A fixed sleeve is fixedly connected inside the mounting plate. A connecting rod is fixedly connected inside the fixed sleeve. A connecting sleeve is movably connected to the bottom of the connecting rod. An electric suction cup is fixedly connected to the bottom of the connecting sleeve. A buffer spring is fixedly connected to the bottom of the fixed sleeve. A control box is fixedly connected to the top of the fixed plate. A connecting wire is fixedly connected to one side of the controller.

[0009] Preferably, the connecting wire is electrically connected to the control box, and the buffer spring is fixedly connected to the connecting sleeve.

[0010] Preferably, the centerline of the connecting sleeve and the centerline of the electric suction cup are on the same vertical plane, and the electric suction cup is electrically connected to the controller.

[0011] Preferably, a servo motor is fixedly connected to the bottom end of the hinge frame, a connecting frame is fixedly connected to the top end of the fixing plate, reinforcing ribs are fixedly connected to both ends of the connecting frame, a fixing ring is fixedly connected to the top end of the connecting frame, a limit plate is fixedly connected to the bottom end of the servo motor, a drive shaft is fixedly connected to the output end of the servo motor, and a power interface is fixedly connected to one end of the top of the connecting frame.

[0012] Preferably, the drive shaft is fixedly connected to the connecting frame, and the limiting plate is movably connected to the fixing ring.

[0013] Preferably, the reinforcing rib is fixedly connected to the fixing plate, and the center line of the drive shaft and the center line of the connecting frame are on the same vertical plane.

[0014] Preferably, a set of movable slots are respectively opened at both ends of the two sides of the fixed plate, a movable cylinder is movably connected to one side of the movable slot, an electric cylinder is fixedly connected inside the movable cylinder, a piston rod is fixedly connected to the output end of the electric cylinder, and a control panel is fixedly connected to one end of the top of the fixed plate.

[0015] Preferably, the movable cylinder is fixedly connected to the mounting plate, and the piston rod passes through one side of the movable cylinder and is fixedly connected to the movable groove.

[0016] Compared with the prior art, the beneficial effects of this utility model are: the suction cup of the robotic arm for picking up ultra-large lead alloy plates not only prevents deformation of the plates when picking them up and allows for adjustment of the device angle, but also allows for adjustment of the suction cup spacing.

[0017] The system is equipped with a controller, mounting plate, connecting sleeve, control box, connecting wire, electric suction cup, fixing sleeve, connecting rod, and buffer spring. When picking up a lead alloy plate, the main body of the robotic arm pushes the mounting plate down, which in turn drives the electric suction cup at the bottom to descend, so that the electric suction cup adheres to the top of the lead alloy plate and continuously pushes the electric suction cup to press it firmly. At the same time, the buffer spring at the top of the connecting sleeve can effectively buffer and prevent excessive pressure from deforming the surface of the lead alloy plate. Then, the controller is activated by the control box to make the electric suction cup tightly pick up the lead alloy plate, thus preventing excessive pressure from deforming the surface of the lead alloy plate when picking it up.

[0018] Equipped with a servo motor, connecting frame, reinforcing ribs, fixing ring, limiting plate, and drive shaft, the servo motor can be started to drive the drive shaft to rotate before the lead alloy plate is picked up. The drive shaft drives the fixing plate at the bottom to rotate through the connecting frame, and the fixing plate then drives the mounting plates on both sides to rotate, thereby adjusting the angle of the multiple sets of electric suction cups at the bottom. The fixing ring at the top of the connecting frame fits against the outside of the limiting plate to effectively limit the connecting frame, thus ensuring the stability of the device when rotating and realizing the ability to adjust the angle of the device.

[0019] Equipped with electric cylinders, mounting plates, movable cylinders, movable slots, piston rods, and control panels, the system allows for the simultaneous activation of two sets of electric cylinders before retrieving lead alloy plates. The electric cylinders push the piston rods to one side, which in turn moves the movable cylinder to the other side. The movable cylinder then pushes the mounting plate on one side, ultimately moving the electric suction cups at the bottom to adjust the distance between the two electric suction cups. This allows for the easy retrieval of lead alloy plates of different sizes, thus enabling adjustment of the distance between the two electric suction cups. Attached Figure Description

[0020] Figure 1 This is a frontal cross-sectional view of the present invention.

