CN114434464A

CN114434464A - Full-automatic high-speed manipulator that snatchs

Info

Publication number: CN114434464A
Application number: CN202210225681.6A
Authority: CN
Inventors: 戴仙芝; 李团委; 曹武; 艾华
Original assignee: Shenzhen Sucheng Precision Technology Co ltd
Current assignee: Shenzhen Sucheng Precision Technology Co ltd
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-05-06

Abstract

The invention relates to the technical field of mechanical arms, and discloses a full-automatic high-speed grabbing mechanical arm which comprises a plurality of clamping plates, two adsorption elements and a plurality of unloading auxiliary devices, wherein the number of the adsorption elements is two, the two clamping plates are oppositely arranged, the adsorption elements are vertically distributed on the opposite end surfaces of the two clamping plates in an array mode, the number of the unloading auxiliary devices is multiple, each unloading auxiliary device is arranged in the middle of the two adsorption elements, and the unloading auxiliary devices shovel the adsorption elements to goods during unloading, so that unloading is facilitated, and damage to the two adsorption elements and the goods caused by forced separation of the two adsorption elements and the goods is avoided, and property loss is caused.

Description

Full-automatic high-speed manipulator that snatchs

Technical Field

The invention relates to the technical field of manipulators, in particular to a full-automatic high-speed grabbing manipulator.

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 is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The Chinese patent CN109368253A discloses a manipulator clamp holder for clamping rod-shaped materials, wherein a guide pipe is fixed on the upper plane of an installation seat, the lower pipe orifice of the guide pipe corresponds to the position of a round hole in the middle of the upper plane of the installation seat, a telescopic device is fixed between the upper plane and the lower plane of the installation seat, a telescopic rod at the upper end of the telescopic device penetrates through the round hole in the upper plane of the installation seat and then extends into the guide pipe, a clamping device for clamping rod-shaped materials is installed on the guide pipe, the clamping device is connected with the telescopic rod at the upper end of the telescopic device, and the telescopic device drives the clamping device to clamp or loosen the rod-shaped materials. According to the invention, the telescopic device is arranged on the mounting seat, so that the clamping device above the mounting seat is driven by the telescopic device to be closed or opened to clamp or loosen the rod-shaped material, and the device has the advantages of simple structure, reasonable design, simplicity in operation and control, convenience in maintenance, high stability in clamping the rod-shaped material and convenience in popularization and application.

However, when the manipulator shakes during the movement of the manipulator in the using process, and the surface of the clamped object is smooth, the clamped object may slide out of the clamp, the clamped object cannot be well fixed, and the shake resistance performance is poor.

Therefore, it is necessary to provide a fully automatic high-speed grabbing manipulator to solve the above technical problems.

Disclosure of Invention

The invention aims to provide a full-automatic high-speed grabbing manipulator to solve the problems in the background technology.

In order to achieve the above purpose, an adsorption structure is required to be arranged on the manipulator clamp to adsorb the surface of the object to be clamped, so that the stability and jitter resistance of clamping are improved.

Based on the above thought, the invention provides the following technical scheme: the utility model provides a manipulator is snatched at full-automatic high speed, includes splint, adsorption element and discharge auxiliary device, the adsorption element is equipped with a plurality ofly, splint are equipped with two, two the splint set up relatively, and is a plurality of the adsorption element distributes in two vertical array ground the relative terminal surface of splint, discharge auxiliary device is provided with a plurality ofly, every discharge auxiliary device sets up at two adsorption element's intermediate position, discharge auxiliary device when unloading shovels the adsorption of adsorption element to the goods, helps unloading to avoid separating adsorption element and goods by force, and produce the damage to both sides, cause property loss.

Preferably, the auxiliary unloading device comprises a fixed rod, a spring telescopic rod, a shovel rod, a sliding tube, a pressing part, a fixed plate, an elastic part, a limiting plate and an arc-shaped groove, the fixing rod is arranged between the two adsorption elements on the splint, the front section of the fixing rod is arranged in a hollow way, the front end part of the fixed rod is provided with the pressing part which is made of elastic material, the fixing plate is fixedly arranged in the middle of the fixing rod, the limiting plate is fixedly connected in the pressing part, the arc-shaped grooves are arranged on two sides of the limiting plate, the sliding pipes are fixedly arranged on two sides of the front section of the fixed rod in a penetrating way, the inside sliding connection of sliding tube has the shovel pole, shovel pole with fixedly connected with between the dead lever the spring telescopic link, the limiting plate with the centre fixedly connected with of fixed plate the elastic component.

Preferably, the outer end of the shovel rod is provided with an inclined plane capable of shoveling the adsorption element, and the inner end of the shovel rod is provided with an arc surface matched with the arc-shaped groove.

