CN111633679A

CN111633679A - Be applied to gripper of freezer box manipulator

Info

Publication number: CN111633679A
Application number: CN202010517582.6A
Authority: CN
Inventors: 刘庆勇; 吴成霞
Original assignee: Chuzhou Mingnuo Machinery Co ltd
Current assignee: Shandong Baodian Electronics Technology Co ltd
Priority date: 2020-06-09
Filing date: 2020-06-09
Publication date: 2020-09-08
Anticipated expiration: 2040-06-09
Also published as: CN111633679B

Abstract

The invention relates to the technical field of freezer box body foaming equipment, in particular to a mechanical claw applied to a freezer box body manipulator, which comprises an arm plate, a palm plate, a sucker assembly, a hydraulic oil cylinder and a supporting piece, wherein the arm plate and the palm plate are fixed with each other; a hydraulic oil cylinder is fixed on the surface of the palm plate; the transmission part enables the sucking disc component to be switched between the adsorption position and the clamping position to have a synchronous process with the supporting part in switching between the supporting position and the separation position. When the refrigerator carrying workpiece is conveyed for a long distance, the lateral clamping force in the prior art is replaced by the supporting force from bottom to top, so that the refrigerator carrying workpiece conveying device has the advantages of avoiding deformation and indentation caused by long-time extrusion of the refrigerator body, and has stronger safety and stability.

Description

Be applied to gripper of freezer box manipulator

Technical Field

The invention relates to the technical field of freezer box body foaming equipment, in particular to a mechanical claw applied to a freezer box body manipulator.

Background

The foaming of the refrigerator body is a crucial link in the production process of the refrigerator, and a foaming layer formed in the refrigerator body after foaming is mainly used for heat insulation, so that the cold and heat transfer inside and outside the refrigerator is reduced, and the running time of a compressor can be reduced as cold air is not easy to come out.

At present, the foaming of common freezer box among the prior art has the foaming of the full servo case of 6 stations, the foaming of the full servo case of 7 stations, the foaming of the full servo case of 24 stations etc, the station is more, it is more to mean that the box quantity that can foam in the same time is more, use the foaming of the full servo case of 24 stations as an example, its foaming process line is located and is a row of distribution in the factory building, in the technology carries out the in-process, need the manipulator to put into work piece (being freezer box) one by one to each station, and when the manipulator smugglies the work piece secretly, mainly have following several processes:

firstly, clamping and lifting a workpiece;

secondly, moving the workpiece off the ground only along a foaming process line, and moving the workpiece to the position above an appointed station;

and thirdly, lowering the workpiece into the station and releasing the workpiece.

In the actual production process, the freezer body is generally pre-assembled and then foamed, and the freezer body after pre-assembly has a certain quality, so that in order to ensure stable conveying of the freezer body, in the first step, in the prior art, the suction cups on the mechanical claws are used for firstly adsorbing two side faces of the workpiece, and then the two side faces of the workpiece are simultaneously extruded by the acting force applied to the suction cups by the mechanical claws, so that the workpiece is clamped, then, the long-distance conveying in the second step is directly carried out, and then, the freezer body is placed into the station in the third step.

The main problem of the above-mentioned prior art is that in the clamping process, in order to ensure stable clamping effect on the refrigerator body, the gripper always keeps clamping force and adsorption force on the side of the refrigerator body, at this time, the surface of the refrigerator body which is not foamed is easily deformed by force, so that in the prior art, the clamping force can extrude the surface of the refrigerator body to deform, and in the whole clamping process, the surface of the refrigerator body is in a deformed state for a long time, which easily causes unrecoverable trace on the surface of the refrigerator body, increasing the difficulty of subsequent treatment, in addition, the extrusion and adsorption effects in the prior art are applied on the side of the refrigerator body, so that the bottom of the refrigerator body is suspended, in the clamping process of the refrigerator body, the stability of the refrigerator body during clamping is directly influenced by equipment vibration and the deformation on the surface of the refrigerator body, has certain potential safety hazard, so the mechanical claw on the mechanical arm needs to be improved.

Disclosure of Invention

The invention aims to provide a mechanical claw applied to a refrigerator body manipulator, which effectively slows down the deformation of the surface of a refrigerator body by utilizing bottom-to-top supporting force to replace the extrusion force of the prior art on the side surface of the refrigerator body in the long-distance conveying process, has better stability and safety, and particularly ensures that the whole action process of the scheme is smooth and flexible due to the linkage arrangement of a transmission part, a supporting part and a sucker.

