CN116175631B - Grabbing manipulator for box-type oxygenerator - Google Patents

Abstract

The invention discloses a grabbing manipulator for a box-type oxygenerator, and belongs to the technical field of medical instrument processing equipment. The grabbing manipulator comprises a supporting plate, a driving mechanism, grabbing plates and lifting lugs. The lifting lug with the shaft hole at the bottom is fixedly arranged in the middle of the bottom of the supporting plate. The grabbing plate comprises an upper shaft collar, an inclined part, a horizontal part, a lower shaft collar and a vertical part, wherein the grabbing plate is connected with the lifting lug through the upper shaft collar, and penetrating ports are formed in the tops of the horizontal part and the vertical part. The two grabbing plates are oppositely arranged, the top ends of the two driving mechanisms are respectively hinged to the edges of two sides of the bottom surface of the supporting plate, and the bottom ends of the two driving mechanisms are respectively connected with the lower shaft rings of the grabbing plates, so that the opening and closing states of the two grabbing plate forming clamping jaws are changed through the expansion and contraction of the two driving mechanisms. The manipulator has simple structure and low manufacturing cost, and can be matched with the box-type oxygenerator with the buckles arranged on the upper parts of the two sides. Meanwhile, the matching performance of the manipulator and the production line of the oxygenerator is good, and the rapid conversion of different types of products produced by the assembly line of the oxygenerator can be realized by rapid replacement.

Description

Grabbing manipulator for box-type oxygenerator

Technical Field

The invention belongs to the technical field of medical instrument processing equipment, and particularly relates to a grabbing manipulator for a box-type oxygenerator.

Background

The oxygenerator is an important device for preparing oxygen by a chemical or physical method, and is widely applied to the fields of medical treatment, chemical industry, metallurgy, petroleum, national defense and the like. The medical oxygenerator is mainly divided into an oxygen-enriched membrane oxygenerator, a molecular sieve oxygenerator, a chemical agent oxygenerator and an electronic oxygenerator according to the difference of oxygen generation principles. The molecular sieve oxygenerator adopts a pure physical method (PSA method) to produce oxygen, has the advantages of continuously separating oxygen from air, preparing high oxygen concentration and the like, and becomes the oxygenerator with the most wide application.

Molecular sieve oxygenerator generally adopts pressure swing adsorption principle of high pressure adsorption and low pressure release, and generally requires a compressor, a plurality of zeolite molecular sieve adsorption towers, an oxygen storage tank, a plurality of control valves and related control devices. Because the oxygen-making raw material is air, no other special additives are needed, no pollutants such as waste gas residues and the like are generated, the power consumption is low, the molecular sieve oxygen-making machine is widely applied to medical units such as hospitals, clinics and the like, and more families begin to use molecular sieve oxygen-making machines as medical equipment for daily health care.

The volume of the oxygenerator varies greatly according to the specific requirements of users and different use places. Aiming at outdoor mountain climbing professionals or lovers, the weight of the portable oxygenerator can be reduced to only 1-2 kg, and the portable oxygenerator is carried about. But the weight of the current medical and household medium-sized oxygenerator is generally 20-30 kg, and the volume is similar to that of a small suitcase. Because of the different arrangement of the internal structures of the oxygenerators of different manufacturers, the specific shapes of the medium-sized oxygenerators are different, for example, the oxygenerator with an enlarged abdomen at the middle lower part and a handle at the top, the box-type oxygenerator with an overall structure close to a regular cuboid structure (as shown in figure 1) and the like. Among them, the box-type oxygenerator is deeply favored by the majority of users because of the compact and elegant appearance.

In the mass production process of the oxygenerator, when the oxygenerator is packaged after the oxygenerator is assembled and inspected in quality, the oxygenerator is required to be transferred and placed into a packaging box. Because the upper part of the box-type oxygenerator adopts a plane, and a raised integral handle is not arranged, the upper parts of two opposite side surfaces of the box body are provided with inwards-sunk slotted hole-shaped buckles. When an operator needs to vertically lift the box-type oxygenerator, two hands need to respectively buckle the positions of the buckling hands at two sides. Obviously, this arrangement requires the operator to bend down and lift, and requires the use of both hands during the lifting process, and the operator cannot easily see the position of the lower package during the boxing process. Therefore, the transferring and packaging workload and labor intensity of the box-type oxygenerator are larger than those of oxygenerators with other configurations, and the working efficiency is lower. And the automatic and intelligent mechanical arm is adopted for carrying and packaging, so that the workload and the labor intensity of workers can be greatly reduced.

In order to solve the problem of clamping and carrying similar boxes, the prior art provides some solutions. For example, the chinese patent with publication number CN201410662Y discloses a flexible gripping system for boxes, which is used to solve the difficult problem caused by non-uniform size of box-type goods in the distribution center. The flexible gripping system disclosed in this patent includes a control device, a gripping mechanism movement execution device, and a gripping mechanism. The grabbing mechanism comprises a clamping clamp, a double-rotation screw rod, a linear shaft, a servo gear motor and a base mounting plate. The clamping pliers comprise two clamping pliers arms, and each clamping pliers arm comprises an opening plate, a lifting cylinder, a transition frame, a clamping cylinder, a swinging plate, a clamping seat plate, a rotating shaft, a clamping plate and the like. After the components are matched and installed, the grabbing system can realize free movement in horizontal and vertical directions and can grab boxes with different sizes.