Preferably, when not pressed according to the splenium the shovel pole not with the arc wall cooperation, when pressing the splenium and being pressed down the shovel pole with the arc wall cooperation, when unloading auxiliary device follows splint and adsorption element clamp and gets the goods, press the splenium to be pressed down, the limiting plate removes, the tip takes place the cooperation in arc wall and the shovel pole, the shovel pole is the inside shrink under spring telescopic rod's effect, relieve with adsorption element's touching, make things convenient for adsorption element to get the goods better clamp, when needs are unloaded, press down of splenium to be relieved, press the splenium to return to the throne under the effect of elastic component, the shovel pole is bounced from the arc wall by the limiting plate, shovel the adsorption of adsorption element and goods, help the unloading, and avoid separating adsorption element and goods by force, and produce the damage to both sides, cause property loss.

Preferably, the clamping device comprises a mechanical arm, wherein the output end of the mechanical arm is in transmission connection with a supporting plate, two clamping plates are arranged on the supporting plate, and a plurality of clamping mechanisms are arranged on the clamping plates;

the clamping mechanism comprises a supporting cylinder, the supporting cylinder penetrates through the clamping plates, the supporting cylinder is in sliding fit with the clamping plates, a driving mechanism used for driving the supporting cylinder to slide relative to the clamping plates is arranged on the clamping plates, a mounting seat is fixedly mounted at one end, located between the two clamping plates, of the supporting cylinder, and an adsorption element is arranged on the mounting seat.

Preferably, the clamping mechanism further includes a guide pillar, the guide pillar is fixedly mounted on the side wall of the clamping plate far away from the adsorption element, a first connecting plate is fixedly mounted at one end, far away from the adsorption element, of the supporting cylinder, a sleeve is fixedly mounted on the first connecting plate, the guide pillar penetrates through the sleeve, the guide pillar is in sliding fit with the sleeve, a piston is slidably mounted in an inner cavity of the supporting cylinder, a connecting rod is fixedly connected to one end, far away from the adsorption element, of the piston, a second connecting plate is fixedly mounted at one end, far away from the adsorption element, of the connecting rod, one end of the connecting rod, far away from the piston, is fixedly connected with the second connecting plate, and the adsorption element is communicated with the inner cavity of the supporting cylinder.

Preferably, the driving mechanism comprises a motor and a rack, the motor is fixedly mounted on the side wall of the clamping plate, a rotating shaft is connected to the output end of the motor in a transmission manner, the rotating shaft is rotatably mounted inside the clamping plate, a gear is sleeved on the rotating shaft, the rack is fixedly mounted on the outer wall of the supporting cylinder, and the gear is meshed with the rack.

Preferably, the suction element comprises a first suction cup, the first suction cup is fixedly mounted on the mounting seat, a first suction groove is formed in the first suction cup, a first air transmission channel is formed in the first suction cup, and the first suction groove is communicated with the inner cavity of the support cylinder through the first air transmission channel.

Preferably, the adsorption element comprises a second sucker which is fixedly mounted on the mounting seat, a second adsorption groove is formed in the second sucker, a second gas transmission channel is formed in the second sucker, the second adsorption groove is communicated with the inner cavity of the support cylinder through the second gas transmission channel, a cavity is formed in the second sucker, and an opening communicated with the outside is formed in the cavity.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the construction of the support plate and clamping plate of the present invention;

FIG. 3 is a schematic three-dimensional structure of the clamping mechanism of the present invention;

FIG. 4 is a schematic cross-sectional view of a clamping mechanism according to the present invention;

FIG. 5 is a schematic view of the construction of the support cylinder and rack of the present invention;

FIG. 6 is a schematic structural view of the driving mechanism of the present invention;

FIG. 7 is a schematic structural diagram of an adsorbing element according to a first embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a suction element according to a second embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a suction element according to a third embodiment of the present invention;

FIG. 10 is a schematic structural view of a suction element according to a fourth embodiment of the present invention;

fig. 11 is a schematic view of the main structure of the discharge aid of the present invention;

FIG. 12 is an enlarged view taken at A of FIG. 11 in accordance with the present invention;

fig. 13 is a cross-sectional view of the discharge aid of the present invention;

fig. 14 is a schematic view of the auxiliary device for unloading when the pressing portion is pressed.

In the figure: 1. a mechanical arm; 2. a support plate; 3. a splint; 4. a clamping mechanism; 41. a support cylinder; 42. a first connecting plate; 43. a sleeve; 44. a guide post; 45. a second connecting plate; 46. a connecting rod; 47. a piston; 48. a mounting seat; 4801. a groove; 5. an adsorption element; 51. a first suction cup; 5101. a first adsorption tank; 5102. a first gas transmission channel; 52. a second suction cup; 5201. a chamber; 5202. a second adsorption tank; 5203. a second gas transmission channel; 53. a third suction cup; 5301. a third adsorption tank; 54. a spring; 55. a first spool; 56. a fourth suction cup; 5601. a fourth adsorption tank; 57. a connecting ball; 5701. a third gas transmission channel; 58. a second slide drum; 59. a connecting ring; 6. a rack; 7. a motor; 8. a rotating shaft; 9. a gear; 10. a gasket; 11. a tension spring; 12. a discharge aid; 121. fixing the rod; 122. a spring telescopic rod; 123. a shovel shaft; 124. a sliding tube; 125. a pressing part; 126. a fixing plate; 127. an elastic member; 128. a limiting plate; 129. an arc-shaped groove.