In order to achieve the purpose, the invention adopts the following technical scheme:

a mechanical claw applied to a freezer box body mechanical hand comprises an arm plate and a palm plate which are fixed mutually, wherein the palm plate is positioned at the bottom of the arm plate, and a sucker assembly capable of performing telescopic motion perpendicular to the surface of a workpiece is arranged on one side of the palm plate, facing the workpiece;

the sucker component is provided with an adsorption position and a clamping position, when the sucker component is positioned at the adsorption position, the workpiece can be fixed under the action of adsorption force, and when the sucker component is positioned at the clamping position, the workpiece can be fixed under the combined action of the adsorption force and the clamping force;

a hydraulic oil cylinder is fixed on the surface of the palm plate;

the two sides of the palm plate are provided with supporting pieces, each supporting piece is provided with a supporting position and a disengaging position, and when the sucker assembly is positioned at the adsorption position, the supporting pieces are positioned at the supporting positions; when the sucker assembly is positioned at the clamping position, the supporting piece is positioned at the disengaging position;

the supporting piece is connected with the hydraulic oil cylinder through a transmission piece, and the transmission piece enables the sucking disc component to be switched between the adsorption position and the clamping position to have a synchronous process of switching between the supporting position and the separation position with the supporting piece.

Preferably, the sucking disc subassembly is including locating splint and the sucking disc of palm board one side, and is fixed splint through all setting up a pair of extensible member in the both sides of palm board, and the sucking disc is a plurality of, and the sucking disc is fixed in splint and is located the surface of work piece one side.

Preferably, the telescopic part comprises a rod sleeve, a sliding rod with one end inserted into the rod sleeve and a first spring arranged between the rod sleeve and the sliding rod, and the telescopic part is in a contraction state.

Preferably, the driving medium includes the transmission shaft that transversely runs through in the palm board, and the cover is equipped with the round gear in the middle part of the transmission shaft, and the meshing has the rack that is fixed in hydraulic cylinder extension surface on the round gear, and the both sides of transmission shaft all overlap and are equipped with the cam.

Preferably, the support member comprises a first support plate which is supported at the bottom of the workpiece and is L-shaped, a downward-inclined guide plate is fixed at the end of the horizontal section of the first support plate, the top of the first support plate is connected with a first support plate fixed on the transmission shaft through a second spring, a limiting rod with one end inserted into the first support plate is fixed at the bottom of the first support plate, and the first support plate is fixed along the length direction of the first support plate after the second spring is pulled to a certain length through the length of the limiting rod.

Preferably, a second supporting plate is fixed between the two first supporting plates positioned on the same side, and L-shaped notches are formed in the upper surfaces of the first supporting plate and the second supporting plate.

Preferably, both ends of the transmission shaft are fixed with a first bevel gear, and the bottom of the first bevel gear is meshed with a second bevel gear.

Preferably, the supporting piece comprises two connecting shafts which are respectively fixed on two sides of the palm plate through a second supporting plate, one end of each connecting shaft is fixedly connected to the bottom of the second bevel gear, a threaded section is arranged on each connecting shaft and is connected with a third supporting plate in an internal thread mode, a second L-shaped notch is formed in the upper surface of the third supporting plate, and a limiting plate which is in contact with the surface of the workpiece is vertically fixed on the side surface of the third supporting plate.

Preferably, a containing groove is formed in the second notch, a cushion block is arranged in the containing groove, a force storage rod with one end inserted into the second notch and fixed with the bottom surface of the cushion block penetrates through the bottom surface of the third support plate, and a force storage spring is fixed between the force storage rod and the bottom surface of the third support plate.

The invention has at least the following beneficial effects:

1. according to the invention, under the action of the transmission part, the sucker component can be switched between the adsorption position and the clamping position, and the supporting piece can be switched between the supporting position and the separation position, so that when a workpiece is conveyed after being clamped for a long distance, the sucker component is switched from the clamping position to the adsorption position, and simultaneously the supporting piece is switched from the separation position to the supporting position, at the moment, the two side surfaces of the workpiece do not bear extrusion force any more, the surface deformation of the workpiece can be effectively prevented, meanwhile, the workpiece is supported from bottom to top by the supporting piece, the potential safety hazard of workpiece sliding can be reduced, and the safety is better.

2. According to the invention, the telescopic piece is in a contraction state in an initial state, so that a supporting force can be more stably provided in the process of fixing the workpiece, and the sucker component can conveniently apply an adsorption acting force to facilitate the adsorption of the workpiece.

3. The invention utilizes the hydraulic oil cylinder to provide driving force, so that the action of the transmission piece is more smooth and stable through the smooth telescopic performance of the hydraulic oil cylinder, and the transmission connection structure between the hydraulic oil cylinder and the transmission piece is simple.

4. The chuck component is switched between the adsorption position and the clamping position by pushing the clamping plate through the cam, the structure is simple, the transmission efficiency is high, the displacement stroke of the clamping plate can be limited by directly utilizing the size of the cam, other electric control equipment is not needed for realizing control, the use cost is reduced, the vulnerability brought by the electric control equipment is avoided, the cost is lower, and the controllability and the stability are higher.

5. According to the invention, by utilizing the guiding action of the guide plate and the elastic action of the second spring, when the supporting piece is positioned at the supporting position, the second spring is in a pulling-up state, and the whole body of the first supporting plate and the first supporting plate is in the longest length state, at the moment, the supporting piece exerts acting force on the workpiece from the bottom and supports the workpiece, so that the workpiece is effectively prevented from sliding off.