For another example, the chinese patent with the existing publication number CN217075783U discloses a gripping device for picking up a box, which is used for solving the problem of difficult picking up of the box on a production line. The grabbing device comprises a paw support, a paw connecting plate, two mounting substrates and a grabbing hook mechanism. The grapple mechanism comprises a telescopic cylinder, a support plate, a hinge cam, a rotating shaft, at least two swing arms, a box hook plate, a cross rod arranged on the inner side of each swing arm and a semicircular jig connected to the cross rod. This grabbing device has realized grabbing the box through the cooperation installation of above part, can reduce manual operation, improves the production efficiency of production line. .

Although the above prior art gives some solutions to handling box-type objects, the following problems still remain:

first, the structure is relatively complex and the manufacturing cost is high. In the above solutions, the gripping device generally employs a plurality of cylinders, a plurality of motors, and a gripping mechanism is formed by a plurality of structural members. The number of parts is large and the cost is high.

Second, the applicability is poor in the grabbing, transferring and packaging processes of the box-type oxygenerator. The bottom of the box body is clamped or held by the box body hook plate, the clamping plate and other parts in the scheme, and the box body is transferred or otherwise operated. And the box-type oxygenerator is required to be placed into a packaging box after being grabbed. The bottom or the middle part of the packing box is also generally provided with foam pad corners for supporting and positioning or air cushions for preventing collision and other packing materials, and the space is not enough for the grabbing mechanism to execute related actions such as loosening and the like.

Thirdly, the matching with the production line of the oxygenerator is insufficient. Although the medium-sized oxygenerator has various shapes such as a portable shape, a box shape and the like, the oxygenerator can be assembled by adopting the same assembly line due to the similarity of internal structures. However, due to the structural difference of the box bodies with different shapes, the clamping positions of the grabbing or transferring manipulators for boxing and packaging have to be different in structure. Although the prior proposal clamps the box body with certain width from two sides to have certain adaptation degree, the prior proposal is obviously not applicable to clamping other types of oxygenerators with single handles at the top through simple modification.

Disclosure of Invention

The invention aims to solve one of the following technical problems in the prior art or related technologies:

the existing box-type oxygenerator has the defects that the structure of a mechanical arm used in the automatic transferring and packaging process is too complex, and the manufacturing cost is too high; the part clamped or supported by the manipulator is the bottom of the box body, and once the box body enters the packaging box, the box body lacks an operation space; and the matching performance with the production line of the oxygenerator is poor, and the oxygenerator can not be quickly refitted and adapted to other types of oxygenerators.

In order to solve the technical problems, the invention provides a grabbing manipulator for a box oxygenerator, which adopts the following specific technical scheme:

a grabbing manipulator for a box-type oxygenerator comprises a supporting plate, a driving mechanism, grabbing plates and lifting lugs;

the lifting lug is fixedly arranged in the middle of the bottom of the supporting plate, and the bottom is provided with at least one shaft hole;

the top of the grabbing plate is provided with an upper shaft collar which is coaxial with the lifting lug shaft hole after being installed, and the grabbing plate is rotationally connected with the lifting lug through a shaft connected in series in the upper shaft collar and the lifting lug shaft hole; the lower part of the upper shaft collar is an inclined part, the tail end of the inclined part is horizontally bent to form a horizontal part, and the tail end of the horizontal part is vertically bent to form a vertical part; a hook plate which is spliced with a buckle hand of the box-type oxygenerator is arranged at the tail end of the vertical part; a through interface is arranged between the tops of the horizontal part and the vertical part; lower shaft rings are arranged on two sides of the through interface;

the driving mechanism can linearly stretch along the length direction, one end of the driving mechanism is hinged to the edge of the lower surface of the supporting plate, and the other end provided with the shaft hole penetrates through the penetrating port to be coaxial with the lower shaft collar and is connected with the grabbing plate through the pin shaft;

the two grabbing plates are oppositely arranged, the top ends of the two driving mechanisms are respectively hinged to the edges of the opposite sides of the lower surface of the supporting plate, and the bottom ends of the two driving mechanisms are respectively connected with the lower shaft rings of the grabbing plates, so that the opening and closing states of clamping jaws formed by the two grabbing plates are changed through the expansion and the contraction of the two driving mechanisms.

Preferably, a shaft hole is formed in the center of the bottom of the lifting lug; the upper shaft rings of the two grabbing plates are discontinuously arranged, and are rotationally connected to the shaft in a symmetrical or staggered mode by taking the shaft holes of the lifting lugs as the center.