Detailed Description

Referring to fig. 1 to 6, in an embodiment of the present invention, a full-automatic high-speed grabbing manipulator includes a mechanical arm 1, an output end of the mechanical arm 1 is connected to a support plate 2 in a transmission manner, the support plate 2 is provided with two clamping plates 3, at least one clamping plate 3 is in sliding fit with the support plate 2, and the support plate 2 is provided with a device for driving the clamping plates 3 to move, so that the two clamping plates 3 are close to or far away from each other, the two clamping plates 3 are arranged in parallel, the clamping plates 3 are provided with a plurality of clamping mechanisms 4, and the plurality of clamping mechanisms 4 are distributed in a rectangular array;

the clamping mechanism 4 comprises a supporting cylinder 41, the supporting cylinder 41 penetrates through the clamping plates 3, the supporting cylinder 41 is in sliding fit with the clamping plates 3, a driving mechanism for driving the supporting cylinder 41 to slide relative to the clamping plates 3 is arranged on the clamping plates 3, an installation seat 48 is fixedly installed at one end, located between the two clamping plates 3, of the supporting cylinder 41, an adsorption element 5 is arranged on the installation seat 48, and the adsorption element 5 adsorbs an object to be clamped through negative pressure; drive backup pad 2 through arm 1 during the use and remove, make two splint 3 remove to being located respectively and treat the both sides of centre gripping object, then treat the centre gripping object removal through actuating mechanism drive support cylinder 41 orientation, make adsorption element 5 remove to with treat the contact of centre gripping object, adsorption element 5 treats the centre gripping object through the adsorption of negative pressure effect, thereby improve the fastness after treating the centre gripping object and being held, when making arm 1 drive the object removal, the object can not drop because of the shake, the stability of centre gripping is better, and through the distance that changes support cylinder 41 and remove, make a plurality of adsorption element 5 homoenergetic adsorb on the surface of object, can adjust according to the appearance of object, application scope is wider.

In this embodiment, preferably, the clamping mechanism 4 further includes a guide post 44, the guide post 44 is fixedly installed on the side wall of the clamping plate 3 away from the adsorbing element 5, a first connecting plate 42 is fixedly installed at one end of the supporting cylinder 41 away from the adsorbing element 5, a sleeve 43 is fixedly installed on the first connecting plate 42, the guide post 44 penetrates through the sleeve 43, and the guide post 44 is in sliding fit with the sleeve 43, the guide post 44 can perform normal operation on the second connecting plate 45 on one hand, and can also cooperate with the sleeve 43 to limit the sliding of the supporting cylinder 41 on the other hand, so as to save cost, a piston 47 is slidably installed in an inner cavity of the supporting cylinder 41, a connecting rod 46 is fixedly connected to one end of the piston 47 away from the adsorbing element 5, a second connecting plate 45 is fixedly installed at one end of the guide post 44 away from the adsorbing element 5, and one end of the connecting rod 46 away from the piston 47 is fixedly connected to the second connecting plate 45, the adsorption element 5 is communicated with the inner cavity of the support cylinder 41; when the supporting cylinder 41 moves towards the object to be clamped, the supporting cylinder 41 moves rightwards relative to the piston 47, when the adsorption element 5 is in contact with the object to be clamped, the supporting cylinder 41 still moves towards the object to be clamped for a certain distance, in the process, the supporting cylinder 41 still moves for a certain distance relative to the piston 47, under the action of the piston 47, the space on the right side of the piston 47 is increased, negative pressure is formed in the inner cavity of the supporting cylinder 41, the inner cavity of the supporting cylinder 41 is communicated with the adsorption element 5, so that negative pressure is generated in the adsorption element 5, the adsorption element 5 adsorbs the object through the negative pressure, when the supporting cylinder 41 moves reversely, the space on the right side of the piston is increased, positive pressure is formed in the inner cavity of the supporting cylinder 41, the inner cavity of the supporting cylinder 41 is communicated with the adsorption element 5, so that positive pressure is generated in the adsorption element 5, and the adsorption element 5 pushes the object out through the positive pressure, therefore, the adsorption on the object is relieved, so that the blanking is facilitated, the control of the air pressure in the adsorption element 5 is realized through the matching of the supporting cylinder 41 and the piston 47, the object is conveniently adsorbed, the change of the positive pressure and the negative pressure of the adsorption element 5 does not need to be controlled independently, and the operation and the use are facilitated.