6. The support plate II can support the bottom of the side face of the workpiece in a longer range, and has higher stability and safety.

7. After the third support plate moves to the bottom of the workpiece, the limiting plate is in contact with the surface of the workpiece, and in the process that the transmission part continues to rotate, the third support plate is lifted upwards by utilizing the threaded connection effect of the third support plate and the threaded section and the blocking effect of the limiting part, and supports the workpiece by applying a supporting acting force to the workpiece from bottom to top.

8. The invention utilizes the elasticity of the power storage spring and the function of the second notch, so that in the process of lifting the support plate III, the power storage spring is pulled up, the backing plate moves towards the accommodating groove, and the bottom of the Gong U is enabled to enter the second notch, thereby improving the stable support of the workpiece.

9. When the support plate III is used for supporting the workpiece, the stop column can support the side surface of the workpiece, and the deformed part of the side surface of the workpiece can be recovered under the acting force of the stop column.

10. The invention uses the hydraulic oil cylinder as a power part, and the transmission part is reused to drive the sucker component and the supporting piece to act simultaneously, so that the structure is simple and practical, the whole action process is realized by linkage between machines, no practical electrical equipment is needed, and the invention has the advantages of low failure rate and low maintenance cost, and is worthy of popularization.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a first embodiment of the present invention;

FIG. 2 is an enlarged view taken at A of FIG. 1 in accordance with the present invention;

FIG. 3 is an enlarged view of the invention at B of FIG. 1;

FIG. 4 is a schematic view of a support member according to one embodiment of the present invention;

FIG. 5 is an enlarged view at C of FIG. 4;

FIG. 6 is a schematic view of a second embodiment of the present invention;

FIG. 7 is a partial schematic view of a support member according to a second embodiment of the present invention;

FIG. 8 is a schematic view illustrating the third supporting plate lifting/lowering according to the second embodiment of the present invention;

fig. 9 is a partial schematic view of a supporting member according to another embodiment of the second embodiment of the present invention.

Fig. 10 is a schematic view of the cam of the present invention as a sector wheel.

In the figure: the device comprises an arm plate 1, a palm plate 2, a sucker component 3, a clamping plate 31, a sucker 32, a telescopic piece 33, a rod sleeve 301, a sliding rod 302, a first spring 303, a hydraulic oil cylinder 4, a supporting piece 5, a first supporting plate 51, a guide plate 52, a second spring 53, a first supporting plate 54, a limiting rod 55, a second supporting plate 56, a first notch 57, a transmission piece 6, a transmission shaft 61, a circular gear 62, a rack 63, a cam 64, a first bevel gear 65, a second bevel gear 66, a second supporting plate 510, a connecting shaft 511, a threaded section 512, a third supporting plate 513, a second notch 514, a limiting plate 515, a storage groove 516, a cushion block 517, a power storage rod 518, a power storage spring 519, an arc-shaped groove 520, a rolling shaft 521, a sliding plate 522.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, a first embodiment of the present invention provides a gripper applied to a manipulator of a freezer, including two arm plates 1 and a palm plate 2 fixed to each other, where the arm plates 1 have two arm plates 1 for respectively fixing two side surfaces of a workpiece, specifically, a threaded rod is connected to the two arm plates 1 through a common thread, the threaded rod is mounted on a support frame, a top end of each arm plate 1 is located in the support frame, a power mechanism (not shown) is disposed on the support frame, such as a forward/reverse motor (not shown), an output end of the power mechanism is connected to the threaded rod, so that the two arm plates 1 move relatively or back to back by driving the threaded rod to rotate, and further, the two manipulator arms achieve a process of fixing and loosening a tool (the above is prior art and will not be described herein again), and it should be understood by those skilled in the art that the manipulator includes two grippers according to, the two mechanical claws are oppositely arranged and used for fixing two side surfaces of the refrigerator box body so as to convey the refrigerator box body, wherein in the mechanical claws, the palm plate 2 is positioned at the bottom of the arm plate 1, the palm plate 2 is connected with the arm plate 1 through bolts, one side of the palm plate 2, which faces a workpiece, is provided with a sucker component 3 capable of performing telescopic motion perpendicular to the surface of the workpiece, and when the sucker 32 moves towards one side of the workpiece and is in contact with the workpiece, the sucker component 3 can generate adsorption force on the workpiece to realize the fixation of the workpiece, and particularly, the sucker component 3 adopts a vacuum sucker 32;

the sucker component 3 is provided with an adsorption position and a clamping position, when the sucker component 3 is positioned at the adsorption position, a workpiece can be fixed under the action of adsorption force, when the sucker component 3 is positioned at the clamping position, the workpiece can be fixed under the combined action of the adsorption force and the clamping force, and the clamping position is a position for continuously clamping and fixing the workpiece by extruding the workpiece after the sucker component 3 is positioned at the adsorption position;

