Robot grabbing device with self-adaptive adjustment function

Abstract

The utility model relates to the technical field of plate movement, in particular to a robot gripping device with a self-adaptive adjustment function, which can clean dust on the surface of a plate before adsorbing and fixing the plate, improves the firmness of a vacuum adsorption mechanism for adsorbing the plate, and is convenient to use and high in reliability and practicability. Comprising a mounting plate; the device further comprises a rotating mechanism, a vacuum adsorption mechanism and a dust removal mechanism, the rotating mechanism is mounted on the mounting plate, the vacuum adsorption mechanism and the dust removal mechanism are both mounted on the rotating mechanism, the rotating mechanism has a rotating function, the vacuum adsorption mechanism has a vacuum adsorption function, and the dust removal mechanism has a dust removal function.

Description

Technical Field

[0001] This utility model relates to the technical field of sheet material movement, and in particular to a robotic gripping device with adaptive adjustment function. Background Technology

[0002] In the handling and transfer of sheet materials, robotic gripping devices are often used to fix the materials in place. A multi-axis robotic arm then moves the gripping device, causing the sheet material to move synchronously, thus completing the handling and transfer. Currently, vacuum suction grippers are commonly used for gripping sheet materials. In the prior art, utility model patent application number 202323361851.2 discloses a vacuum suction gripper, which mainly consists of a lifting block, a suction plate, and vacuum suction cups. When fixing the sheet material, the suction cups contact the sheet material, and then the suction cups are opened, allowing the vacuum suction cups to adhere and fix the sheet material. However, this method has the following problems: due to dust on the surface of the sheet material, when vacuum suction is applied, the dust on the surface affects the strength of the suction cups' adhesion, making it inconvenient to use and resulting in poor reliability and practicality. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides a robotic gripping device with adaptive adjustment function that can clean the dust on the surface of the board before adsorbing and fixing it, thereby improving the firmness of the vacuum adsorption mechanism on the board. It is easy to use, reliable and practical.

[0004] This utility model discloses a robot gripping device with adaptive adjustment function, including a mounting plate; it also includes a rotating mechanism, a vacuum adsorption mechanism, and a dust removal mechanism. The rotating mechanism is mounted on the mounting plate, and both the vacuum adsorption mechanism and the dust removal mechanism are mounted on the rotating mechanism. The rotating mechanism has a rotation function, the vacuum adsorption mechanism has a vacuum adsorption function, and the dust removal mechanism has a dust removal function. The mounting plate is mounted on the robot's multi-axis robotic arm. When it is necessary to move the sheet material, the mounting plate is first moved close to the sheet material by the robot's multi-axis robotic arm. Then, the rotating mechanism is opened, causing the dust removal mechanism to rotate to the side close to the sheet material. The dust removal mechanism then cleans the dust on the surface of the sheet material. After the dust on the surface of the sheet material is cleaned, the rotating mechanism is opened again, causing the vacuum adsorption mechanism to rotate to the side close to the sheet material. The vacuum adsorption mechanism then contacts the sheet material and adsorbs and fixes the sheet material. Then, the robot's multi-axis robotic arm moves the mounting plate, and the mounting plate moves the sheet material by rotating the vacuum adsorption mechanism. Before adsorbing and fixing the sheet material, it can clean the dust on the surface of the sheet material, which improves the firmness of the vacuum adsorption mechanism's adsorption of the sheet material. It is convenient to use, reliable, and practical.

[0005] Preferably, the rotating mechanism includes a fixed frame, a stepper motor, and a rotating shaft. The fixed frame is fixedly mounted on the right end of the mounting plate, the stepper motor is fixedly mounted on the mounting plate, and the rotating shaft is rotatably mounted on the fixed frame. The left end of the rotating shaft is connected to the output end of the stepper motor. Both the dust collection mechanism and the vacuum adsorption mechanism are mounted on the rotating shaft. The stepper motor has an angle self-locking capability. When handling the board, the board is located below the rotating shaft. When cleaning the board, the stepper motor is turned on, and the stepper motor drives the rotating shaft to rotate, thereby causing the dust collection mechanism to rotate to the side closer to the board. This facilitates the adjustment of the positions of the dust collection mechanism and the vacuum adsorption mechanism.