In this embodiment, preferably, the driving mechanism includes a motor 7 and a rack 6, the motor 7 is fixedly mounted on the side wall of the clamping plate 3, an output end of the motor 7 is connected with a rotating shaft 8 in a transmission manner, the rotating shaft 8 is rotatably mounted inside the clamping plate 3, a gear 9 is sleeved on the rotating shaft 8, the rack 6 is fixedly mounted on the outer wall of the supporting cylinder 41, and the gear 9 is engaged with the rack 6; a plurality of gears 9 are arranged, the plurality of gears 9 are respectively meshed with the racks 6 positioned in the same row or the same column, thereby simultaneously driving all the supporting cylinders 41 in the same row or the same column to synchronously move, when the supporting cylinders 41 in the same column need to be driven to synchronously move, the motor 7 is fixedly arranged on the bottom wall of the clamping plate 3, the rotating shaft 8 is longitudinally arranged, when the supporting cylinders 41 in the same row are required to be driven to synchronously move, the motor 7 is fixedly arranged on the side wall of the clamping plate 3, the rotating shaft 8 is transversely arranged, and through the replacement of the gear 9, the moving distance of the supporting cylinder 41 can be adjusted, the larger the outer diameter of the gear 9 is, the larger the moving distance of the supporting cylinder 41 when the gear 9 rotates once is, thereby realize supporting a 41 migration distance's regulation to the difference for a plurality of adsorption element 5 homoenergetic are adsorbed on the surface by the centre gripping object, thereby with the object looks adaptation by the centre gripping of different appearances, improved application scope.

Referring to fig. 7, in the suction element 5 of the first embodiment, the suction element 5 includes a first suction disc 51, the first suction disc 51 is fixedly mounted on the mounting base 48, a first suction groove 5101 is formed in the first suction disc 51, a first air transmission passage 5102 is formed in the first suction disc 51, the first suction groove 5101 is communicated with an inner cavity of the support cylinder 41 through the first air transmission passage 5102, and the first suction disc 51 is made of an elastic material; when the absorbing element 5 of the first embodiment is used, after the supporting cylinder 41 drives the first absorbing disc 51 to move to contact with the object to be clamped, the first absorbing disc 51 is gradually compressed along with the continued rightward movement of the supporting cylinder 41, and during the compression, the supporting cylinder 41 moves rightward relative to the piston 47, so that negative pressure is generated in the supporting cylinder 41, and as the first absorbing groove 5101 is communicated with the inner cavity of the supporting cylinder 41 through the first air transmission passage 5102, negative pressure is generated in the first absorbing groove 5101, so that the absorbing effect of the first absorbing disc 51 on the object is realized.

Referring to fig. 8, in the suction element 5 of the second embodiment, the suction element 5 includes a second suction cup 52, the second suction cup 52 is fixedly installed on the mounting seat 48, a second suction groove 5202 is formed on the second suction cup 52, a second air transmission channel 5203 is formed in the second suction cup 52, the second suction groove 5202 is communicated with the inner cavity of the supporting cylinder 41 through the second air transmission channel 5203, the second suction cup 52 is made of an elastic material, a chamber 5201 is formed in the second suction cup 52, and an opening communicated with the outside is formed in the chamber 5201; when the adsorption element 5 of the second embodiment is adopted, when the supporting cylinder 41 drives the second suction cup 52 to move to contact with an object to be clamped, the second suction cup 52 is gradually compressed along with the continuous rightward movement of the supporting cylinder 41, and in the compression process, the supporting cylinder 41 moves rightward relative to the piston 47, so that negative pressure is generated in the supporting cylinder 41, and as the second adsorption slot 5202 is communicated with the inner cavity of the supporting cylinder 41 through the second air transmission channel 5203, negative pressure is generated in the second adsorption slot 5202, so that the adsorption effect of the second suction cup 52 on the object is realized, under the action of the cavity 5201, the degree of compression of the second suction cup 52 is increased, so that the moving distance of the supporting cylinder 41 relative to the piston 47 is increased, so that the negative pressure formed in the second adsorption slot 5202 is smaller, the firmness of the second suction cup 52 adsorbing the object is better, and the anti-shake effect is further improved.

Referring to fig. 9, in the suction element 5 of the third embodiment, the suction element 5 includes a third suction cup 53, a first sliding barrel 55 is fixedly installed on the side wall of the third suction cup 53 close to the installation seat 48, the first sliding barrel 55 penetrates through the installation seat 48, the first sliding barrel 55 is in sliding fit with the installation seat 48, a third suction groove 5301 is formed on the third suction cup 53, the third suction groove 5301 is communicated with the inner cavity of the support barrel 41 through the first sliding barrel 55, and the third suction cup 53 is elastically connected with the installation seat 48 through a spring 54; when the adsorption element 5 of the third embodiment is adopted, when the support cylinder 41 drives the third suction cup 53 to move to contact with an object to be clamped, the first sliding cylinder 55 slides leftwards relative to the support cylinder 41 along with the continuous rightward movement of the support cylinder 41, and compresses the spring 54, and meanwhile, the support cylinder 41 slides relatively to the piston 47, so that negative pressure is generated in the support cylinder 41, and negative pressure is generated in the third adsorption groove 5301 through the first sliding cylinder 55, so that the object to be clamped is adsorbed, through the arrangement of the first sliding cylinder 55 and the spring 54, the third suction cup 53 can move relative to the mounting seat 48, and is stable in movement, the third suction cup 53 is not easily deformed, and the distance of the third adsorption groove 5301 moving relative to the mounting seat 48 is larger, so that the negative pressure formed in the third adsorption groove 5301 is smaller, and the effect of adsorbing the object is better.

