CN107953303B - Mobile overturning robot and multi-station overturning method thereof - Google Patents
Mobile overturning robot and multi-station overturning method thereof Download PDFInfo
- Publication number
- CN107953303B CN107953303B CN201711499378.0A CN201711499378A CN107953303B CN 107953303 B CN107953303 B CN 107953303B CN 201711499378 A CN201711499378 A CN 201711499378A CN 107953303 B CN107953303 B CN 107953303B
- Authority
- CN
- China
- Prior art keywords
- section
- rod
- connecting rod
- fixed
- sides
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile overturning robot and a multi-station overturning method thereof, and belongs to the field of robots. The mobile overturning robot comprises an overturning device, a transferring trolley and a travelling rail, wherein the overturning device is arranged on the transferring trolley, and the transferring trolley transfers the overturning device to different processing stations along the travelling rail for overturning operation; the turnover device comprises a power mechanism, a directional mechanism and a locking mechanism, wherein the locking mechanism is used for fixing the cylindrical part, the power mechanism comprises an oil cylinder and a pull rod, the pull rod is connected with the locking mechanism, the oil cylinder horizontally moves to drive the pull rod to pull the locking mechanism to turn over, and the directional mechanism is used for controlling the running direction of the power mechanism. The mobile overturning robot can overturn workpieces at different stations, meets the requirement of fast-paced industrial production, and has stable overturning and higher production safety.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mobile overturning robot and a multi-station overturning method thereof.
Background
The turnover robot is turnover equipment widely applied in the industry and is used for performing turnover at a certain angle and direction adjustment on a workpiece, so that the subsequent processing is facilitated. At present, the conventional turnover device is mostly fixed on a single station to finish workpiece turnover, and is difficult to meet the requirement of fast-paced industrial production, but the turnover device is generally heavy in structure, time-consuming and labor-consuming in multi-point transportation in factories and workshops, and high in production cost and is unfavorable for fast operation; secondly, when certain long rod pieces are turned over, the problem that the swing amplitude is large and the turning over is unstable easily occurs, and certain potential safety hazards exist. It follows that there is still much room for research for the application of the flipping robot.
Technical improvements relating to turning devices have been found in a number of patents, such as chinese patent application No.: 2016107349991, filing date: 28 days of 2016, 8 months, the invention is named: the application comprises a fixed lathe bed device, a turnover lathe bed device and a turnover device, wherein the fixed lathe bed device is provided with a fixed lathe bed, a first fixing seat, a first rotating shaft and an oil cylinder fixing seat; the turnover lathe bed device is provided with a turnover lathe bed, a supporting bolt, a second fixing seat and a second rotating shaft; the turnover device is provided with an oil cylinder and a third rotating shaft. The application has the advantages of simple structure and convenient use, and realizes the purpose of turning the lathe bed through the extension and retraction of the piston rod of the oil cylinder.
Another example is chinese patent application No.: 2016101733649, filing date: 24 days of 2016, 3 months, the invention is named: an on-line inertial vertical turning device for an elongated article is disclosed, which comprises a force-applying mechanism, a force-transmitting mechanism and a lever tube-lifting mechanism, wherein the force-applying mechanism converts the forward inertial force of the elongated article into the lever tube-lifting mechanism to apply lifting force from the right lower side of the elongated article to a certain height in the upward direction vertical to the horizontal plane of a first roller way, namely in the Z-axis direction; the inertia vertical turning device does not need an active driving mechanism such as a cylinder or an oil cylinder which consumes energy to realize the turning of the elongated article which is lifted by the longitudinal conveying height to cross and then transversely conveyed, thereby realizing the turning action with zero cost.