[0006] Preferably, the vacuum adsorption mechanism includes a connecting frame and multiple sets of electric vacuum suction cups. The connecting frame is fixedly installed at the lower end of the rotating shaft, and the multiple sets of electric vacuum suction cups are all fixedly installed at the lower end of the connecting frame. When adsorbing and fixing the board, the multiple sets of electric vacuum suction cups are brought into contact with the board, and then the board is adsorbed and fixed by the multiple sets of electric vacuum suction cups; this facilitates the adsorption of the board.

[0007] Preferably, the dust collection mechanism includes a vacuum cleaner, a delivery hose, and a suction pipe. The vacuum cleaner is fixedly mounted on the mounting plate, and the delivery hose is connected to the suction pipe. The suction pipe is mounted on the upper end of the rotating shaft and has multiple suction ports. Before vacuum adsorption of the board material, the stepper motor is turned on, which drives the rotating shaft to rotate, causing the suction pipe to rotate to the side facing the board material. Then, the mounting plate moves along the multi-axis robotic arm on the robot, which in turn moves the fixed frame and the rotating shaft, causing the suction pipe to move close to the board material. After that, the vacuum cleaner is turned on, allowing the dust on the surface of the board material to enter the vacuum cleaner through the suction pipe and the delivery hose. This facilitates the cleaning of dust on the surface of the board material and ensures the firmness of the electric vacuum suction cup adsorption on the board material.

[0008] Preferably, the assembly also includes a connecting plate, a vision detector, a controller, and a clamping mechanism. The vision detector is mounted on the rotating shaft via the connecting plate, and the clamping mechanism is also mounted on the rotating shaft, providing a clamping and fixing function. The controller is mounted on a mounting plate and is connected to the stepper motor, vision detector, and clamping mechanism. When gripping and moving the sheet material, the stepper motor is activated, driving the rotating shaft to rotate. This first causes the vision detector to rotate towards the sheet material, detecting its shape. The vision detector then transmits the detection result to the controller, which controls the stepper motor based on the transmitted result. If the sheet material is small and has a high surface roughness, it is fixed using the clamping mechanism. If the sheet material is large and has a low surface roughness, a vacuum adsorption mechanism is used to fix it. The assembly can automatically select the fixing method based on the sheet material's shape, improving convenience.

[0009] Preferably, the clamping mechanism includes a fixed plate and an electric clamp, the electric clamp being fixedly mounted on the rotating shaft via the fixed plate; when clamping and fixing the plate, the rotating shaft is rotated, thereby causing the fixed plate and the electric clamp to rotate to the side facing the plate, and then the plate is clamped and fixed by the electric clamp; this facilitates the clamping of the plate.

[0010] Preferably, the stepper motor is equipped with a leakage current protector.

[0011] Compared with the prior art, the advantages of this utility model are: before adsorbing and fixing the board, the dust on the surface of the board can be cleaned, which improves the firmness of the vacuum adsorption mechanism on the board, and is convenient to use, reliable and practical. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the first isometric structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the second isometric structure of this utility model;

[0014] Figure 3 This is a structural diagram of the electric vacuum suction cup and the connecting frame;

[0015] Figure 4 This is a schematic diagram of the rotating mechanism;

[0016] Figure 5 This is a schematic diagram of the structure of the vision detector and the connecting plate;

[0017] Figure 6 This is a schematic diagram of the clamping mechanism;

[0018] Figure 7 This is a schematic diagram of the dust removal mechanism.

[0019] The following are labels in the attached diagram: 1. Mounting plate; 2. Fixing frame; 3. Stepper motor; 4. Rotating shaft; 5. Connecting bracket; 6. Electric vacuum suction cup; 7. Vacuum cleaner; 8. Delivery hose; 9. Suction pipe; 10. Connecting plate; 11. Vision detector; 12. Fixing plate; 13. Electric clamp. Detailed Implementation

[0020] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. This utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete. Example 1