In this embodiment, preferably, the inner diameter of the first slide cylinder 55 is smaller than the inner diameter of the support cylinder 41, when the second spool 58 moves toward the inside of the support cylinder 41, the volume of the chamber 5201 on the right side of the piston 47 decreases with the movement of the second spool 58, the decreased volume being the inner cross-sectional area of the first spool 55 by the distance the first spool 55 moves, and the piston 47 moves leftward relative to the support cylinder 41, the volume of the chamber 5201 on the right side of the piston 47 increases, and the outer diameter of the piston 47 is equal to the inner diameter of the supporting cylinder 41, when the piston 47 moves leftward, the volume of the chamber 5201 increases as the inner cross-sectional area of the supporting cylinder 41 the distance the piston 47 moves, and the piston 47 moves the same distance as the first ram 55, so that the chamber 5201 to the right of the piston 47 increases in volume more than decreases in volume, thereby increasing the overall volume of the chamber 5201 to the right of the piston 47 to create a negative pressure.

In this embodiment, preferably, a groove 4801 is formed on the mounting seat 48, one end of the spring 54 is fixedly mounted in the groove 4801, and the other end of the spring 54 is fixedly connected to the third suction cup 53, so that the spring 54 can enter the groove 4801 after being compressed.

In this embodiment, preferably, the third suction cup 53 is close to the lateral wall fixed mounting of the mounting seat 48 and is provided with the sealing gasket 10, the sealing gasket 10 is provided in an annular shape, the first sliding sleeve 55 penetrates through the sealing gasket 10, the sliding connection between the first sliding sleeve 55 and the mounting seat 48 can be sealed through the sealing gasket 10, and when the third suction cup 53 is attached to the mounting seat 48, the sealing gasket 10 is pressed at the sliding connection between the first sliding sleeve 55 and the mounting seat 48, so as to seal and avoid air leakage.

Referring to fig. 10, the suction device 5 of the fourth embodiment, the suction device 5 includes a fourth suction cup 56, the fourth suction cup 56 is provided with a second sliding barrel 58 close to the side wall of the mounting seat 48, the fourth suction cup 56 is rotatably connected with the second sliding barrel 58 through a connecting ball 57, a third air transmission channel 5701 is formed in the connecting ball 57, a fourth adsorption groove 5601 is formed on the fourth suction cup 56, the fourth adsorption groove 5601 is communicated with the inner cavity of the second slide cylinder 58 through a third gas transmission channel 5701, the second sliding cylinder 58 is communicated with the inner cavity of the supporting cylinder 41, the second sliding cylinder 58 penetrates through the mounting seat 48, the second sliding barrel 58 is in sliding fit with the mounting seat 48, a connecting ring 59 is fixedly mounted at one end of the second sliding barrel 58, which is far away from the fourth suction cup 56, and the connecting ring 59 is elastically connected with the mounting seat 48 through a tension spring 11; when the suction unit 5 of the fourth embodiment is used, after the support cylinder 41 drives the fourth suction cup 56 to move into contact with the object to be clamped, as the support cylinder 41 moves further to the right, the second sliding cylinder 58 slides leftwards relative to the support cylinder 41 and stretches the tension spring 11, and at the same time, the support cylinder 41 slides relative to the piston 47, so that negative pressure is generated in the support cylinder 41, and negative pressure is generated in the fourth suction groove 5601 through the second sliding cylinder 58 and the third air supply channel 5701, so that the object to be clamped is sucked, and by disposing the tension spring 11 inside the support cylinder 41, the fourth suction cup 56 can rotate relative to the mount 48, so that the fourth suction cup 56 can be attached to an inclined surface that is not parallel to the mount 48, so that the object with an irregular shape can be sucked.

The utility model provides a manipulator is snatched at full-automatic high speed, includes splint 3, adsorption element 5 and discharge auxiliary device 12, adsorption element 5 is equipped with a plurality ofly, splint 3 is equipped with two, two splint 3 sets up relatively, and is a plurality of adsorption element 5 distributes in two vertical array ground in two the relative terminal surface of splint 3, discharge auxiliary device 12 is provided with a plurality ofly, every discharge auxiliary device 12 sets up at two adsorption element 5's intermediate position, and discharge auxiliary device shovels the adsorption of adsorption element to the goods open when unloading, helps unloading to avoid separating adsorption element and goods by force, and produce the damage to both sides, cause property loss.

