CN112591464A - Mechanical arm for robot transportation and transportation method - Google Patents
Mechanical arm for robot transportation and transportation method Download PDFInfo
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- CN112591464A CN112591464A CN202011485601.8A CN202011485601A CN112591464A CN 112591464 A CN112591464 A CN 112591464A CN 202011485601 A CN202011485601 A CN 202011485601A CN 112591464 A CN112591464 A CN 112591464A
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- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
Abstract
The invention discloses a mechanical arm for robot transportation and a transportation method, the mechanical arm comprises a mounting plate, the top of the mounting plate is provided with four strip-shaped chutes in a rectangular array, inner cavities of the four strip-shaped chutes are all connected with movable pipes in a sliding manner, the top of the mounting plate is provided with a servo motor, an extrusion cavity is formed in the mounting plate, the output end of the servo motor penetrates through the top of the mounting plate and is connected with a rotating shaft in a transmission manner, the outer wall of the rotating shaft is fixedly sleeved with a rotating plate, the outer wall of the rotating plate is fixedly connected with four extrusion blocks in an annular array, and reset components are arranged on one side of the inner walls of the four. According to the invention, the movable tube, the rotating plate and the extrusion block are arranged, the extrusion block is driven to apply extrusion force to the movable tube through the rotation of the rotating plate, and the positions of the movable tube and the suckers are adjusted through the matching of the reset assembly, so that when a glass plate with small movement is moved, the four suckers can be adsorbed on the glass plate, and the working stability of glass plate conveying is improved.
Description
Technical Field
The invention relates to the technical field of carrying equipment, in particular to a mechanical arm for carrying a robot and a carrying method.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect the personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. The transport robot is a robot for transporting an article.
When carrying the work to the glass board, in order to avoid the staff of the avris fish tail transport of glass board, the event can adopt the manipulator arm to carry the work to the glass board, the manipulator that is applied to glass board transport work now adopts four sucking discs and the combination of air pump that are the rectangle array and distribute more, utilize sucking disc laminating glass board rethread air pump to get the inside air of sucking disc, form inside and outside pressure difference, thereby reach the effect of adsorbing the glass board of taking, but this kind of sucking disc on the transport glass board manipulator is fixed mounting on the manipulator, when meetting the less glass board of size, there is the phenomenon that four sucking discs can't adsorb the glass board simultaneously, thereby can reduce the stability of transport glass board work.
Disclosure of Invention
The present invention is directed to a robot handling robot arm and a handling method thereof, which solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a mechanical arm for robot carrying comprises a mounting plate, wherein the top of the mounting plate is provided with four strip-shaped sliding grooves in a rectangular array, the inner cavities of the four strip-shaped sliding grooves are connected with movable pipes in a sliding mode, the bottom of each movable pipe is provided with a sucker, the tops of the four suckers are fixedly and alternately connected with the bottom of the corresponding movable pipe in position, the top of the mounting plate is fixedly connected with a motor box, a servo motor is fixedly arranged in the inner cavity of the motor box, an extrusion cavity is formed in the mounting plate, the output end of the servo motor penetrates through the top of the mounting plate and is connected with a rotating shaft in a transmission mode, the outer wall of the rotating shaft is fixedly sleeved with a rotating plate, the outer wall of the rotating plate is fixedly connected with four extrusion blocks in an annular array mode, the rotating plate and the four extrusion blocks are arranged in the inner cavities of the extrusion cavities, the extrusion cavities are communicated with the, and four reset components are arranged on one side of the inner wall of the strip-shaped sliding chute and at the position below the extrusion cavity.
Preferably, the reset assembly includes flexible hole, flexible hole is seted up in one side of bar spout inner wall, the inner chamber slip in flexible hole has cup jointed the release link, the one end of release link and the outer wall fixed connection of movable tube, the first reset spring of the other end fixedly connected with of release link, one side of first reset spring and one side fixed connection of flexible downthehole wall.
Preferably, the two sides of the inner wall of the strip-shaped sliding groove are symmetrically provided with limiting sliding grooves, the two sides of the outer wall of the movable pipe are symmetrically and fixedly connected with limiting sliding blocks, the outer walls of the limiting sliding blocks are in sliding sleeve connection with the inner cavities of the limiting sliding grooves corresponding to the positions, and the limiting sliding grooves are communicated with the extrusion cavity.