[0021] like Figures 1 to 7This utility model discloses a robot gripping device with adaptive adjustment function, comprising a mounting plate 1, a rotating mechanism, a vacuum adsorption mechanism, and a dust removal mechanism. The rotating mechanism is mounted on the mounting plate 1, and both the vacuum adsorption mechanism and the dust removal mechanism are mounted on the rotating mechanism. The rotating mechanism has a rotation function, the vacuum adsorption mechanism has a vacuum adsorption function, and the dust removal mechanism has a dust removal function. The mounting plate 1 is mounted on the robot's multi-axis robotic arm. When it is necessary to move the sheet material, the mounting plate 1 is first moved close to the sheet material by the robot's multi-axis robotic arm. Then, the rotating mechanism is opened, causing the dust removal mechanism to rotate to the side close to the sheet material. The dust removal mechanism then cleans the dust on the surface of the sheet material. After the dust on the surface of the sheet material is cleaned, the rotating mechanism is opened again, causing the vacuum adsorption mechanism to rotate to the side close to the sheet material. The vacuum adsorption mechanism then contacts the sheet material and adsorbs and fixes the sheet material. Then, the robot's multi-axis robotic arm moves the mounting plate 1, and the mounting plate 1 moves the sheet material by rotating the vacuum adsorption mechanism. Before adsorbing and fixing the sheet material, it can clean the dust on the surface of the sheet material, which improves the firmness of the vacuum adsorption mechanism's adsorption of the sheet material. It is convenient to use and has high reliability and practicality.

[0022] like Figure 1 and Figure 4 The rotating mechanism includes a fixed frame 2, a stepper motor 3, and a rotating shaft 4. The fixed frame 2 is fixedly installed on the right end of the mounting plate 1, the stepper motor 3 is fixedly installed on the mounting plate 1, and the rotating shaft 4 is rotatably installed on the fixed frame 2. The left end of the rotating shaft 4 is connected to the output end of the stepper motor 3. Both the dust collection mechanism and the vacuum adsorption mechanism are installed on the rotating shaft 4. The stepper motor 3 has an angle self-locking capability. When handling the board, the board is located below the rotating shaft 4. When cleaning the board, the stepper motor 3 is turned on, and the stepper motor 3 drives the rotating shaft 4 to rotate, thereby causing the dust collection mechanism to rotate to the side closer to the board. This facilitates the adjustment of the position of the dust collection mechanism and the vacuum adsorption mechanism.

[0023] like Figure 1 and Figure 3 The vacuum adsorption mechanism includes a connecting frame 5 and multiple sets of electric vacuum suction cups 6. The connecting frame 5 is fixedly installed at the lower end of the rotating shaft 4, and the multiple sets of electric vacuum suction cups 6 are all fixedly installed at the lower end of the connecting frame 5. When adsorbing and fixing the board, the multiple sets of electric vacuum suction cups 6 are brought into contact with the board, and then the board is adsorbed and fixed by the multiple sets of electric vacuum suction cups 6, which facilitates the adsorption of the board.

[0024] like Figure 1 and Figure 7The vacuuming mechanism includes a vacuum cleaner 7, a delivery hose 8, and a suction pipe 9. The vacuum cleaner 7 is fixedly mounted on the mounting plate 1. The delivery hose 8 is connected to the suction pipe 9. The suction pipe 9 is mounted on the upper end of the rotating shaft 4 and has multiple suction ports. Before vacuum adsorption of the board, the stepper motor 3 is turned on, which drives the rotating shaft 4 to rotate, causing the suction pipe 9 to rotate to the side facing the board. Then, the mounting plate 1 moves along the multi-axis robotic arm on the robot, which in turn moves the fixed frame 2 and the rotating shaft 4, causing the suction pipe 9 to move close to the board. Then, the vacuum cleaner 7 is turned on, allowing the dust on the surface of the board to enter the vacuum cleaner 7 through the suction pipe 9 and the delivery hose 8. This facilitates the cleaning of dust on the surface of the board and ensures the firmness of the electric vacuum suction cup 6 in adsorbing the board.