Specifically, the auxiliary unloading device 12 includes a fixing rod 121, a spring telescopic rod 122, a shovel rod 123, a sliding tube 124, a pressing portion 125, a fixing plate 126, an elastic member 127, a limiting plate 128 and an arc-shaped groove 129, the fixing rod 121 is disposed between the two adsorption elements 5 on the clamping plate 3, a front section of the fixing rod 121 is disposed in a hollow manner, the pressing portion 125 is disposed at a front end portion of the fixing rod 121, the pressing portion 125 is made of an elastic material, the fixing plate is fixedly disposed inside the middle of the fixing rod 121, the limiting plate 128 is fixedly connected inside the pressing portion 125, the arc-shaped groove 129 is disposed at two sides of the limiting plate 128, the sliding tube 124 is fixedly disposed at two sides of the front section of the fixing rod 121 in a penetrating manner, the shovel rod 123 is slidably connected inside the sliding tube 124, and the spring telescopic rod 122 is fixedly connected between the shovel rod 123 and the fixing rod 121, the elastic member 127 is fixedly connected between the limiting plate 128 and the fixing plate 126.

Specifically, the outer end of the shovel rod 123 is provided with an inclined surface capable of shoveling the adsorption element 5, and the inner end of the shovel rod 123 is provided with an arc surface matched with the arc-shaped groove 129.

Specifically, when the pressing portion 125 is not pressed, the shoveling rod 123 is not matched with the arc-shaped groove 129, when the pressing portion 125 is pressed, the shoveling rod 123 is matched with the arc-shaped groove 129, when the unloading auxiliary device clamps the goods along with the clamping plate and the adsorption element, the pressing portion is pressed, the limiting plate moves, the arc-shaped groove is matched with the inner end portion of the shoveling rod, the shoveling rod contracts inwards under the action of the spring telescopic rod, the contact with the adsorption element is removed, the goods are conveniently clamped by the adsorption element, when the unloading is needed, the pressing portion is pressed and removed, the pressing portion returns under the action of the elastic part, the shoveling rod is bounced from the arc-shaped groove by the limiting plate, the adsorption of the adsorption element and the goods is shoveled, the unloading is facilitated, the adsorption element and the goods are prevented from being forcibly separated, damage to the two parties is caused, and property loss is caused.

The clamping device comprises a mechanical arm, wherein the output end of the mechanical arm is in transmission connection with a supporting plate, two clamping plates are arranged on the supporting plate, and a plurality of clamping mechanisms are arranged on the clamping plates;

Specifically, the clamping mechanism further comprises a guide pillar, the guide pillar is fixedly mounted on the side wall, away from the adsorption element, of the clamping plate, a first connecting plate is fixedly mounted at one end, away from the adsorption element, of the supporting cylinder, a sleeve is fixedly mounted on the first connecting plate, the guide pillar penetrates through the sleeve, the guide pillar is in sliding fit with the sleeve, a piston is slidably mounted in an inner cavity of the supporting cylinder, a connecting rod is fixedly connected to one end, away from the adsorption element, of the piston, a second connecting plate is fixedly mounted at one end, away from the adsorption element, of the guide pillar, one end, away from the piston, of the connecting rod is fixedly connected with the second connecting plate, and the adsorption element is communicated with the inner cavity of the supporting cylinder.

Specifically, actuating mechanism includes motor and rack, motor fixed mounting in on the lateral wall of splint, the output transmission of motor is connected with the pivot, the pivot is rotated and is installed inside splint, the cover is equipped with the gear in the pivot, rack fixed mounting in on the outer wall of a supporting cylinder, the gear with the rack meshes mutually.

Specifically, the adsorption element comprises a first sucker which is fixedly mounted on the mounting seat, a first adsorption groove is formed in the first sucker, a first air transmission channel is formed in the first sucker, and the first adsorption groove is communicated with the inner cavity of the support cylinder through the first air transmission channel.

Specifically, the adsorption element comprises a second sucker which is fixedly installed on the installation seat, a second adsorption groove is formed in the second sucker, a second gas transmission channel is formed in the second sucker, the second adsorption groove is communicated with the inner cavity of the supporting cylinder through the second gas transmission channel, a cavity is formed in the second sucker, and an opening communicated with the outside is formed in the cavity.