Preferably, the bottom of the lifting lug is provided with two shaft holes in parallel; the two grabbing plates are respectively connected in series with the upper shaft collar and the shaft hole on the right side through shafts, and the grabbing plates are connected with the lifting lugs through shafts in a rotating mode.

More preferably, the two lifting lugs are arranged at the bottom of the supporting plate in parallel and coaxial with the corresponding shaft holes; the upper shaft rings of the grabbing plates are arranged continuously, and the shafts are connected in the lifting lug shaft holes on two sides and the upper shaft rings in the middle in series.

Preferably, a pressing plate is further arranged on the upper portion of the vertical portion of the grabbing plate, and the pressing plate abuts against the upper surface of the box-type oxygenerator when the hook plate is inserted into the buckle.

Preferably, the grabbing plate further comprises a limiting rod; the limiting rod is fixed at the lower part of the lower shaft collar, and the limiting rods are propped against the vertical parts of the opposite side grabbing plates after the two grabbing plates are folded.

More preferably, a cushion cover made of flexible material is arranged on the pressing plate and the hook plate.

Preferably, the manipulator further comprises a vertical lifting assembly; the vertical lifting assembly comprises a seat plate and a limiting plate which are arranged in parallel with the support plate, a polished rod which is vertically connected with the support plate, the seat plate and the limiting plate, and a lifting driving mechanism which is fixedly connected with the seat plate and the limiting plate, and a connector at the front end of the telescopic rod passes through the seat plate and is fixedly connected with the support plate; a shaft sleeve for a polish rod to pass through is arranged on the seat board; the lifting driving mechanism drives the supporting plate to vertically displace along the linear expansion through the lifting driving mechanism.

More preferably, the manipulator further comprises a connecting seat; the connecting seat is fixedly arranged in the middle of the upper part of the supporting plate, and the upper part of the connecting seat is fixedly connected with a joint at the front end of the telescopic rod of the lifting driving mechanism.

More preferably, the manipulator further comprises a hinge seat; square middle holes are formed in the middle of the supporting plate, lifting lug connecting holes for connecting lifting lugs are formed in four corners of the middle holes, connecting seat connecting holes are formed in two opposite side plate bodies of the middle holes, and hinge seat connecting holes are formed in two side edges of the supporting plate; the hinge seat is fixedly connected with the supporting plate through a hinge seat connecting hole; the upper end of the driving mechanism is hinged with the supporting plate through a hinging seat.

Preferably, the driving mechanism is an air driving mechanism, a hydraulic driving mechanism, a linear motor or other mechanisms which are known in the prior art and can realize linear reciprocating expansion and contraction.

More preferably, the driving mechanism is a pneumatic driving mechanism and comprises a pneumatic cylinder, a universal floating joint, a speed regulating valve, a tee joint, an air supply pipeline and other components. The telescopic end of the pneumatic cylinder is connected with the universal floating joint, and the universal floating joint is connected with the lower shaft collar through a pin shaft. The speed regulating valve and the tee joint are arranged under the mounting seat through an air supply pipeline. The air supply pipeline is connected with an air inlet and an air outlet of the bottom air cylinder after passing through the middle hole of the supporting plate through a tee joint after passing through the speed regulating valve.

Compared with the prior art, the invention has the beneficial effects that:

1. the grabbing manipulator disclosed by the invention is simple in structure, and the structure of the grabbing manipulator is greatly simplified compared with that of the existing grabbing manipulator. Two driving mechanisms are adopted as power components for executing actions, the bottoms of the driving mechanisms are connected with the middle part of a grabbing plate with a specific shape, and the tops of the driving mechanisms are rotatably connected with the middle part of a supporting plate. Therefore, the two grabbing plates are pushed to rotate around the top connecting shaft through the expansion and contraction of the two driving mechanisms, and the opening and closing actions of the clamping jaw formed by the two grabbing plates are realized. Simultaneously, the hook plate at the bottom of the grabbing plate is used for hooking or inserting the buckles at the two sides of the fixed box-type oxygenerator, so that the manipulator grabs the box-type oxygenerator. The whole manipulator has simple structure, is only composed of a plurality of parts such as a supporting plate, a driving mechanism, a grabbing plate, a lifting lug and the like, and has the advantages of small number of parts and low manufacturing cost.

2. The hook plate at the bottom of the grabbing plate of the grabbing manipulator is matched with the buckle hand at the side face of the box-type oxygenerator shell, and in the grabbing process, the hook plate is inserted into the buckle hand at the upper part of the box body and hooks the oxygenerator shell, so that the tail end of the manipulator does not need to be inserted into the bottom of the oxygenerator for transferring, the problem that the manipulator needs to be fully stretched into a packaging box in the boxing process is avoided, and the problem that the oxygenerator packaging cannot be completed due to the fact that the manipulator lacks a loosening action moving space in the packaging box is fundamentally avoided. In addition, even if the manipulator is required to stretch into the packing box, the movable space required by the manipulator for realizing the loosening action is very small because the width of the hook plate at the tail end of the grabbing plate is not larger than the depth of the buckle, and the space for filling and fixing and anti-collision foam between the oxygenerator and the packing box is enough to realize the loosening action of the manipulator.