[0025] like Figure 1 and Figure 5 It also includes a connecting plate 10, a vision detector 11, a controller, and a clamping mechanism. The vision detector 11 is mounted on the rotating shaft 4 via the connecting plate 10. The clamping mechanism is mounted on the rotating shaft 4 and has a clamping and fixing function. The controller is mounted on the mounting plate 1 and is connected to the stepper motor 3, the vision detector 11, and the clamping mechanism. When gripping and moving the board, the stepper motor 3 is turned on, and the stepper motor 3 drives the rotating shaft 4 to rotate. First, the vision detector 11 rotates to face the board and detects the shape of the board. The vision detector 11 transmits the detection result to the controller. The controller controls the stepper motor 3 according to the transmitted result. If the board is small in size and has a high surface roughness, the board is fixed by the clamping mechanism. If the board is large in size and has a low surface roughness, the board is fixed by a vacuum adsorption mechanism. The fixing method of the board can be automatically selected according to the shape of the board, which improves convenience.

[0026] The clamping mechanism includes a fixed plate 12 and an electric clamp 13. The electric clamp 13 is fixedly mounted on the rotating shaft 4 via the fixed plate 12. When clamping and fixing the plate, the rotating shaft 4 is rotated, which in turn causes the fixed plate 12 and the electric clamp 13 to rotate to the side facing the plate. Then, the plate is clamped and fixed by the electric clamp 13, which facilitates the clamping of the plate. Example 2

[0027] Based on Example 1, a leakage current protector is installed on the stepper motor 3.

[0028] The electric vacuum suction cup 6, vacuum cleaner 7, suction pipe 9, vision detector 11, and electric clamp 13 of the robot gripping device with adaptive adjustment function of this utility model are all purchased from the market. Technicians in this industry only need to install and operate them according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0029] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A robotic gripping device with adaptive adjustment function, comprising a mounting plate (1); characterized in that, It also includes a rotating mechanism, a vacuum adsorption mechanism and a dust removal mechanism. The rotating mechanism is installed on the mounting plate (1), and the vacuum adsorption mechanism and the dust removal mechanism are both installed on the rotating mechanism. The rotating mechanism has the function of rotation, the vacuum adsorption mechanism has the function of vacuum adsorption, and the dust removal mechanism has the function of dust removal.

2. The robot gripping device with adaptive adjustment function as described in claim 1, characterized in that, The rotating mechanism includes a fixed frame (2), a stepper motor (3) and a rotating shaft (4). The fixed frame (2) is fixedly installed on the right end of the mounting plate (1), the stepper motor (3) is fixedly installed on the mounting plate (1), and the rotating shaft (4) is rotatably installed on the fixed frame (2). The left end of the rotating shaft (4) is connected to the output end of the stepper motor (3). The dust collection mechanism and the vacuum adsorption mechanism are both installed on the rotating shaft (4).

3. The robot gripping device with adaptive adjustment function as described in claim 2, characterized in that, The vacuum adsorption mechanism includes a connecting frame (5) and multiple sets of electric vacuum suction cups (6). The connecting frame (5) is fixedly installed at the lower end of the rotating shaft (4), and the multiple sets of electric vacuum suction cups (6) are all fixedly installed at the lower end of the connecting frame (5).

4. The robot gripping device with adaptive adjustment function as described in claim 3, characterized in that, The vacuuming mechanism includes a vacuum cleaner (7), a delivery hose (8) and a suction pipe (9). The vacuum cleaner (7) is fixedly installed on the mounting plate (1). The vacuum cleaner (7) is provided with a delivery hose (8). The delivery hose (8) is connected to the suction pipe (9). The suction pipe (9) is installed on the upper end of the rotating shaft (4). The suction pipe (9) is provided with multiple suction ports.

5. The robot gripping device with adaptive adjustment function as described in claim 4, characterized in that, It also includes a connecting plate (10), a vision detector (11), a controller and a clamping mechanism. The vision detector (11) is mounted on the rotating shaft (4) via the connecting plate (10). The clamping mechanism is mounted on the rotating shaft (4) and has the function of clamping and fixing. The controller is mounted on the mounting plate (1) and is connected to the stepper motor (3), the vision detector (11) and the clamping mechanism.

6. The robot gripping device with adaptive adjustment function as described in claim 5, characterized in that, The clamping mechanism includes a fixed plate (12) and an electric clamp (13), which is fixedly mounted on the rotating shaft (4) via the fixed plate (12).

7. The robot gripping device with adaptive adjustment function as described in claim 2, characterized in that, The stepper motor (3) is equipped with a leakage current protector.

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