Preferably, the top fixedly connected with U type frame of mounting panel, the bottom of U type frame and the top fixed connection of motor case, the top fixedly connected with installation piece of U type frame, the top of installation piece is rectangular array and has seted up four mounting holes, four the equal activity joint of inner chamber of mounting hole has the air pump, the locking hole has been seted up to installation piece bilateral symmetry, two one side in locking hole all is equipped with the locking subassembly.
Preferably, the locking subassembly includes the locking piece, the through-hole has been seted up to one side of locking piece, the inner chamber sliding connection of through-hole has the threaded rod, the one end of threaded rod and the inner wall threaded connection in locking hole.
Preferably, the other end fixedly connected with of threaded rod changes the piece, the outer wall of changeing the piece is seted up evenly distributed's bar line.
Preferably, the fixed interlude in top of activity pipe is connected with solid fixed ring, evenly distributed's internal thread has been seted up to solid fixed ring's inner wall, gu fixed ring's inner wall just is located the fixedly connected with sealing ring of internal screw thread below position department, the ring channel has been seted up at the top of sealing ring, the inner chamber of ring channel slides and has cup jointed the loose ring, the top fixedly connected with sealing washer of loose ring, the bottom of loose ring is a plurality of second reset spring of annular array fixedly connected with, and is a plurality of second reset spring's bottom and the bottom fixed connection of ring channel inner wall.
Preferably, the top of mounting panel is that rectangular array is equipped with four coupling hose, four coupling hose's bottom and the input fixed connection of the corresponding air pump in position, four coupling hose's the equal fixedly connected with go-between in top, four the outer wall of go-between and the corresponding solid fixed ring's in position inner chamber threaded connection.
Preferably, one side of the mounting block is provided with a connecting rod, and one side of the connecting rod is fixedly connected with one side of the mounting block.
The invention also provides a robot carrying method, which comprises the following specific carrying steps:
the method comprises the following steps: firstly, applying a directional acting force on an air pump to drive the air pump to enter a mounting hole formed in a mounting block to complete preliminary clamping positioning, placing two locking blocks on two sides of the mounting block respectively after all four air pumps are placed in the mounting hole, and enabling one end of a threaded rod to enter a locking hole formed in the mounting block by rotating a rotating block to enable the two mounting blocks to gradually approach the mounting block, so that the four air pumps are strengthened in positioning;
step two: then, acting force is applied to the connecting ring and the connecting hose, the connecting ring is inserted into the fixed ring while the connecting hose is bent, the connecting ring is rotated, connection between the connecting ring and the fixed ring is completed, when the connecting ring enters the fixed ring, the connecting ring can generate extrusion force on the sealing ring, so that the sealing ring and the movable ring enter an annular groove formed in the sealing ring and extrude a second reset spring, and deformation force generated after the second reset spring deforms can drive the movable ring and the sealing ring to be attached to the connecting ring, so that the effect of enhancing sealing performance is achieved;
step three: when the size of a glass plate to be conveyed is small, a servo motor is electrified, the rotating shaft, the rotating plate and the extrusion block are driven to slowly rotate by the servo motor, meanwhile, a first reset spring in a deformation state drives the movable tube to do reset motion through a reset rod, and the movable tube is enabled to be always attached to one side of the extrusion block, so that the purpose of adjusting the positions of the four suckers is achieved, and when the positions of the four suckers are in motion and are enough to adsorb the glass plate, a power supply of the servo motor is turned off, so that the positions of the movable tube and the suckers are limited;
step four: the driving mechanism connected with the connecting rod drives the mounting plate and the sucker to move close to the glass plate, after the sucker is attached to the glass plate, the air pump is electrified, air between the sucker and the glass plate is pumped out by the air pump, and therefore pressure difference is formed between the air pump and the outside, the purpose of sucking and taking the glass plate is achieved, and then carrying work can be carried out.
The invention has the technical effects and advantages that:
(1) according to the invention, the movable tube, the rotating plate and the extrusion block are arranged, the extrusion block is driven to apply extrusion force to the movable tube through the rotation of the rotating plate, and the positions of the movable tube and the suckers are adjusted through the matching of the reset assembly, so that when a glass plate with small movement moves, the four suckers can be adsorbed on the glass plate, and the working stability of glass plate conveying is improved;
(2) according to the invention, by means of the arrangement of the mounting hole and the locking block, a worker can rapidly assemble and disassemble the air pump through the mounting hole and the locking block, so that the convenience of assembling and disassembling the air pump is improved;
(3) according to the invention, by means of the arrangement of the sealing ring, the movable ring and the second return spring, the movable ring and the sealing ring are driven to be more attached to the connecting ring by the deformation force generated after the second return spring is deformed, so that the installation tightness of the connecting hose is improved.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
FIG. 2 is a front sectional structural view of the present invention.