3. The matching performance with the production line of the medium-sized oxygenerator is good. The main components of the grabbing manipulator except for few components such as grabbing plates, for example, a supporting plate, lifting lugs, a power mechanism and the like can be reserved for constructing a transfer mechanism of other types of oxygenerators such as a belly-expanding portable oxygenerator. Therefore, the replacement process of the grabbing or transferring mechanism of the adaptive different types of oxygenerators is simple and quick, only individual parts are required to be replaced, the replacement time and the workload can be greatly reduced, and the rapid conversion of the oxygenerator assembly line to different types of products is realized.

4. The pad sleeve made of the prior known flexible materials such as silica gel, rubber and the like is sleeved on the hook plate and the pressing plate of the grabbing plate, so that the grabbing and transferring of the box-type oxygenerator can be protected, and mechanical damages such as scraping and the like caused by the mechanical hand to the shell of the oxygenerator box body are prevented. The limiting rods are arranged on the upper parts of the vertical parts of the grabbing plates, and the limiting rods can be propped against each other when the two grabbing plates of the manipulator are folded, so that severe mechanical damages such as cracks, gaps and even breakage of the shell of the oxygenerator caused by overlarge force of the grabbing manipulator are prevented. Meanwhile, the limiting rod is simple in structure and the manufacturing cost is obviously lower than that of parts such as a pressure sensor. The cushion sleeve is sleeved at the end part of the free end of the limiting rod, so that noise generated by contact between the limiting rod and the vertical part of the opposite side grabbing plate can be eliminated or weakened.

5. The main body structure of the grabbing plate can be made into an integrated structure by adopting a metal plate through bending treatment or integral casting and other methods, and an upper shaft ring for being in threaded connection with the shaft hole of the lifting lug is arranged at the upper part of the main body structure, so that the grabbing plate can rotate by taking the threaded shaft as the shaft center. The lower part of the upper shaft collar is an inclined part which is obliquely arranged, and the bottom of the inclined part is horizontally bent to form a horizontal part and then vertically bent to form a vertical part. A penetrating port is arranged between the upper parts of the horizontal part and the vertical part, lower shaft rings are arranged at two ends of the penetrating port, which are positioned at the bottom side of the horizontal part, and the joint of the driving mechanism can be connected with the lower shaft rings through a pin shaft. Therefore, the inclined part of the grabbing plate, the driving mechanism and the supporting plates respectively connected to the upper parts of the grabbing plate and the driving mechanism form a stable triangle structure so as to keep the grabbing process stable. The hook plate and the pressing plate are arranged at the bottom of the grabbing plate in parallel, and can stably clamp the position of the oxygenerator buckle to the top of the corresponding side face, so that the stability of the grabbing process is further enhanced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

fig. 1 schematically shows a perspective view of a conventional box-type oxygenerator.

Fig. 2 schematically shows a front view of the grasping arm (the connecting line omitting the action of the driving action mechanism) in a preferred embodiment of the invention.

Fig. 3 schematically shows a side view of the grasping arm (the connecting line for omitting the actuation of the driving actuation mechanism) according to a preferred embodiment of the invention.

Fig. 4 schematically shows a perspective view of the grasping arm (a connecting line omitting the actuation of the driving actuation mechanism) in a preferred embodiment of the invention.

Fig. 5 schematically shows a top view of a support plate of the grasping robot in a preferred embodiment of the invention.

Fig. 6 schematically shows a front view of a gripper plate of a gripper robot in a preferred embodiment of the present invention.

Fig. 7 schematically shows a perspective view of a gripper plate of a gripper robot in a preferred embodiment of the present invention.

Fig. 8 schematically shows a perspective view of a gripper plate of a gripper robot in another preferred embodiment of the present invention.

Fig. 9 schematically shows a front view of the grasping arm (the connecting line omitting the action of the driving action mechanism) in a preferred embodiment of the invention.

Fig. 10 schematically shows a side view of the grasping arm (a connecting line omitting the actuation of the driving actuation mechanism) according to a preferred embodiment of the invention.

Fig. 11 schematically shows a perspective view of the grasping arm (a connecting line omitting the actuation of the driving actuation mechanism) in a preferred embodiment of the invention.

Fig. 12 schematically shows a structure diagram (the vertical lift assembly is omitted) of the gripping robot before gripping the claw of the box-type oxygenerator in a preferred embodiment of the present invention.

Fig. 13 schematically shows a structure of the grasping hand after grasping the claw of the box-type oxygenerator in a preferred embodiment of the invention.