a hydraulic oil cylinder 4 is fixed on the surface of the palm plate 2, and the hydraulic oil cylinder 4 provides power for switching the sucker component 3 between an adsorption position and a clamping position;

the two sides of the palm plate 2 are respectively provided with a supporting piece 5, the supporting pieces 5 are provided with a supporting position and a separation position, and when the sucker component 3 is positioned at the adsorption position, the supporting pieces 5 are positioned at the supporting position; when the sucker assembly 3 is in the clamping position, the supporting piece 5 is in the disengaging position;

the supporting piece 5 is connected with the hydraulic oil cylinder 4 through a transmission piece 6, and the transmission piece 6 enables the sucking disc component 3 to be switched between the adsorption position and the clamping position to have a synchronous process of being switched between the supporting position and the separation position with the supporting piece 5.

Referring to fig. 1, the suction cup assembly 3 includes a clamping plate 31 and a suction cup 32 which are arranged on one side of the palm plate 2, the clamping plate 31 is fixed by arranging a pair of expansion pieces 33 on both sides of the palm plate 2, the suction cups 32 are a plurality of vacuum suction cups, the suction cups 32 are fixed on the surface of one side of the workpiece of the clamping plate 31, when the suction cup assembly 3 is in a suction position, the suction cups 32 suck the surface of the workpiece, then the clamping plate 31 moves continuously towards one side of the workpiece, the clamping plate 31 applies an acting force to the suction cups 32, the suction cups 32 press the side surface of the workpiece to gradually form a clamping force, and the clamping position is switched to, referring to fig. 2, the expansion pieces 33 include a rod sleeve 301, a sliding rod 302 with one end inserted into the rod sleeve 301, and a first spring 303 arranged between the rod sleeve 301 and the sliding rod 302, the expansion pieces 33 are in a contraction state, and the rod, specifically, the recess that is used for rod cover 301 to place is offered to palm 2's side, bolted connection is on the inner wall of recess, after manipulator promotes the work piece to liftoff state, limiting displacement between through recess cooperation rod cover 301, multiplicable rod cover 301 is to the supporting effect of work piece, especially, the recess all is quadrilateral with rod cover 301, after vertical direction atress, bigger holding surface, the effect of a spring 303 can keep slide bar 302 to be the state of shrink in rod cover 301 under initial condition all the time, especially when manipulator begins to adsorb the work piece, extensible member 33 that is in the shrink state can effectually provide the holding power for sucking disc subassembly 3, ensure stably to adsorb the work piece.

Referring to fig. 1 and 6, the transmission member 6 includes a transmission shaft 61 transversely penetrating the palm plate 2, both ends of the transmission shaft 61 extend from the inside of the palm plate 2 to the outside, specifically, a through hole for the transmission shaft 61 to penetrate is formed in the palm plate 2, support bearings (not shown) for the transmission shaft 61 to penetrate and support the transmission shaft 61 are arranged on both sides in the through hole, the support bearings can be thread rolling bearings, a circular gear 62 is sleeved on the middle portion of the transmission shaft 61, a rack 63 fixed on the surface of the extending portion of the hydraulic cylinder 4 is meshed on the circular gear 62, when the hydraulic cylinder 4 is started, the extending end of the hydraulic cylinder can be driven to move in a telescopic manner, at this time, the rack 63 can drive the transmission shaft 61 to rotate in a forward or reverse direction through the circular gear 62, thereby the support member 5 can be switched between the support position and the disengagement position, cams 64 are sleeved on both sides of the transmission shaft 61, the first spring 303 is used to move the clamping plate 31 toward the workpiece or away from the workpiece, so as to switch the suction cup assembly 3 between the suction position and the clamping position, and it should be noted that, referring to fig. 10, the cam 64 can be a sector wheel as shown in fig. 1, so that when the apex of the convex circle contacts the clamping plate 31, the clamping plate 31 makes the suction cup assembly 3 in the clamping position.

As shown in fig. 1 and 4, the support member 5 includes a first support plate 51 supported at the bottom of the workpiece in an L shape, when the first support plate 51 moves from the side of the workpiece to one side of the workpiece to a vertical state, the upper surface of the horizontal section of the first support plate 51 contacts with the bottom of the workpiece to provide a bottom-up supporting force for the workpiece, a downward-inclined guide plate 52 is fixed at the end of the horizontal section of the first support plate 51, the guide plate 52 is used for guiding the horizontal section of the support plate into the bottom of the workpiece, as shown in fig. 5, the top of the first support plate 51 is connected with a first support plate 54 fixed on the transmission shaft 61 through a second spring 53, specifically, both ends of the transmission shaft 61 are supported on the side of the palm plate 2 through third support plates to support the end of the transmission shaft 61 to prevent the transmission shaft 61 from deforming when both ends are subjected to radial acting forces, a limit rod 55 with one end inserted into the first support plate 51 is fixed at the bottom, the length of the limiting rod 55 is set so that the first support plate 51 is fixed along the length direction of the first support plate 54 after the second spring 53 is pulled up by a certain length, especially under the cooperation of the second spring 53 and the guide plate 52, when the support 5 is in the disengaged position, the maximum vertical distance between the axis of the transmission shaft 61 and the upper surface of the horizontal section of the first support plate 51 is smaller than the vertical distance between the axis of the transmission shaft 61 and the side edge of the bottom side of the workpiece, and the vertical distance between the axis of the transmission shaft 61 and the outermost side of the upper surface of the guide plate 52 is larger than the vertical distance between the axis of the transmission shaft 61 and the side edge of the bottom side.