[0021] Figure 2 This is an enlarged cross-sectional view of the movable cylinder of this utility model.

[0022] Figure 3 This is a top view cross-sectional diagram of the fixing ring structure of this utility model;

[0023] Figure 4 For the present utility model Figure 1 Enlarged structural diagram at point A in the middle;

[0024] Figure 5 This is a schematic diagram of the electric suction cup structure from below.

[0025] In the diagram: 1. Main body of the robotic arm; 2. Articulated frame; 3. Servo motor; 4. Connecting frame; 5. Electric cylinder; 6. Controller; 7. Mounting plate; 8. Connecting sleeve; 9. Movable cylinder; 10. Movable groove; 11. Reinforcing rib; 12. Fixing plate; 13. Control box; 14. Piston rod; 15. Connecting wire; 16. Electric suction cup; 17. Fixing ring; 18. Limiting plate; 19. Connecting plate; 20. Control panel; 21. Power interface; 22. Drive shaft; 23. Fixing sleeve; 24. Connecting rod; 25. Buffer spring. Detailed Implementation

[0026] 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.

[0027] Example: Please refer to Figure 1-5 A robotic arm suction cup for picking up an ultra-large lead alloy anode plate includes a robotic arm body 1. A connecting plate 19 is fixedly connected to the bottom end of the robotic arm body 1. A hinge frame 2 is movably connected to the bottom end of the connecting plate 19. A fixing plate 12 is provided at the bottom end of the hinge frame 2. A set of mounting plates 7 are provided on both sides of the fixing plate 12. The center line of the mounting plate 7 and the center line of the fixing plate 12 are on the same vertical plane. A suction cup structure for picking up lead alloy plates is provided at the bottom end of the mounting plate 7.

[0028] The suction cup structure includes a controller 6. A set of controllers 6 are fixedly connected to the top of the mounting plate 7 and the two sides of the top of the fixing plate 12 respectively. A fixing sleeve 23 is fixedly connected inside the mounting plate 7. A connecting rod 24 is fixedly connected inside the fixing sleeve 23. A connecting sleeve 8 is movably connected to the bottom of the connecting rod 24. An electric suction cup 16 is fixedly connected to the bottom of the connecting sleeve 8. A buffer spring 25 is fixedly connected to the bottom of the fixing sleeve 23. A control box 13 is fixedly connected to the top of the fixing plate 12. A connecting wire 15 is fixedly connected to one side of the controller 6.

[0029] The connecting wire 15 is electrically connected to the control box 13, and the buffer spring 25 is fixedly connected to the connecting sleeve 8;

[0030] The centerline of the connecting sleeve 8 and the centerline of the electric suction cup 16 are on the same vertical plane, and the electric suction cup 16 is electrically connected to the controller 6;

[0031] Specifically, such as Figure 1 , Figure 3 and Figure 4As shown, when picking up the lead alloy plate, the main body 1 of the robotic arm pushes the mounting plate 7 down, and the mounting plate 7 drives the electric suction cup 16 at the bottom to fall down, so that the electric suction cup 16 is attached to the top of the lead alloy plate and continuously pushes the electric suction cup 16 to press it tightly. At the same time, the buffer spring 25 at the top of the connecting sleeve 8 can effectively buffer and prevent the applied pressure from being too great and causing deformation of the lead alloy plate surface. Then, the controller 6 is activated by the control box 13 to make the electric suction cup 16 tightly pick up the lead alloy plate, thus preventing the lead alloy plate surface from being deformed due to excessive pressure when picking it up.