FIG. 3 is a schematic sectional view of the movable tube of the present invention.
FIG. 4 is a partial sectional view of the mounting plate of the present invention.
FIG. 5 is a schematic view of a rotating plate according to the present invention.
FIG. 6 is an enlarged view of a portion A of FIG. 2 according to the present invention.
FIG. 7 is an enlarged view of a portion of the structure shown at B in FIG. 3 according to the present invention.
In the figure: 1. mounting a plate; 2. a strip-shaped chute; 3. a movable tube; 4. a suction cup; 5. a motor case; 6. a servo motor; 7. an extrusion chamber; 8. a rotating shaft; 9. rotating the plate; 10. extruding the block; 11. a telescopic hole; 12. a reset lever; 13. a first return spring; 14. a limiting chute; 15. a limiting slide block; 16. a U-shaped frame; 17. mounting blocks; 18. mounting holes; 19. an air pump; 20. a locking hole; 21. a locking block; 22. a through hole; 23. a threaded rod; 24. rotating the block; 25. a fixing ring; 26. a seal ring; 27. an annular groove; 28. a movable ring; 29. a seal ring; 30. a second return spring; 31. a connecting hose; 32. a connecting ring; 33. a connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a mechanical arm for robot transportation and a transportation method thereof as shown in figures 1-7, which comprises a mounting plate 1, wherein the top of the mounting plate 1 is provided with four strip-shaped chutes 2 in a rectangular array, the inner cavities of the four strip-shaped chutes 2 are all connected with movable pipes 3 in a sliding manner, the bottom ends of the four movable pipes 3 are all provided with suckers 4, the tops of the four suckers 4 are fixedly and alternately connected with the bottom ends of the movable pipes 3 corresponding to the positions, the top of the mounting plate 1 is fixedly connected with a motor box 5, the motor box 5 is used for mounting a servo motor 6 and is connected with a power supply of the servo motor 6, the servo motor 6 drives a rotating plate 9 and an extrusion block 10 to rotate through a rotating shaft 8, the inner cavity of the motor box 5 is fixedly provided with the servo motor 6, the extrusion cavity 7 is arranged inside the mounting plate 1, the output end of the servo motor 6 penetrates through the top of, the outer wall of the rotating plate 9 is fixedly connected with four extrusion blocks 10 in an annular array, the rotating plate 9 and the four extrusion blocks 10 are both arranged in an inner cavity of an extrusion cavity 7, the extrusion cavity 7 is communicated with the strip-shaped sliding grooves 2, one sides of the four extrusion blocks 10 are connected with the outer wall of the movable tube 3 corresponding to the positions in a fitting manner, reset components are arranged on one sides of the inner walls of the four strip-shaped sliding grooves 2 and below the extrusion cavity 7, and the reset components are used for driving the movable tube 3 to automatically reset;
the reset assembly comprises a telescopic hole 11, the telescopic hole 11 is formed in one side of the inner wall of the strip-shaped sliding chute 2, a reset rod 12 is sleeved in an inner cavity of the telescopic hole 11 in a sliding mode, one end of the reset rod 12 is fixedly connected with the outer wall of the movable tube 3, the other end of the reset rod 12 is fixedly connected with a first reset spring 13, the first reset spring 13 can elastically deform to drive the rotating shaft 8, the rotating plate 9 and the extrusion block 10 to rotate, and one side of the first reset spring 13 is fixedly connected with one side of the inner wall of the telescopic hole 11;
the two sides of the inner wall of the strip-shaped sliding groove 2 are symmetrically provided with limiting sliding grooves 14, the limiting sliding grooves 14 and the limiting sliding blocks 15 are used for preventing the movable pipe 3 from separating from the strip-shaped sliding groove 2, the two sides of the outer wall of the movable pipe 3 are symmetrically and fixedly connected with the limiting sliding blocks 15, the outer walls of the two limiting sliding blocks 15 are in sliding sleeve connection with the inner cavity of the limiting sliding groove 14 corresponding to the position, and the two limiting sliding grooves 14 are both communicated with the extrusion cavity;
the top of the mounting plate 1 is fixedly connected with a U-shaped frame 16, the bottom of the U-shaped frame 16 is fixedly connected with the top of the motor box 5, the top of the U-shaped frame 16 is fixedly connected with a mounting block 17, the top of the mounting block 17 is provided with four mounting holes 18 in a rectangular array, the mounting holes 18 are used for preliminary clamping and positioning of an air pump 19, the air pump 19 is movably clamped in inner cavities of the four mounting holes 18, the air pump 19 is connected with a power supply, the air pump 19 pumps air between the suction cup 4 and a glass plate through a connecting hose 31, so that an inside-outside air pressure difference is formed, locking holes 20 are symmetrically formed in two sides of the mounting block 17, one side of each of the two locking holes 20 is provided with a locking assembly, and the locking;