A second supporting plate 56 is fixed between the two first supporting plates 51 positioned on the same side, the upper surfaces of the first supporting plates 51 and the second supporting plates 56 are both provided with a first L-shaped notch 57, the second supporting plates 56 are fixed by the first supporting plates 51 and are matched with the first supporting plates 51 to simultaneously form long-distance support for one side of the bottom of the workpiece, so that the stability and the safety of the workpiece are improved.

The following describes the operation of the first embodiment:

when the manipulator fixes a workpiece in an initial state, the support piece 5 is in a support position, the two arm plates 1 are respectively positioned at two sides of the workpiece, the height of the support plate I51 is smaller than that of the bottom surface of the workpiece, at the moment, the two arm plates 1 move relatively and the palm plate 2 drives the sucker assembly 3 to move relatively, after the sucker assembly 3 is contacted with the workpiece, the whole manipulator moves upwards to enable the bottom surface of the workpiece to be contacted with the inner wall of the bottom of the notch I57 until the spring I303 is stretched to 54 and the rest of the support plates II 56 are in the longest state, then the palm plate 2 continues to move to one side of the workpiece, the telescopic piece 3 is in a contraction state, the palm plate 2 can stably provide support force for the contact between the sucker assembly 3 and the surface of the workpiece, the sucker assembly 3 moves to an adsorption position and adsorbs the workpiece, then the hydraulic cylinder starts the hydraulic cylinder 4 to contract and drives the rack 63 to, the rack 63 drives the transmission shaft 61 to rotate through the circular gear 64, the transmission shaft 61 drives the cam 64 to rotate, a base circle part on the cam 31 gradually leaves the clamping plate 31, a convex circle part of the cam 31 gradually contacts the clamping plate 31, in the process, the telescopic part 33 gradually extends out, the clamping plate 31 moves towards one side of the workpiece under the thrust of the cam 31, at the moment, the clamping plate 31 applies extrusion force to the side surface of the workpiece through the suction disc 32, the two sides of the workpiece are simultaneously extruded until the hydraulic oil cylinder 4 contracts to the limit position, and at the moment, the suction disc assembly 3 simultaneously has adsorption acting force and clamping force on the workpiece, and the suction disc assembly is switched from an adsorption position to a clamping position; in the process, the transmission shaft 61 drives the support piece 5 to integrally swing when rotating, the support piece 5 can be separated from the bottom of the workpiece, and the manipulator fixes the workpiece by using the adsorption force and the clamping force simultaneously after the first process;

in the second process, when the manipulator lifts the workpiece to a specified height and prepares for long-distance transverse conveying, the hydraulic cylinder 4 is started again, the extending end of the hydraulic cylinder 4 extends out, at the moment, the rack 63 drives the transmission shaft 61 to rotate reversely through the circular gear 64, the transmission shaft 61 drives the cam 64 to rotate reversely, the first stretched spring 303 is gradually recovered and utilizes the elasticity of the first stretched spring 303 to enable the clamping plate 31 to gradually lose the acting force on the suction cup 32, so that the extrusion force of the suction cup 32 on the side surface of the workpiece gradually disappears, meanwhile, the transmission shaft 61 also drives the supporting piece 5 to move, the second supporting plate 56 moves towards the bottom of the workpiece, at the moment, under the guiding action of the guide plate 52, the spring 303 is continuously pulled up when the second supporting plate 56 gradually moves to the bottom of the workpiece until the supporting piece 5 is switched to a supporting position, the hydraulic cylinder 4 is stopped, and then, the mechanical arm is characterized in that a workpiece is supported by utilizing an adsorption force and a bottom-up supporting force, and meanwhile, a lateral extrusion force of a clamping plate 31 on the workpiece disappears through a suction cup 32, so that compared with the prior art, the clamping plate 31 in a suction cup assembly 3 on the mechanical arm is designed to be in a displacement state, so that two different force application states of an adsorption position and a clamping position on the workpiece are provided for the suction cup assembly 3, and switching is performed, when the workpiece is conveyed for a long distance, the side surface of the workpiece is not extruded any more, the deformation phenomenon of the surface of the workpiece can be effectively reduced, the suction cup assembly 3 is switched to a simple adsorption position, only the workpiece has an adsorption effect, and the workpiece can be supported by applying a bottom-up supporting effect on the workpiece through a support piece 5, particularly when the suction cup assembly 3 is damaged or is influenced by other conditions to cause accidents, the support piece 5 can effectively prevent the workpiece from sliding, more importantly, after the sucker component 3 is damaged, the workpiece can not be effectively adsorbed and the clamping force of the workpiece is weakened due to deformation, the workpiece can still be stably and effectively conveyed through the support piece 5 without stopping midway, on one hand, the workpiece can be conveyed to a preset specified transverse position by the support piece 5, then the workpiece is taken down from the manipulator and the manipulator is maintained, at the moment, the workpiece has finished the transverse conveying process, so that the operation of the next procedure is facilitated.