[0032] A servo motor 3 is fixedly connected to the bottom end of the hinge frame 2, a connecting frame 4 is fixedly connected to the top end of the fixing plate 12, reinforcing ribs 11 are fixedly connected to both ends of the connecting frame 4, a fixing ring 17 is fixedly connected to the top end of the connecting frame 4, a limit plate 18 is fixedly connected to the bottom end of the servo motor 3, a drive shaft 22 is fixedly connected to the output end of the servo motor 3, and a power interface 21 is fixedly connected to one end of the top of the connecting frame 4.

[0033] The drive shaft 22 is fixedly connected to the connecting frame 4, and the limiting plate 18 is movably connected to the fixing ring 17;

[0034] The reinforcing rib 11 is fixedly connected to the fixing plate 12, and the center line of the drive shaft 22 and the center line of the connecting frame 4 are on the same vertical plane;

[0035] Specifically, such as Figure 1 and Figure 3 As shown, before taking the lead alloy plate, the servo motor 3 can be started to drive the drive shaft 22 to rotate. The drive shaft 22 drives the bottom fixing plate 12 to rotate through the connecting frame 4. The fixing plate 12 then drives the mounting plates 7 on both sides to rotate, so as to adjust the angle of the electric suction cups 16 on both sides. The fixing ring 17 at the top of the connecting frame 4 fits against the outside of the limiting plate 18, which can effectively limit the connecting frame 4, thereby ensuring the stability of the device when rotating and realizing the ability to adjust the angle of the device.

[0036] A set of movable slots 10 are respectively opened at both ends of the fixed plate 12. A movable cylinder 9 is movably connected to one side of the movable slot 10. An electric cylinder 5 is fixedly connected inside the movable cylinder 9. A piston rod 14 is fixedly connected to the output end of the electric cylinder 5. A control panel 20 is fixedly connected to one end of the top of the fixed plate 12.

[0037] The movable cylinder 9 is fixedly connected to the mounting plate 7, and the piston rod 14 passes through one side of the movable cylinder 9 and is fixedly connected to the movable groove 10;

[0038] Specifically, such as Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, before picking up the lead alloy plate, two sets of electric cylinders 5 can be started simultaneously through the control panel 20. The electric cylinders 5 can push the piston rod 14 to one side. Under the push of the piston rod 14, the movable cylinder 9 moves to one side. The movable cylinder 9 then pushes the mounting plate 7 on one side to move. Finally, the mounting plate 7 drives the electric suction cup 16 at the bottom to move, so as to adjust the distance between the electric suction cups 16 on both sides, so as to facilitate the picking up lead alloy plates of different sizes. This realizes that the distance between the electric suction cups 16 on both sides can be adjusted.

[0039] Working Principle: In use, before removing the lead alloy plate, the servo motor 3 can be started to drive the drive shaft 22 to rotate. The drive shaft 22, through the connecting frame 4, drives the bottom fixing plate 12 to rotate. The fixing plate 12 then drives the mounting plates 7 on both sides to rotate, adjusting the angle of the electric suction cups 16 on both sides. The fixing ring 17 at the top of the connecting frame 4, which fits against the outside of the limiting plate 18, effectively limits the connecting frame 4, thus ensuring the stability of the device during rotation. Then, the two sets of electric cylinders 5 are simultaneously activated via the control panel 20. The electric cylinders 5 push the piston rod 14 to one side, and under the push of the piston rod 14, the movable cylinder 9 moves to one side. The moving cylinder 9 then pushes the mounting plate 7 on one side to move. Finally, the mounting plate 7 drives the electric suction cup 16 at the bottom to move, so as to adjust the distance between the electric suction cups 16 on both sides to facilitate the picking up lead alloy plates of different sizes. When picking up the lead alloy plate, the main body 1 of the robotic arm pushes the mounting plate 7 down, and the mounting plate 7 drives the electric suction cup 16 at the bottom to down, so that the electric suction cup 16 fits against the top of the lead alloy plate and continues to push the electric suction cup 16 to press it tightly. At the same time, the buffer spring 25 at the top of the connecting sleeve 8 can effectively buffer and prevent the applied pressure from being too great and causing deformation of the lead alloy plate surface. Then, the controller 6 is activated through the control box 13 to make the electric suction cup 16 tightly pick up the lead alloy plate.