Reference numerals referred to in the above figures:

the device comprises a 1-supporting plate, a 2-hinging seat, a 3-driving mechanism, a 4-grabbing plate, a 5-lifting lug, a 6-connecting seat, a 7-speed regulating valve, an 8-tee joint, a 9-shaft and a 10-vertical lifting component;

11-plate body, 12-middle hole, 13-lifting lug connecting hole, 14-connecting seat connecting hole, 15-hinging seat connecting hole and 16-polish rod connecting hole;

31-cylinder body, 32-air inlet, 33-air outlet, 34-connector and 35-pin shaft;

41-upper shaft collar, 42-inclined part, 43-horizontal part, 44-vertical part, 45-pressing plate, 46-hook plate, 47-lower shaft collar, 48-limit rod, 49-cushion sleeve and 431-through interface;

101-seat board, 102-limiting board, 103-polish rod, 104-lifting driving mechanism, 105-magnetic switch, 106-buffer and 107-shaft sleeve;

1031-adjusting nut, 1041-joint.

Description of the embodiments

Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be practiced in many different embodiments, which are defined and covered by the claims.

In the following description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and "upright", etc. indicate orientation or positional relationship based on that shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the following description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the connection may be direct or indirect through an intermediate medium, or may be communication between two components. It will be apparent to those skilled in the art that the terms used in the description herein are to be read in the specific sense.

In addition, in the following description of the present invention, unless otherwise indicated, the meaning of "plural", "plural sets", "multiple roots" is two or more.

Fig. 2 schematically shows a front view of the grasping arm (the connecting line omitting the action of the driving action mechanism) in a preferred embodiment of the invention. As can be seen from fig. 2, in the preferred embodiment the gripping robot comprises a support plate 1, a hinge seat 2, a drive mechanism 3, a gripping plate 4, a lifting lug 5 and a connection seat 6. Wherein, backup pad 1 level sets up, articulated seat 2 fixed mounting in backup pad 1 bottom surface both sides. The lifting lug 5 is fixedly arranged in the middle of the bottom of the supporting plate 1, and is provided with two shaft holes with axes parallel to the plane of the supporting plate in parallel. The upper end of the grabbing plate 4 is rotatably connected with the lifting lug 5. The upper part of the driving mechanism 3 is hinged with the hinging seat 2, the lower telescopic end is connected with the middle part of the grabbing plate 4 through a joint, and the joint at the lower part is a universal floating joint provided with a shaft hole. A connecting seat 6 with a n-shaped longitudinal section is arranged in the middle of the upper part of the supporting plate 1. A speed regulating valve 7 is arranged at the lower part of the connecting seat 6, and the speed regulating valve 7 is connected with the driving mechanism 3 through a connecting pipeline so as to provide driving medium for the driving mechanism 3. In the present embodiment, the driving mechanism 3 is a gas driving mechanism, for example, a cylinder. In addition to the gas driving mechanism, other conventionally known mechanisms capable of achieving linear reciprocating motion, such as a hydraulic cylinder, a linear motor, and the like, may be used as the driving mechanism 3.

Fig. 3 schematically shows a side view of the grasping arm (the connecting line for omitting the actuation of the driving actuation mechanism) according to a preferred embodiment of the invention. As can be seen from fig. 3, in the preferred embodiment, two lifting lugs 5 are arranged in parallel at the bottom of the support plate 1, and four shaft holes of the two lifting lugs 5 are opposite to each other and coaxial, and are connected in series with the upper part of the grabbing plate 4 through a shaft 9. Two speed regulating valves 7 are arranged on the right side of the bottom of the upper connecting seat 6 of the supporting plate 1, and two tee joints 8 are arranged on the left side. The air supply pipeline is connected with the tee joint 8 after passing through the speed regulating valve 7, and the driving medium is communicated with the driving mechanism 3 at the bottom after being split.

Fig. 4 schematically shows a perspective view of the grasping arm (a connecting line omitting the actuation of the driving actuation mechanism) in a preferred embodiment of the invention. As can be seen from fig. 4, in the preferred embodiment, the driving mechanism 3 for the manipulator includes a cylindrical cylinder 31, an air inlet 32 and an air outlet 33 at both ends of the cylinder 31, a connector 34 connected to the telescopic ends of the cylinder 31, and a pin 35. After passing through the notch (i.e. the threading port 431) in the middle of the grabbing plate 4, the connecting head 34 is fixed by a pin 35.

Fig. 5 schematically shows a top view of a support plate of the grasping robot in a preferred embodiment of the invention. As can be seen from fig. 5, in the preferred embodiment, the support plate 1 has a "middle" shape overall, and a square middle hole 12 shaped like a "middle" is provided in the middle. A lug connection hole 13 is provided at four corners of the middle hole 12 so as to fixedly connect the support plate 13 with the connection base 6 by bolts. Two connecting holes with slightly larger diameters, namely connecting seat connecting holes 14, are respectively arranged on the plate bodies 11 on two opposite sides of the middle hole 12 so as to be convenient for fixedly installing the connecting seat 6. In addition, a pair of hinge seat connecting holes 15 are respectively arranged at the two sides of the length direction of the supporting plate 1 near the edges, and are used for fixedly mounting the hinge seat 2 positioned at the bottom of the supporting plate 1. The largest connecting hole on the plate 11 is a polish rod connecting hole 16, and the three polish rod connecting holes 16 are arranged in an equilateral triangle with the middle hole 12 as the center.