As shown in fig. 6, in the second embodiment, a first bevel gear 65 is fixed at each end of the transmission shaft 61, and a second bevel gear 66 is engaged with the bottom of the first bevel gear 65;

referring to fig. 6 and 7, the support member 5 includes two connecting shafts 511 respectively fixed on both sides of the palm plate 2 through two support plates 510, the two support plates 510 have two parts, respectively corresponding to the two connecting shafts 511, the connecting shafts 511 are rotatable relative to the two support plates 510, one end of each connecting shaft 511 is fixedly connected to the bottom of the corresponding bevel gear 66, when the transmission shaft 61 rotates, the connecting shafts 511 are driven to rotate synchronously through the bevel gears 65 and the bevel gears 66, the connecting shafts 511 are provided with threaded sections 512, the threaded sections 512 are connected with support plates 513 in a threaded manner, the length of the threaded ends is greater than the thickness of the support plates 513, so that when the connecting shafts 511 rotate, the support plates 513 have enough ascending distance to apply upward acting force to the bottom of the workpiece on the upper surfaces thereof, as shown in fig. 9, one end of the support plates 513 located in the, an arc-shaped groove 520 is formed in the surface of the connecting shaft 511 upwards from a threaded section 512, a rolling shaft 521 capable of moving in a telescopic mode along the radial direction is arranged on the surface of the supporting plate three 513, one side of the surface of the rolling shaft 521 is located in the arc-shaped groove 520, specifically, a sliding plate 522 is fixedly connected to the supporting plate three 513, a trapezoidal opening type sliding groove 523 is formed in the upper surface of the sliding plate 522, a sliding block 524 is connected in the sliding groove 523 in a sliding mode, the bottom end of the rolling shaft 521 is connected to the sliding block 524 in a rotating mode, a spring three 525 is fixed between the sliding block 524 and the inner wall of one side of the sliding groove 523 in the length direction, in an initial state, the rolling shaft 521 is kept in the arc-shaped groove 520 through the sliding block 524, the connecting shaft 511 is driven to rotate synchronously, an L-shaped notch two 514 is arranged on the upper, the connecting position of the bottom surface and the side surface of the workpiece can enter the second notch 514, the side inner wall and the bottom inner wall of the notch can better fix the workpiece, the side surface of the third support plate 513 is vertically fixed with a limit plate 515 which is in contact with the surface of the workpiece, under the transmission action of the transmission shaft 61, the first bevel gear 65 and the second bevel gear 66, when the support 5 is at a separation position, the connecting shaft 511 rotates synchronously along with the transmission shaft 61, at the moment, the support 5 rotates to present that the third support plate 513 swings towards the lower part of the workpiece, after the limit plate 515 is in contact with the side surface of the workpiece, the third support plate 513 cannot rotate continuously, then, along with the continuous rotation of the connecting shaft 511, the third support plate 513 rises until the workpiece enters the notch, the hydraulic oil cylinder 4 stops, the third support plate 513 exerts an upward acting force on the bottom of the workpiece to support the workpiece, at the moment, the, the clamp plate 31 moves to the farthest state relative to the workpiece, the expansion member 33 returns to the initial state, and the chuck assembly 3 returns to the suction position, whereby the switching of the positions of the chuck assembly 3 and the support member 5 is completed.

The two notches 514 are internally provided with a containing groove 516, a cushion block 517 is arranged in the containing groove 516, the bottom surface of the three supporting plates 513 penetrates through a force storage rod 518 with one end inserted into the two notches 514 and fixed to the bottom surface of the cushion block 517, a force storage spring 519 is fixed between the force storage rod 518 and the bottom surface of the three supporting plates 513, the cushion plates move in detail and gradually move into the containing groove 516 in the ascending process of the three supporting plates 513, the force storage spring 519 is continuously pulled up in the process, acting force is continuously applied to the bottom surfaces of the workpieces through the cushion plates, and the supporting force of the three supporting plates 513 on the workpieces is gradually increased in the ascending process through the deformation of the force storage spring 519.