the locking assembly comprises a locking block 21, one side of the locking block 21 is symmetrically provided with arc-shaped grooves, the arc-shaped grooves correspond to the positions of the mounting holes 18 one by one, one side of the locking block 21 is provided with a through hole 22, an inner cavity of the through hole 22 is connected with a threaded rod 23 in a sliding mode, one end of the threaded rod 23 is in threaded connection with the inner wall of the locking hole 20, the other end of the threaded rod 23 is fixedly connected with a rotating block 24, the rotating block 24 is convenient for workers to apply force to drive the threaded rod 23 to rotate, and the outer wall of the rotating block;
the top of the movable tube 3 is fixedly inserted and connected with a fixed ring 25, the inner wall of the fixed ring 25 is provided with uniformly distributed internal threads, the inner wall of the fixed ring 25 is fixedly connected with a sealing ring 26 at a position below the internal threads, the top of the sealing ring 26 is provided with an annular groove 27, the inner cavity of the annular groove 27 is slidably sleeved with a movable ring 28, the top of the movable ring 28 is fixedly connected with a sealing ring 29, the bottom of the movable ring 28 is fixedly connected with a plurality of second reset springs 30 in an annular array, the second reset springs 30 can generate deformation force after being deformed, so that the sealing ring 29 is driven by the movable ring 28 to be more attached to the connecting ring 32, and the bottoms of the second reset springs 30 are fixedly connected with the bottom;
four connecting hoses 31 are arranged above the mounting plate 1 in a rectangular array, the bottom ends of the four connecting hoses 31 are fixedly connected with the input end of the air pump 19 corresponding to the positions, the top ends of the four connecting hoses 31 are fixedly connected with connecting rings 32, and the outer walls of the four connecting rings 32 are in threaded connection with the inner cavities of the fixing rings 25 corresponding to the positions;
one side of the mounting block 17 is provided with a connecting rod 33, the connecting rod 33 is used for connecting with a driving mechanism on the robot, and one side of the connecting rod 33 is fixedly connected with one side of the mounting block 17.
The working principle of the invention is as follows:
firstly, acting force in one direction is applied to the air pump 19, so that the air pump 19 is driven to enter the mounting holes 18 formed in the mounting blocks 17, preliminary clamping positioning is completed, after all four air pumps 19 are placed in the mounting holes 18, the two locking blocks 21 are respectively placed on two sides of the mounting blocks 17, one end of the threaded rod 23 enters the locking holes 20 formed in the mounting blocks 17 by rotating the rotating block 24, the two mounting blocks 17 are gradually close to the mounting blocks 17, and positioning reinforcement is completed on the four air pumps 19;
then, acting force is applied to the connecting ring 32 and the connecting hose 31, the connecting ring 32 is inserted into the fixing ring 25 while the connecting hose 31 is bent, the connecting ring 32 is rotated to complete connection between the connecting ring 32 and the fixing ring 25, when the connecting ring 32 enters the fixing ring 25, the connecting ring 32 generates extrusion force on the sealing ring 29, so that the sealing ring 29 and the movable ring 28 enter the annular groove 27 formed in the sealing ring 26 and extrude the second return spring 30, and deformation force generated after the second return spring 30 deforms drives the movable ring 28 and the sealing ring 29 to be attached to the connecting ring 32, so that the effect of enhancing sealing performance is achieved;
when the size of a glass plate to be conveyed is small, the servo motor 6 is electrified, the servo motor 6 drives the rotating shaft 8, the rotating plate 9 and the extrusion block 10 to slowly rotate, meanwhile, the first reset spring 13 in a deformation state drives the movable tube 3 to reset through the reset rod 12, and the movable tube 3 is enabled to be always attached to one side of the extrusion block 10, so that the purpose of adjusting the positions of the four suckers 4 is achieved, when the four suckers 4 move to sufficiently adsorb the glass plate, the power supply of the servo motor 6 is turned off, and the positions of the movable tube 3 and the suckers 4 are limited;