Fig. 6 schematically shows a front view of a gripper plate of a gripper robot in a preferred embodiment of the present invention. As can be seen from fig. 6, in the preferred embodiment, the uppermost portion of the gripping plate 4 is an upper collar 41, and a sloped portion 42 extending obliquely downward is provided at a lower portion of the upper collar 41. At the bottom end of the inclined portion 42 is a horizontal portion 43 extending horizontally outward, and the tip end of the horizontal portion 43 extends vertically downward to form a vertical portion 44. At the bottom end of the vertical portion 44 is a hook plate 46 extending horizontally toward the side of the upper collar 41. Above the hook plate 46, a pressing plate 45 parallel to the hook plate 46 is provided at the upper middle of the vertical portion 44. Meanwhile, a lower shaft collar 47 is installed at a position where the lower part of the horizontal part 43 is turned with the vertical part 44.

Fig. 7 schematically shows a perspective view of a gripper plate of a gripper robot in a preferred embodiment of the present invention. As can be seen from fig. 7, in the preferred embodiment, the gripping plate 4 is provided with a through opening 431 in the middle above the horizontal portion 43 and the vertical portion 44. During installation, a joint with a shaft hole, which is connected with the tail end of the telescopic rod of the driving mechanism 3, passes through the through-connection port 431 and is connected with the lower shaft rings 47 on two sides in a through-connection mode through the pin shaft 35, and then the driving mechanism 3 and the grabbing plate 4 can be connected. Two pressing plates 45 are respectively arranged on two sides of the upper part of the vertical part 44 of the grabbing plate 4, a hook plate 46 is arranged at the tail end of the bottom of the grabbing plate 4 and used for inserting and hooking a buckle hand of the side wall of the box-type oxygenerator, and the specific specification of the hook plate 46 is set according to the buckle hand specification of the box body.

Fig. 8 schematically shows a perspective view of a gripper plate of a gripper robot in another preferred embodiment of the present invention. As can be seen from fig. 8, in the preferred embodiment, a stop lever 48 is mounted inside the vertical portion 44 of the gripper plate 4, below a lower collar 47. The stop bars 48 are approximately perpendicular to the vertical portion 44, and in use two oppositely arranged gripping plates 4 are each provided with a stop bar 48 having a different mounting position. The angle between the limiting rod 48 and the vertical part 44 is 87.5-90 degrees, so that the limiting rod 48 is in a state of slightly inclining downwards horizontally after the grabbing plate 4 is folded. After the two grabbing plates 4 are folded, the two limiting rods 48 can abut against the vertical portions 44 of the opposite grabbing plates 4, so that the two grabbing plates 4 are prevented from being further folded to squeeze the lower box-type oxygenerator shell. In order to prevent scraping of the housing of the oxygenerator when the grabbing plate 4 is closed, a cushion 49 made of flexible material is sleeved on the free ends of the hook plate 46, the pressing plate 45 and the limiting rod 48. The hook plate 46 and the cushion sleeve 49 on the pressing plate 45 can also play a role in guiding and stabilizing in the folding and grabbing process. The cushion cover 49 at the free end of the stop lever 48 can have a certain buffering effect on folding, and can effectively reduce or even eliminate noise generated when the stop lever 48 contacts the vertical portion 44.

In addition, in other embodiments, two gripper plates 4 may be used in combination with one common gripper plate 4 without a stop bar 48 and another gripper plate 4 with one or two stop bars 48.

Fig. 9 schematically shows a front view of the grasping arm (the connecting line omitting the action of the driving action mechanism) in a preferred embodiment of the invention. As can be seen from fig. 9, in the preferred embodiment, the manipulator is provided with a vertical lift assembly 10 in addition to the support plate 1, the driving mechanism 3, the gripping plate 4, the connection base 6, and other components, in the upper portion of the support plate 1. The vertical lift assembly 10 includes a seat plate 101 and a limiting plate 102 disposed in parallel with the support plate 1, wherein the limiting plate 102 is positioned at the top end and the seat plate 101 is positioned therebetween. Meanwhile, the vertical lifting assembly 10 further includes a polish rod 103 connected to the vertical connection support plate 1, the seat plate 101 and the limit 102, and a lifting driving mechanism 104 having both ends perpendicular to the connection of the limit plate 102 and the seat plate 101. The number of the polish rods 103 is three, the polish rods are distributed in an equilateral triangle with the lifting driving mechanism 104 as the center, the tops of the polish rods penetrate through the limiting plate 102 and are fixedly connected with the limiting plate 102, and the bottoms of the polish rods penetrate through the shaft sleeve 107 arranged on the seat plate 101 and are fixedly connected with the support plate 1. In addition, a magnetic switch 105 is provided on the housing of the lift drive mechanism 104 for monitoring and controlling the movement position of the lift drive mechanism 104. Meanwhile, two buffers 106 are further provided on the upper portion of the limiting plate 102.