In summary, the above application is a good overturning scheme, but has no obvious technical improvement in the aspects of guaranteeing the stability of the overturning process and realizing multi-station rapid production operation, and still has a certain optimization space.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to overcome the defects that a turnover device in the prior art is difficult to perform multi-station operation and has poor turnover stability, and provides a mobile turnover robot and a multi-station turnover method thereof;
the mobile overturning robot is provided with the overturning device, has a simple structure, is suitable for flexibly overturning a large-sized cylinder workpiece, can ensure stable clamping of the workpiece, is stable in overturning and has higher production safety; the multi-station flexible movement of the turnover device is realized by matching with the transfer trolley and the moving track, so that workpieces can be turned at different stations, and the fast-paced industrial production is satisfied;
the multi-station overturning method of the mobile overturning robot is simple and convenient to operate, can adapt to multi-station production, is stable and safe in overturning process, and is suitable for popularization and application.
2. Technical proposal
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the mobile overturning robot comprises an overturning device, a transfer trolley and a travelling rail, wherein the transfer trolley and the travelling rail are matched, the overturning device is arranged on the transfer trolley, and the transfer trolley transfers the overturning device to different processing stations along the travelling rail for overturning operation.
Further, the turnover device comprises a power mechanism, an orientation mechanism and a locking mechanism, wherein the locking mechanism is used for fixing a cylindrical part to be turned, the power mechanism comprises an oil cylinder and a pull rod, the pull rod is connected with the locking mechanism, the oil cylinder horizontally moves to drive the pull rod to pull the locking mechanism to turn around a certain shaft, and the orientation mechanism is used for controlling the running direction of the power mechanism.
Furthermore, the top of the telescopic rod of the oil cylinder is provided with a connecting plate, a first connecting rod is arranged between two ends of the connecting plate, two ends of the first connecting rod are respectively hinged with pull rods, the other ends of the two pull rods are respectively hinged to two sides of the top of the locking mechanism, and two sides of the middle of the locking mechanism are respectively hinged to fixing columns on two sides of the base.
Further, a second connecting rod is arranged between the ends of the two pull rods far away from the first connecting rod, the pull rods are hinged with the second connecting rod, and two ends of the second connecting rod are respectively hinged with two sides of the top of the locking mechanism correspondingly; a third connecting rod is arranged between the fixed columns at two sides of the base, and two ends of the third connecting rod are correspondingly hinged with two sides of the middle part of the locking mechanism respectively; the oil cylinder horizontally moves to drive the pull rod to pull the locking mechanism to overturn around the third connecting rod.
Furthermore, at least one force-borrowing rod is uniformly arranged between the first connecting rod and the second connecting rod at intervals, and the force-borrowing rod is parallel to the pull rod.
Furthermore, the orientation mechanism comprises guide rails arranged on two sides of the base, the guide rails are parallel to the extending and contracting direction of the telescopic rod of the oil cylinder, and two ends of the connecting plate are respectively provided with a sliding block matched with the guide rails.
Further, the guide rail comprises a bottom rail, first inward shrinking sections which extend inwards are symmetrically arranged on two sides of the bottom rail, inward extending sections are vertically and upwards arranged above the first inward shrinking sections, outward extending sections which extend outwards are symmetrically arranged on two sides of the inward extending sections, outward extending sections are vertically and upwards arranged above the outward extending sections, inward extending second inward shrinking sections are symmetrically arranged on two sides of the top of the outward extending sections, and the second inward shrinking sections on two sides are connected through a horizontal plane; the sliding block is matched with the guide rail and slides outside.
Further, a front limiter and a rear limiter are arranged on the base along the extending direction of the oil cylinder telescopic rod, the front limiter is arranged in front of the oil cylinder telescopic rod, and the rear limiter is arranged behind the oil cylinder telescopic rod.
Further, the locking mechanism comprises a fixed locking part and a movable locking part which are detachably connected, wherein two sides of the top of the fixed locking part are respectively hinged with two ends of the second connecting rod, two sides of the middle of the fixed locking part are respectively hinged with two ends of the third connecting rod, the bottom of the fixed locking part is provided with a downward extending extension rod, and the bottom of the extension rod is provided with a tray for supporting the tubular piece; the movable locking part and the fixed locking part are fixed through locking pieces.