To better implement this embodiment, the following further description is made:

(1) referring to the states of E1 and E2 shown in fig. 8, the state of E1 is a schematic diagram of the workpiece pressing the pad plate 517 completely into the receiving groove 516, the state of E2 is a schematic diagram of the moment when the upper surface of the support plate three 513 is just in the same plane with the bottom surface of the workpiece after it descends in the threaded section 512, at this time, assuming that the distance of descending of the support plate three 513 is d1, the value of d1 is larger than the contracted length value of the force storage spring 519 in the process of returning from the state of E1 to the state of E2, and in the state of E2, a gap d2 is provided between the top surface of the pad 517 and the bottom surface of the workpiece, and d2>0, so that the pad 517 is prevented from rubbing against the workpiece.

(2) When the supporting member 5 is in the supporting position, the supporting plate three 513 is set to be in a state of being parallel to the transmission shaft 61, the plane where the vertex of the convex circle of the cam 64 passes through the extension line of the rotation axis is perpendicular to the connecting clamp plate 31, and if the connecting shaft 511 rotates X circles, the distance that the supporting plate 513 ascends in the threaded section 512 is the depth of the notch two 514, the number of actual rotation circles of the connecting shaft 511 is X +0.25, and in the whole process, the number of rotation circles of the transmission shaft 61 is 0.5, so that the diameter ratio of the bevel gear one 65 to the bevel gear two 66 is (X +0.25)/0.5, and further, when the supporting member 5 is in the disengaging position and the supporting position, the rolling shaft 521 is located in the arc-shaped groove 520, so that when the supporting plate three 513 is disengaged and switched between the supporting positions, no.

It should be noted that, in the second embodiment, when the supporting member 5 is switched from the supporting position to the disengaging position, due to the existence of the second notch 514, when the connecting shaft 511 rotates, the vertical section of the second notch 514 forms a stop with the side surface of the workpiece, and further, the supporting plate three 513 descends first, and after the supporting plate three 513 descends a distance to disengage the workpiece from the notch, the supporting plate three 513 rotates outward from the lower direction of the workpiece to the disengaging position along with the continuous rotation of the connecting shaft 511.

The outside cover of connecting axle 511 is equipped with rotatable bumping post, the surface of bumping post with the work piece contact, when the work piece surface is pressed from both sides tightly by clamping force and is produced local sunken, the bumping post can prevent that the work piece surface is located its local position below contacting with sucking disc subassembly 3 and arches, can save certain restoring force for the work piece, is favorable to the subsequent recovery of the deformation part of work piece side surface.

The second embodiment has the following working process:

the first process, when the workpiece is contacted, the support piece 5 is at the support position, and the two arm plates 1 are respectively positioned at two sides of the workpiece, the height of the support plate three 513 is less than the bottom surface height of the workpiece, at this time, the two arm plates 1 move relatively and the palm plate 2 drives the sucker assembly 3 to move relatively, after the sucker assembly 3 contacts the workpiece, the whole manipulator moves upwards, so that the bottom surface of the workpiece contacts the inner wall of the bottom of the gap two 514 until the cushion block 517 enters the accommodating groove 516, in the process, the cushion block 517 pulls up the force storage spring 519 through the force storage rod 518, then the palm plate 2 continues to move to one side of the workpiece, the telescopic piece 3 is in a contraction state, the palm plate 2 can stably provide support force for the contact between the sucker assembly 3 and the surface of the workpiece, the sucker assembly 3 moves to an adsorption position and adsorbs the workpiece, then, the hydraulic oil cylinder 4 is started, the hydraulic oil cylinder 4 contracts and drives the rack, the rack 63 drives the transmission shaft 61 to rotate through the circular gear 64, the transmission shaft 61 drives the cam 64 to rotate, a base circle part on the cam 31 gradually leaves the clamping plate 31, a convex circle part of the cam 31 gradually contacts the clamping plate 31, in the process, the telescopic part 33 gradually extends out, the clamping plate 31 moves towards one side of the workpiece under the thrust of the cam 31, at the moment, the clamping plate 31 applies extrusion force to the side surface of the workpiece through the suction disc 32, the two sides of the workpiece are simultaneously extruded until the hydraulic oil cylinder 4 contracts to the limit position, and at the moment, the suction disc assembly 3 simultaneously has adsorption acting force and clamping force on the workpiece, and the suction disc assembly is switched from an adsorption position to a clamping position; in this process, the transmission shaft 61 drives the support member 5 to rotate integrally when rotating, which is embodied as: the transmission shaft 61 drives the connecting shaft 511 to rotate through the first bevel gear 65 and the second bevel gear 66, at this time, the supporting plate three 513 cannot rotate due to the blocking of the side wall of the second notch 514, so that the threaded section 512 rotates relative to the supporting plate three 513, at this time, the supporting plate three 513 can descend in the threaded section 512, and the raised force storage spring 519 can enable the cushion block 517 to abut against the workpiece to keep still and still through the force storage rod 518 in the recovery process until the bottom surface of the workpiece completely leaves the second notch 514 in the vertical direction, and then the supporting plate three 513 can be driven to rotate along with the continuous rotation of the connecting shaft 511, and the supporting plate three 513 rotates out of the bottom of the workpiece and is switched to;