Fig. 10 schematically shows a side view of the grasping arm (a connecting line omitting the actuation of the driving actuation mechanism) according to a preferred embodiment of the invention. As can be seen from fig. 10, in the preferred embodiment, a joint 1041 at the distal end of the telescopic rod of the lift drive mechanism 104 is connected to the upper portion of the connection base 6. Therefore, during the extension and retraction of the lifting driving mechanism 104, the joint 1041 pulls the connecting seat 6, the supporting plate 1, the driving mechanism 3, the grabbing plate 4 and other components at the bottom of the lifting driving mechanism to realize the vertical displacement of the manipulator. Because the polish rod 103 is movably connected with the seat board 101 through the shaft sleeve 107, the polish rod 103 can play a role in stabilizing and guiding in the vertical lifting process.

Fig. 11 schematically shows a perspective view of the grasping arm (a connecting line omitting the actuation of the driving actuation mechanism) in a preferred embodiment of the invention. As can be seen from fig. 11, in the preferred embodiment, after the upper mounting adjustment nut 1031 is locked on the upper surface of the limiting plate 102, the threaded portion of the polish rod 103 is fixed by the ferrule. The seat plate 101 is further provided with a plurality of connection holes, which can be connected with a bracket or other external devices for installing the manipulator.

Fig. 12 schematically shows a structure diagram (the vertical lift assembly is omitted) of the gripping robot before gripping the claw of the box-type oxygenerator in a preferred embodiment of the present invention. Fig. 13 schematically shows a structure of the grasping hand after grasping the claw of the box-type oxygenerator in a preferred embodiment of the invention. As can be seen from fig. 12 and 13, in the preferred embodiment, the gripping robot operates as follows: when the box-type oxygenerator is conveyed to a designated position, the driving mechanism of the grabbing manipulator stretches to push the grabbing plate to rotate by taking the shaft penetrating through the upper shaft collar and the shaft hole of the lifting lug as the center. The hook plate at the bottom of the grabbing plate is inserted into the buckle hand at the side face of the box-type oxygenerator. The hook plate and the outer part of the pressing plate are sleeved with flexible cushion sleeves (not shown), and in the grabbing process, the cushion sleeves can be compressed to fill gaps between the pressing plate and the upper part of the outer shell of the oxygenerator and gaps between the hook plate and the buckling hands so as to clamp and prevent shaking and sliding. The cushion sleeve can not be arranged when the buckling hand is wide enough and the stopping position of the oxygenerator is accurate enough. After the manipulator grabs the oxygenerator, the lifting driving mechanism of the vertical lifting assembly contracts and lifts the oxygenerator, and then the oxygenerator is transferred to other positions or is placed in the lower part of the oxygenerator in situ in an automatic or manual mode. Then, the lifting driving mechanism descends, the oxygenerator is placed into the packaging box, and the driving mechanism contracts to drive the grabbing plate to rotate towards two sides so that the hook plate is separated from the oxygenerator buckle. Finally, the lifting drive mechanism is moved up (or transferred) to the packaging position.

In the grabbing and boxing process of the box-type oxygenerator, the manipulator is clamped at the part, above the buckle, of the oxygenerator, which is close to the top of the oxygenerator, and most of the oxygenerator main body can be placed into a packaging box, and the oxygenerator can slowly slide onto the foam pad corner at the bottom of the packaging box under the support of the foam pad corner at the inner side of the packaging box under the condition of not entering the packaging box. The manipulator can also stretch into the packing box, loose and remove after putting steadily, put into the foam pad angle at top by operating personnel again, accomplish the encapsulation at last. The width of the grabbing plate hook plate is not larger than the depth of the buckle, the size is small, and the foam cushion angle for buffering and anti-collision needs to be placed in the packaging box, so that the gap space between the outer shell of the box-type oxygenerator and the inside of the packaging box is enough to complete the operation.

The manipulator in the above example is simple in structure, and the main structure only comprises a plurality of parts such as a supporting plate, a driving mechanism, a grabbing plate, a lifting lug and the like, so that the manufacturing cost is low. More importantly, when other types of oxygenerators, such as oxygenerators with handles arranged at the top, are required to be produced, the pin shafts and the shafts are only required to be removed, and the grabbing plates are removed to assemble other types of manipulators. The replacement is convenient, and the adaptability with the oxygenerator assembly line is high.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. The grabbing manipulator for the box-type oxygenerator is characterized by comprising a supporting plate (1), a driving mechanism (3), a grabbing plate (4) and lifting lugs (5);

the lifting lug (5) is fixedly arranged in the middle of the bottom of the supporting plate (1), and the bottom is provided with at least one shaft hole;