Claims

1. A robotic arm suction cup for picking up the surface of an ultra-large lead alloy anode plate, comprising a robotic arm body (1), characterized in that: The bottom end of the main body (1) of the robotic arm is fixedly connected to a connecting plate (19), and the bottom end of the connecting plate (19) is movably connected to a hinge frame (2). The bottom end of the hinge frame (2) is provided with a fixed plate (12). A set of mounting plates (7) are respectively provided on both sides of the fixed plate (12). The center line of the mounting plate (7) and the center line of the fixed plate (12) are on the same vertical plane. The bottom end of the mounting plate (7) is provided with a suction cup structure for picking up lead alloy plates. The suction cup structure includes a controller (6). A set of controllers (6) is fixedly connected to the top of the mounting plate (7) and the two sides of the top of the fixing plate (12). A fixing sleeve (23) is fixedly connected inside the mounting plate (7). A connecting rod (24) is fixedly connected inside the fixing sleeve (23). A connecting sleeve (8) is movably connected to the bottom of the connecting rod (24). An electric suction cup (16) is fixedly connected to the bottom of the connecting sleeve (8). A buffer spring (25) is fixedly connected to the bottom of the fixing sleeve (23). A control box (13) is fixedly connected to the top of the fixing plate (12). A connecting wire (15) is fixedly connected to one side of the controller (6).

2. The robotic arm suction cup for picking up an ultra-large lead alloy anode plate according to claim 1, characterized in that: The connecting line (15) is electrically connected to the control box (13), and the buffer spring (25) is fixedly connected to the connecting sleeve (8).

3. The robotic arm suction cup for picking up an ultra-large lead alloy anode plate according to claim 1, characterized in that: The centerline of the connecting sleeve (8) and the centerline of the electric suction cup (16) are on the same vertical plane, and the electric suction cup (16) is electrically connected to the controller (6).

4. The robotic arm suction cup for picking up an ultra-large lead alloy anode plate according to claim 1, characterized in that: The bottom end of the hinge frame (2) is fixedly connected to a servo motor (3), the top end of the fixing plate (12) is fixedly connected to a connecting frame (4), the two ends of the connecting frame (4) are fixedly connected to reinforcing ribs (11), the top end of the connecting frame (4) is fixedly connected to a fixing ring (17), the bottom end of the servo motor (3) is fixedly connected to a limit plate (18), the output end of the servo motor (3) is fixedly connected to a drive shaft (22), and one end of the top of the connecting frame (4) is fixedly connected to a power interface (21).

5. The robotic arm suction cup for picking up an ultra-large lead alloy anode plate according to claim 4, characterized in that: The drive shaft (22) is fixedly connected to the connecting frame (4), and the limiting plate (18) is movably connected to the fixing ring (17).

6. The robotic arm suction cup for picking up an ultra-large lead alloy anode plate according to claim 4, characterized in that: The reinforcing rib (11) is fixedly connected to the fixing plate (12), and the center line of the drive shaft (22) and the center line of the connecting frame (4) are on the same vertical plane.

7. The robotic arm suction cup for picking up an ultra-large lead alloy anode plate according to claim 1, characterized in that: A set of movable slots (10) are respectively opened at both ends of the fixed plate (12). A movable cylinder (9) is movably connected to one side of the movable slot (10). An electric cylinder (5) is fixedly connected inside the movable cylinder (9). A piston rod (14) is fixedly connected to the output end of the electric cylinder (5). A control panel (20) is fixedly connected to one end of the top of the fixed plate (12).

8. The robotic arm suction cup for picking up an ultra-large lead alloy anode plate according to claim 7, characterized in that: The movable cylinder (9) is fixedly connected to the mounting plate (7), and the piston rod (14) passes through one side of the movable cylinder (9) and is fixedly connected to the movable groove (10).

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