The working principle of the invention is as follows: the adsorption element 5 adsorbs the object to be clamped through the action of negative pressure; when the clamping device is used, the mechanical arm 1 drives the supporting plate 2 to move, the two clamping plates 3 are moved to be positioned at two sides of an object to be clamped respectively, then the driving mechanism drives the supporting cylinder 41 to move towards the object to be clamped, the adsorption element 5 is moved to be in contact with the object to be clamped, and the adsorption element 5 adsorbs the object to be clamped through negative pressure, so that the firmness of the clamped object is improved, the object cannot fall off due to shaking when the mechanical arm 1 drives the object to move, and the clamping stability is good; when the supporting cylinder 41 moves towards the object to be clamped, the supporting cylinder 41 moves rightwards relative to the piston 47, when the adsorbing element 5 contacts with the object to be clamped, the supporting cylinder 41 can still move towards the object to be clamped for a certain distance, in the process, the supporting cylinder 41 still moves for a certain distance relative to the piston 47, under the action of the piston 47, the space on the right side of the piston 47 is increased, negative pressure is formed in the inner cavity of the supporting cylinder 41, the inner cavity of the supporting cylinder 41 is communicated with the adsorbing element 5, so that negative pressure is generated in the adsorbing element 5, the adsorbing element 5 adsorbs the object through the negative pressure, when the supporting cylinder 41 moves reversely, the space on the right side of the piston is increased, positive pressure is formed in the inner cavity of the supporting cylinder 41, the inner cavity of the supporting cylinder 41 is communicated with the adsorbing element 5, so that positive pressure is generated in the adsorbing element 5, and the adsorbing element 5 pushes out the object through the positive pressure, thereby releasing the adsorption of the object; when the supporting cylinders 41 in the same row need to be driven to synchronously move, the motor 7 is fixedly arranged on the bottom wall of the clamping plate 3, the rotating shaft 8 is longitudinally arranged, when the supporting cylinders 41 in the same row need to be driven to synchronously move, the motor 7 is fixedly arranged on the side wall of the clamping plate 3, the rotating shaft 8 is transversely arranged, the moving distance of the supporting cylinders 41 can be adjusted by replacing the gear 9, the larger the outer diameter of the gear 9 is, the larger the moving distance of the supporting cylinders 41 is when the gear 9 rotates for one circle, so that the moving distances of different supporting cylinders 41 can be adjusted, and a plurality of adsorption elements 5 can be adsorbed on the surface of an object to be clamped, so that the adsorption elements are matched with the objects to be clamped in different shapes; when the adsorption element 5 of the first embodiment is adopted, after the support cylinder 41 drives the first adsorption disc 51 to move to contact with an object to be clamped, the first adsorption disc 51 is gradually compressed along with the continuous rightward movement of the support cylinder 41, and in the compression process, the support cylinder 41 moves rightward relative to the piston 47, so that negative pressure is generated in the support cylinder 41, and as the first adsorption groove 5101 is communicated with the inner cavity of the support cylinder 41 through the first gas transmission channel 5102, negative pressure is generated in the first adsorption groove 5101, so that the adsorption effect of the first adsorption disc 51 on the object is realized; when the adsorption element 5 of the second embodiment is adopted, after the support cylinder 41 drives the second suction cup 52 to move to contact with an object to be clamped, the second suction cup 52 is gradually compressed along with the continuous rightward movement of the support cylinder 41, and in the compression process, the support cylinder 41 moves rightward relative to the piston 47, so that negative pressure is generated in the support cylinder 41, and as the second adsorption slot 5202 is communicated with the inner cavity of the support cylinder 41 through the second gas transmission channel 5203, negative pressure is generated in the second adsorption slot 5202, so that the adsorption effect of the second suction cup 52 on the object is realized, under the action of the cavity 5201, the degree of compression of the second suction cup 52 is increased, so that the moving distance of the support cylinder 41 relative to the piston 47 is increased, so that the negative pressure formed in the second adsorption slot 5202 is smaller, and the firmness of the second suction cup 52 in adsorbing the object is better; when the adsorption element 5 of the third embodiment is adopted, after the support cylinder 41 drives the third suction cup 53 to move to contact with an object to be clamped, along with the continuous rightward movement of the support cylinder 41, the first sliding cylinder 55 slides leftward relative to the support cylinder 41 and compresses the spring 54, and meanwhile, the support cylinder 41 slides relative to the piston 47, so that negative pressure is generated in the support cylinder 41, and negative pressure is generated in the third adsorption groove 5301 through the first sliding cylinder 55, so that the object to be clamped is adsorbed, through the arrangement of the first sliding cylinder 55 and the spring 54, the third suction cup 53 can move relative to the mounting seat 48, and is stable in movement, the third suction cup 53 is not easy to deform, and the distance of movement of the third adsorption groove 5301 relative to the mounting seat 48 is larger, so that the negative pressure formed in the third adsorption groove 5301 is smaller, and the effect of adsorbing the object is better; when the adsorption member 5 of the fourth embodiment is used, after the support cylinder 41 drives the fourth suction cup 56 to move to contact with the object to be clamped, as the support cylinder 41 moves to the right, the second sliding cylinder 58 slides to the left relative to the support cylinder 41 and stretches the tension spring 11, and at the same time, the support cylinder 41 slides relative to the piston 47, so that negative pressure is generated in the support cylinder 41, and negative pressure is generated in the fourth adsorption groove 5601 through the second sliding cylinder 58 and the third air supply channel 5701, so as to adsorb the object to be clamped, by arranging the tension spring 11 inside the support cylinder 41, the fourth suction cup 56 can rotate relative to the mount 48, so that the fourth suction cup 56 can be attached to an inclined surface that is not parallel to the mount 48, so as to adsorb the object with irregular shape, when the unloading assisting device follows the clamp plate and the adsorption member, the pressing portion is pressed, the limit plate moves, the arc-shaped groove is matched with the inner end portion of the shovel rod, shovel rod inwards contracts under spring telescopic rod's effect, remove the touching with adsorption element, make things convenient for adsorption element better to press from both sides to get the goods, when needs are unloaded, press down of splenium and be removed, press the splenium to playback under the effect of elastic component, shovel rod is bounced in the limiting plate follow arc wall, shovel the absorption of opening adsorption element and goods, help unloading to avoid separately adsorption element and goods by force, and produce the damage to both sides, cause loss of property.