the top of the grabbing plate (4) is provided with an upper shaft collar (41) which is coaxial with the shaft hole of the lifting lug after being installed, and the grabbing plate is rotationally connected with the lifting lug (5) through a shaft (9) connected in series with the upper shaft collar (41) and the shaft hole of the lifting lug; the lower part of the upper shaft collar (41) is provided with an inclined part (42), the tail end of the inclined part (42) is horizontally bent to form a horizontal part (43), and the tail end of the horizontal part (43) is vertically bent to form a vertical part (44); a hook plate (46) which is inserted with a buckle hand of the box-type oxygenerator is arranged at the tail end of the vertical part; a threading port (431) is arranged between the tops of the horizontal part (43) and the vertical part (44); lower shaft rings (47) are arranged on two sides of the penetrating port (431);

the driving mechanism (3) can linearly stretch and retract along the length direction, one end of the driving mechanism is hinged to the edge of the lower surface of the supporting plate (1), and the other end provided with the shaft hole penetrates through the penetrating port (431) to be coaxial with the lower shaft collar (47) and is connected with the grabbing plate (4) through the pin shaft (35);

the two grabbing plates (4) are oppositely arranged, the top ends of the two driving mechanisms (3) are respectively hinged to the edges of opposite sides of the lower surface of the supporting plate (1), and the bottom ends of the two driving mechanisms are respectively connected with a lower shaft collar (47) of the grabbing plates (4), so that the opening and closing states of clamping jaws formed by the two grabbing plates (4) are changed through the expansion and the contraction of the two driving mechanisms (3); the inclined part (42) of the grabbing plate (4), the driving mechanism (3) and the supporting plate (1) respectively connected to the upper parts of the grabbing plate and the driving mechanism form a triangle structure; a pressing plate (45) is further arranged on the upper part of the vertical part (44) of the grabbing plate (4), and the pressing plate (45) is abutted against the upper surface of the box-type oxygenerator when the hook plate (46) is inserted into the buckle; the grabbing plate (4) further comprises a limiting rod (48); the limiting rod (48) is fixed at the lower part of the lower shaft collar (47), and the limiting rods (48) are propped against the vertical parts (44) of the opposite side grabbing plates (4) after the two grabbing plates (4) are folded.

2. The grabbing manipulator for a box-type oxygenerator according to claim 1, wherein a shaft hole is formed in the center of the bottom of the lifting lug (5); the upper shaft rings (41) of the two grabbing plates (4) are intermittently arranged and are rotationally connected to the shaft (9) by taking the shaft holes of the lifting lugs (5) as centers symmetrically or alternately at intervals.

3. The grabbing manipulator for a box-type oxygenerator according to claim 1, wherein two shaft holes are arranged at the bottom of the lifting lug (5) in parallel; the two grabbing plates (4) are respectively connected in series with the upper shaft collar (41) and the shaft hole on the side of the shaft (9), and the grabbing plates (4) are rotationally connected with the lifting lugs (5) through the shaft (9).

4. A gripping manipulator for a box-type oxygenerator according to claim 3, characterized in that two lifting lugs (5) are arranged in parallel at the bottom of the supporting plate (1) and are coaxial with corresponding shaft holes; the upper shaft rings (41) of the grabbing plates (4) are continuously arranged, and the shafts (9) are connected in the shaft holes of the lifting lugs (5) positioned at the two sides and the upper shaft rings (41) positioned in the middle in series.

5. The grasping manipulator for a box-type oxygenerator according to claim 1, characterized in that a cushion (49) made of a flexible material is provided on the pressing plate (45) and the hook plate (46).

6. The grasping manipulator for a box oxygenerator according to claim 1, further comprising a vertical lift assembly (10); the vertical lifting assembly (10) comprises a seat plate (101) and a limiting plate (102) which are arranged in parallel with the support plate (1), a polished rod (103) vertically connected with the support plate (1), the seat plate (101) and the limiting plate (102), and a lifting driving mechanism (104) fixedly connected with the support plate (1) after a joint (1041) at the front end of a telescopic rod penetrates through the seat plate (101) and is fixedly connected with the seat plate (101); a shaft sleeve (107) for the polish rod (103) to pass through is arranged on the seat board (101); the lifting driving mechanism (104) drives the supporting plate (1) to vertically displace along a straight line through self expansion.

7. The grasping manipulator for a box oxygenerator according to claim 6, further comprising a connecting seat (6); the connecting seat (6) is fixedly arranged in the middle of the upper part of the supporting plate (1), and the upper part of the connecting seat (6) is fixedly connected with the joint (1041) at the front end of the telescopic rod of the lifting driving mechanism (104).

8. The grasping manipulator for a box oxygenerator according to claim 7, further comprising a hinge base (2); square middle holes (12) are formed in the middle of the supporting plate (1), lifting lug connecting holes (13) for connecting lifting lugs (5) are formed in four corners of the middle holes (12), connecting seat connecting holes (14) are formed in two opposite side plate bodies of the middle holes (12), and hinging seat connecting holes (15) are formed in two side edges of the supporting plate (1); the hinging seat (2) is fixedly connected with the supporting plate (1) through a hinging seat connecting hole (15); the upper end of the driving mechanism (3) is hinged with the supporting plate (1) through a hinge seat (2).