the driving mechanism connected with the connecting rod 33 drives the mounting plate 1 and the sucker 4 to move close to the glass plate, after the sucker 4 is attached to the glass plate, the air pump 19 is electrified, the air pump 19 pumps out air between the sucker 4 and the glass plate, and therefore pressure difference is formed between the air pump and the outside, the purpose of sucking and taking the glass plate is achieved, and then carrying work can be carried out.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (10)
1. The mechanical arm for robot carrying comprises a mounting plate (1) and is characterized in that the top of the mounting plate (1) is a rectangular array and is provided with four bar-shaped sliding grooves (2), four sliding tubes (3) are connected to the inner cavities of the bar-shaped sliding grooves (2) in a sliding manner, four sucking discs (4) are arranged at the bottom ends of the sliding tubes (3), the top of each sucking disc (4) is connected with the bottom end of the corresponding sliding tube (3) in a penetrating manner, a motor box (5) is fixedly connected to the top of the mounting plate (1), a servo motor (6) is fixedly arranged in the inner cavity of the motor box (5), an extrusion cavity (7) is formed in the mounting plate (1), the output end of the servo motor (6) penetrates through the top of the mounting plate (1) and is connected with a rotating shaft (8) in a transmission manner, a rotating plate (9) is fixedly sleeved on the, the outer wall of commentaries on classics board (9) is four extrusion pieces (10) of annular array fixedly connected with, commentaries on classics board (9) and four extrusion pieces (10) all set up in the inner chamber of extrusion chamber (7), extrusion chamber (7) and bar spout (2) intercommunication, four one side of extrusion piece (10) is connected with the outer wall laminating of the corresponding movable tube in position (3), four one side of bar spout (2) inner wall and the below position department that is located extrusion chamber (7) all are equipped with reset assembly.
2. The mechanical arm for robot carrying as claimed in claim 1, wherein the reset assembly comprises a telescopic hole (11), the telescopic hole (11) is formed in one side of the inner wall of the bar-shaped sliding groove (2), a reset rod (12) is sleeved in the inner cavity of the telescopic hole (11) in a sliding mode, one end of the reset rod (12) is fixedly connected with the outer wall of the movable tube (3), a first reset spring (13) is fixedly connected to the other end of the reset rod (12), and one side of the first reset spring (13) is fixedly connected with one side of the inner wall of the telescopic hole (11).
3. The mechanical arm for robot carrying as claimed in claim 1, wherein the two sides of the inner wall of the strip-shaped sliding groove (2) are symmetrically provided with limiting sliding grooves (14), the two sides of the outer wall of the movable tube (3) are symmetrically and fixedly connected with limiting sliding blocks (15), the outer walls of the two limiting sliding blocks (15) are slidably sleeved with the inner cavity of the limiting sliding groove (14) corresponding to the position, and the two limiting sliding grooves (14) are both communicated with the extrusion cavity (7).
4. The mechanical arm for robot carrying as claimed in claim 1, wherein a U-shaped frame (16) is fixedly connected to the top of the mounting plate (1), the bottom of the U-shaped frame (16) is fixedly connected to the top of the motor box (5), a mounting block (17) is fixedly connected to the top of the U-shaped frame (16), four mounting holes (18) are formed in the top of the mounting block (17) in a rectangular array, an air pump (19) is movably clamped in inner cavities of the four mounting holes (18), locking holes (20) are symmetrically formed in two sides of the mounting block (17), and a locking assembly is arranged on one side of each of the two locking holes (20).
5. The robot carrying manipulator arm as claimed in claim 4, wherein the locking assembly comprises a locking block (21), a through hole (22) is formed in one side of the locking block (21), a threaded rod (23) is slidably connected to an inner cavity of the through hole (22), and one end of the threaded rod (23) is in threaded connection with an inner wall of the locking hole (20).
6. The robot carrying manipulator arm as claimed in claim 5, wherein a rotating block (24) is fixedly connected to the other end of the threaded rod (23), and the outer wall of the rotating block (24) is provided with uniformly distributed stripe patterns.