in the second process, when the manipulator lifts the workpiece to a specified height and prepares for long-distance transverse conveying, the hydraulic cylinder 4 is started again, the extending end of the hydraulic cylinder 4 extends out, at the moment, the rack 63 drives the transmission shaft 61 to rotate reversely through the circular gear 64, the transmission shaft 61 drives the cam 64 to rotate reversely, the first spring 303 stretched in the first process is gradually restored and the clamping plate 31 gradually loses the acting force on the suction cup 32 by utilizing the elasticity of the first spring 303, so that the extrusion force of the suction cup 32 on the side surface of the workpiece gradually disappears, meanwhile, the transmission shaft 61 also drives the connecting shaft 511 to rotate through the first bevel gear 65 and the second bevel gear 66, and the rolling shaft 521 is positioned in the arc-shaped groove 520, therefore, the connecting shaft 511 drives the third support plate 513 to rotate towards the bottom of the workpiece, when the limiting plate 515 is in contact with the surface of the workpiece, the third supporting plate 513 moves in the thread section 512, so that the workpiece enters the second notch 514 until the bottom of the workpiece completely presses the cushion block 517 into the accommodating groove 516, the third supporting plate 513 applies vertical supporting force to the bottom of the workpiece, the hydraulic oil cylinder 4 stops, the supporting piece 5 is switched from the separation position to the supporting position, meanwhile, the clamping plate 31 disappears the side extrusion force of the workpiece through the suction cup 32, and the advantages of reducing the extrusion deformation of the surface of the workpiece and enabling the workpiece to be more stable and safer in conveying are achieved.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The mechanical claw applied to the freezer box body mechanical hand is characterized by comprising an arm plate and a palm plate which are fixed mutually, wherein the palm plate is positioned at the bottom of the arm plate, and a sucker assembly capable of performing telescopic motion perpendicular to the surface of a workpiece is arranged on one side of the palm plate, facing the workpiece;

a hydraulic oil cylinder is fixed on the surface of the palm plate;

the two sides of the palm plate are provided with supporting pieces, each supporting piece is provided with a supporting position and a separation position, and when the sucker assembly is positioned at the adsorption position, the supporting pieces are positioned at the supporting positions; when the sucker assembly is located at the clamping position, the supporting piece is located at the disengaging position;

2. The gripper of claim 1, wherein said suction cup assembly comprises a clamp plate and a plurality of suction cups, said clamp plate is fixed by a pair of telescoping members disposed on both sides of said palm plate, said suction cups are fixed on the surface of said clamp plate on one side of a workpiece.

3. The gripper of claim 2, wherein said telescoping member comprises a rod sleeve, a slide rod with one end inserted into said rod sleeve, and a first spring disposed between said rod sleeve and said slide rod, said telescoping member being in a retracted state.

4. The gripper applied to a manipulator of a refrigerator cabinet as claimed in claim 1, wherein the transmission member includes a transmission shaft transversely penetrating through the palm plate, a circular gear is sleeved on the middle portion of the transmission shaft, a rack fixed on the surface of the extending portion of the hydraulic oil cylinder is engaged on the circular gear, and cams are sleeved on both sides of the transmission shaft.

5. The gripper applied to a manipulator of a refrigerator cabinet as claimed in claim 4, wherein the support member includes a first support plate supported at the bottom of the workpiece and having an "L" shape, a downward-inclined guide plate is fixed at an end of a horizontal section of the first support plate, a first support plate fixed on the transmission shaft is connected to a top of the first support plate through a second spring, a first limit rod having one end inserted into the first support plate is fixed at a bottom of the first support plate, and the first support plate is fixed along a length direction of the first support plate after the second spring is pulled up by a certain length by setting a length of the limit rod.

6. The gripper applied to a manipulator of a refrigerator cabinet as claimed in claim 5, wherein a second supporting plate is fixed between the two first supporting plates located on the same side, and the first supporting plate and the second supporting plate are provided with L-shaped notches on the upper surfaces thereof.

7. The gripper applied to a manipulator of a refrigerator cabinet as claimed in claim 4, wherein a first bevel gear is fixed at each end of the transmission shaft, and a second bevel gear is engaged with the bottom of the first bevel gear.

8. The gripper applied to the manipulator of the refrigerator cabinet as claimed in claim 7, wherein the support member comprises two connecting shafts respectively fixed on two sides of the palm plate through a second supporting plate, one end of each connecting shaft is fixedly connected to the bottom of the second bevel gear, a threaded section is arranged on each connecting shaft, a third supporting plate is connected to the threaded section in a threaded manner, a second L-shaped notch is formed in the upper surface of the third supporting plate, and a limiting plate in contact with the surface of the workpiece is vertically fixed on the side surface of the third supporting plate.

9. The gripper as claimed in claim, wherein the second notch has a receiving slot, the receiving slot has a pad, the bottom of the third supporting plate has a force-storing rod inserted into the second notch and fixed to the bottom of the pad, and a force-storing spring is fixed between the force-storing rod and the bottom of the third supporting plate.