According to the multi-station overturning method of the mobile overturning robot, the mobile overturning robot is adopted, and after the overturning device is transported to a certain station by the transport trolley, the oil cylinder horizontally moves and drives the pull rod to pull the locking mechanism to overturn around the third connecting rod.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) The mobile overturning robot comprises the overturning device, the transferring trolley and the travelling rail, wherein the transferring trolley moves to different stations along the travelling rail, the overturning device is arranged on the transferring trolley, so that flexible overturning operation of the overturning device at different stations can be realized, namely flexible overturning of workpieces at different stations is realized, the transferring operation of the overturning device between different stations is simple and convenient, the transferring trolley runs fast and stably, and fast-paced industrial production can be met.
(2) According to the mobile overturning robot disclosed by the invention, the connecting plate is arranged at the top of the telescopic rod of the oil cylinder, the first connecting rod is arranged between the two ends of the connecting plate, the pull rods are respectively hinged to the two ends of the first connecting rod, the other ends of the pull rods are hinged to the two sides of the top of the locking mechanism, the horizontal movement of the telescopic rod of the oil cylinder is kept through the cooperation of the pull rods, the point type movement of the telescopic rod of the oil cylinder is converted into the linear movement of the second connecting rod, the overturning action is completed through the long-distance linear pulling of the second connecting rod on the locking mechanism, the overturning stability and the overturning safety are obviously improved, the phenomenon that a cylindrical part is subjected to larger oscillation sliding is prevented, and the surface damage, the safety accidents and the like of the cylindrical part are avoided.
(3) The movable overturning robot comprises the guide rails arranged on two sides of the base, the guide rails are parallel to the telescopic directions of the telescopic rods of the oil cylinders, the two ends of the connecting plate are respectively provided with the sliding blocks matched with the guide rails, when the telescopic rods of the oil cylinders drive the pull rods to pull the locking mechanism, the connecting plate moves horizontally along the guide rails, and the sliding blocks and the guide rails are matched to ensure the stability and the movement consistency of the pull rods on two sides and ensure the overturning stability.
(4) The movable overturning robot comprises a bottom rail, wherein first inward shrinking sections inclining inwards are arranged on two sides of the bottom rail, inward extending sections extend on the first inward shrinking sections, outward inclining extending sections are arranged on two sides of the inward extending sections, outward extending sections extend above the outward extending sections, second inward shrinking sections extending inwards are arranged on two sides of the top of the outward extending sections, and the second inward shrinking sections on two sides are connected through a horizontal plane. This design can form effectively to the slider and block, and guarantee slider can only follow guide rail length direction steady operation, prevents that the slider from upwards breaking away from the guide rail, especially when locking mechanism upset back reset in-process, prevents that the pull rod from driving the connecting plate and upwards breaking away from the guide rail, guarantee hydro-cylinder telescopic link horizontal movement's directional stability, final guarantee locking mechanism upset reset's stationarity and security.
(5) The locking mechanism comprises a fixed locking part and a movable locking part which are detachably connected, a tray for supporting the cylindrical part is arranged at the bottom of the fixed locking part, the fixed locking part and the movable locking part are matched, the movable turnover robot is especially suitable for stably clamping the cylindrical part, four inclined connecting rods encircle the periphery of the cylindrical part and are locked, symmetrical multi-point clamping of the cylindrical part is realized, the clamping stability is ensured, the self structural strength of the fixed locking part and the movable locking part can be effectively enhanced, the tray is matched, the form of supporting the bottom of the cylindrical part and locking the side wall in a surrounding mode is realized, the problem of loosening and slipping of the cylindrical part in the turnover process is avoided, and the turnover safety is ensured.
(6) According to the multi-station overturning method of the mobile overturning robot, the overturning speed can be adjusted by controlling the oil cylinder to stretch out and draw back, so that the production beat is met; meanwhile, reliable brake protection and power-off enclasping are adopted, so that a power-off self-locking function is realized at any position, and the locking mechanism is ensured to be in an ideal vertical state after being overturned by adopting fixed positioning and closed-loop control, so that the positioning precision is high.