7. The mechanical arm for robot carrying as claimed in claim 1, wherein a fixing ring (25) is fixedly inserted and connected to the top of the movable tube (3), internal threads are uniformly distributed on the inner wall of the fixing ring (25), a sealing ring (26) is fixedly connected to the inner wall of the fixing ring (25) and located below the internal threads, an annular groove (27) is formed in the top of the sealing ring (26), the movable ring (28) is slidably sleeved in an inner cavity of the annular groove (27), a sealing ring (29) is fixedly connected to the top of the movable ring (28), the bottom of the movable ring (28) is provided with a plurality of second reset springs (30) in an annular array fixedly connected manner, and the bottoms of the second reset springs (30) are fixedly connected to the bottom of the inner wall of the annular groove (27).
8. The robot carrying manipulator arm as claimed in claim 1, wherein four connection hoses (31) are arranged above the mounting plate (1) in a rectangular array, the bottom ends of the four connection hoses (31) are fixedly connected with the input end of the corresponding position air pump (19), the top ends of the four connection hoses (31) are fixedly connected with connection rings (32), and the outer walls of the four connection rings (32) are in threaded connection with the inner cavity of the corresponding position fixing ring (25).
9. A robot hand according to claim 4, characterised in that a connecting rod (33) is arranged on one side of the mounting block (17), and one side of the connecting rod (33) is fixedly connected to one side of the mounting block (17).
10. A robot carrying method is characterized by comprising the following specific carrying steps:
the method comprises the following steps: firstly, acting force in one direction is applied to an air pump (19), so that the air pump (19) is driven to enter a mounting hole (18) formed in a mounting block (17), preliminary clamping positioning is completed, after the four air pumps (19) are all placed in the mounting hole (18), two locking blocks (21) are respectively placed on two sides of the mounting block (17), one end of a threaded rod (23) enters a locking hole (20) formed in the mounting block (17) by rotating a rotating block (24), the two mounting blocks (17) are gradually close to the mounting block (17), and positioning reinforcement is completed on the four air pumps (19);
step two: then acting force is applied to the connecting ring (32) and the connecting hose (31), the connecting ring (32) is inserted into the fixing ring (25) while the connecting hose (31) is bent, the connecting ring (32) is rotated to complete connection between the connecting ring (32) and the fixing ring (25), when the connecting ring (32) enters the fixing ring (25), the connecting ring (32) can generate extrusion force on the sealing ring (29), so that the sealing ring (29) and the movable ring (28) enter an annular groove (27) formed in the sealing ring (26) and extrude the second return spring (30), and deformation force generated after the second return spring (30) deforms can drive the movable ring (28) and the sealing ring (29) to be attached to the connecting ring (32), so that the effect of enhancing the sealing performance is achieved;
step three: when the size of a glass plate to be conveyed is small, a servo motor (6) is electrified, the servo motor (6) drives a rotating shaft (8), a rotating plate (9) and an extrusion block (10) to slowly rotate, meanwhile, a first reset spring (13) in a deformation state drives a movable tube (3) to reset through a reset rod (12) and enables the movable tube (3) to be always attached to one side of the extrusion block (10), and therefore the purpose of adjusting the positions of four suckers (4) is achieved, when the four suckers (4) move to positions enough to adsorb the glass plate, a power supply of the servo motor (6) is turned off, and therefore the positions of the movable tube (3) and the suckers (4) are limited;
step four: drive mounting panel (1) and sucking disc (4) through the actuating mechanism who is connected with connecting rod (33) and do the motion of being close to the glass board, after sucking disc (4) laminating glass board, with air pump (19) circular telegram, air pump (19) are taken out the air between sucking disc (4) and the glass board to form pressure difference with the external world, reach the purpose of drawing the glass board of taking, later alright with carry work.
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| CN202011485601.8A CN112591464A (en) | 2020-12-16 | 2020-12-16 | Mechanical arm for robot transportation and transportation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011485601.8A CN112591464A (en) | 2020-12-16 | 2020-12-16 | Mechanical arm for robot transportation and transportation method |
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| CN107416526A (en) * | 2017-05-31 | 2017-12-01 | 湖北科迪玻璃工业有限公司 | It is a kind of to carry boosting manipulator around glass processing platform |
| CN109333524A (en) * | 2018-11-17 | 2019-02-15 | 东莞理工学院 | A kind of shaft processing soft robot that can automatically grab material |
| CN110697420A (en) * | 2019-10-11 | 2020-01-17 | 深圳市晓控通信科技有限公司 | Glass transfer robot with dust removal function and high reliability |
| CN211029985U (en) * | 2019-11-11 | 2020-07-17 | 山东科技大学 | Novel carrying manipulator |
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Application publication date: 20210402 |