Claims

1. The utility model provides a manipulator is snatched at full-automatic high speed which characterized in that: the novel multifunctional loading and unloading device comprises clamping plates, a plurality of adsorption elements and a plurality of unloading auxiliary devices, wherein the adsorption elements are arranged, the clamping plates are arranged in two, the two clamping plates are arranged oppositely, the adsorption elements are vertically distributed on the opposite end surfaces of the two clamping plates in an array mode, the unloading auxiliary devices are arranged in a plurality, and each unloading auxiliary device is arranged in the middle of the two adsorption elements.

2. The full-automatic high-speed grabbing manipulator of claim 1, characterized in that: the auxiliary unloading device comprises a fixed rod, a spring telescopic rod, a shovel rod, a sliding tube, a pressing part, a fixed plate, an elastic part, a limiting plate and an arc-shaped groove, the fixing rod is arranged between the two adsorption elements on the splint, the front section of the fixing rod is arranged in a hollow way, the front end part of the fixed rod is provided with the pressing part which is made of elastic material, the fixing plate is fixedly arranged in the middle of the fixing rod, the limiting plate is fixedly connected in the pressing part, the arc-shaped grooves are arranged on two sides of the limiting plate, the sliding pipes are fixedly arranged on two sides of the front section of the fixed rod in a penetrating way, the inside sliding connection of sliding tube has the shovel pole, shovel pole with fixedly connected with between the dead lever the spring telescopic link, the limiting plate with the centre fixedly connected with of fixed plate the elastic component.

3. The full-automatic high-speed grabbing manipulator of claim 2, characterized in that: the outer end of the shovel rod is provided with an inclined plane capable of shoveling the adsorption element, and the inner end of the shovel rod is provided with an arc surface matched with the arc-shaped groove.

4. The full-automatic high-speed grabbing mechanical arm according to claim 3 is characterized in that: when not pressed, the pressing part is not matched with the arc-shaped groove, and when pressed, the pressing part is matched with the arc-shaped groove.

5. The full-automatic high-speed grabbing manipulator of claim 1, characterized in that: the clamping device comprises a mechanical arm, wherein the output end of the mechanical arm is in transmission connection with a supporting plate, two clamping plates are arranged on the supporting plate, and a plurality of clamping mechanisms are arranged on the clamping plates;

6. The full-automatic high-speed grabbing manipulator of claim 5, characterized in that: the clamping mechanism further comprises a guide pillar, the guide pillar is fixedly mounted on the side wall, away from the adsorption element, of the clamping plate, a first connecting plate is fixedly mounted at one end, away from the adsorption element, of the supporting cylinder, a sleeve is fixedly mounted on the first connecting plate, the guide pillar penetrates through the sleeve, the guide pillar is in sliding fit with the sleeve, a piston is slidably mounted in an inner cavity of the supporting cylinder, a connecting rod is fixedly connected to one end, away from the adsorption element, of the piston, a second connecting plate is fixedly mounted at one end, away from the adsorption element, of the guide pillar, one end, away from the piston, of the connecting rod is fixedly connected with the second connecting plate, and the adsorption element is communicated with the inner cavity of the supporting cylinder.

7. The full-automatic high-speed grabbing manipulator of claim 5, characterized in that: the driving mechanism comprises a motor and a rack, the motor is fixedly installed on the side wall of the clamping plate, the output end of the motor is connected with a rotating shaft in a transmission mode, the rotating shaft is rotatably installed inside the clamping plate, a gear is sleeved on the rotating shaft, the rack is fixedly installed on the outer wall of the supporting cylinder, and the gear is meshed with the rack.

8. The full-automatic high-speed grabbing manipulator of claim 6, characterized in that: the adsorption element comprises a first sucker which is fixedly installed on the installation seat, a first adsorption groove is formed in the first sucker, a first air transmission channel is formed in the first sucker, and the first adsorption groove is communicated with the inner cavity of the supporting cylinder through the first air transmission channel.

9. The full-automatic high-speed grabbing manipulator of claim 6, characterized in that: the adsorption element comprises a second sucker which is fixedly installed on the installation seat, a second adsorption groove is formed in the second sucker, a second air transmission channel is formed in the second sucker, the second adsorption groove is communicated with the inner cavity of the supporting cylinder through the second air transmission channel, a cavity is formed in the second sucker, and an opening communicated with the outside is formed in the cavity.