Drawings
FIG. 1 is a schematic view of a turnover device according to the present invention;
FIG. 2 is a schematic diagram of a turnover device according to the present invention;
FIG. 3 is a schematic diagram of a front view of a turnover device according to the present invention;
FIG. 4 is a schematic left-hand view of the turning device of the present invention;
FIG. 5 is a schematic top view of the turnover device of the present invention;
FIG. 6 is a schematic view of a locking mechanism according to the present invention;
FIG. 7 is a schematic view of a limiting plate according to the present invention;
FIG. 8 is a schematic cross-sectional view of a guide rail according to the present invention;
FIG. 9 is a schematic diagram showing a front view of a movable locking portion according to the present invention;
FIG. 10 is a schematic top view of a movable locking portion of the present invention;
fig. 11 is a schematic structural view of the mobile tilting robot of the present invention.
Reference numerals in the schematic drawings illustrate:
100. a base; 101. a front limiter; 102. a rear limiter;
200. a directional mechanism; 201. a support base; 202. rib plates; 203. a guide rail; 204. a first necked-in section; 205. an inner extension section; 206. an overhanging section; 207. an epitaxial section; 208. a second necked-in section;
300. a power mechanism; 301. an oil cylinder; 302. a limiting plate; 303. a connecting plate; 304. a first connecting rod; 305. a pull rod; 306. a second connecting rod; 307. fixing the column; 308. a third connecting rod; 309. a reinforcing rod; 310. a receiving plate; 311. a slide block; 312. a security plate;
400. a locking mechanism; 500. a cylindrical member;
600. a fixed locking part; 601. a fixed section; 602. a first vertical section; 603. a second vertical section; 604. a first sloped section; 605. an intermediate section; 606. a second sloped section; 607. a shorting section; 608. a longitudinal section; 609. an extension rod; 610. a tray; 611. a reinforcing plate; 612. a support plate; 613. rib plates;
700. a movable locking part; 701. a mounting section; 702. a transverse section; 703. an outer oblique section; 704. an inner inclined section; 705. a vertical section; 706. a locking member; 707. a through groove;
800. a transfer trolley; 900. and (3) a driving track.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The invention is further described below with reference to examples.
Example 1
As shown in fig. 1-11, the mobile turnover robot of this embodiment includes a turnover device, a transfer trolley 800 and a travelling rail 900, the turnover device is disposed on the transfer trolley 800 (the base 100 of the turnover device may be fixed on the transfer trolley 800 by bolts), the transfer trolley 800 is matched with the travelling rail 900 of the production line, the transfer trolley 800 is driven by a power device (may use various conventional power devices) to move along the travelling rail 900 to different stations, the turnover device is disposed on the transfer trolley 800, so that flexible turnover operation of the turnover device at different stations can be realized, that is, flexible turnover of workpieces at different stations can be realized, and the turnover operation of the turnover device between different stations is simple and convenient, the transfer trolley 800 runs fast and stably, and can satisfy fast-paced industrial production.
Specifically, the turning device of the embodiment includes a base 100, a power mechanism 300, an orientation mechanism 200 and a locking mechanism 400 are disposed on the base 100, the locking mechanism 400 is used for fixing a tubular member 500 to be turned, the power mechanism 300 includes an oil cylinder 301 and a pull rod 305, the pull rod 305 is connected with the locking mechanism 400, the oil cylinder 301 drives the pull rod 305 to pull the locking mechanism 400 to turn around a certain axis through horizontal movement, angle turning of the tubular member 500 is achieved, subsequent processing is facilitated, the orientation mechanism 200 is used for controlling the running direction of the power mechanism 300, and stability of the turning process is ensured.
Specifically, as shown in fig. 2, a connecting plate 303 is arranged at the top of a telescopic rod of the oil cylinder 301, a first connecting rod 304 is arranged between two ends of the connecting plate 303, two ends of the first connecting rod 304 are respectively hinged with pull rods 305, the other ends of the two pull rods 305 are respectively hinged at two sides of the top of the locking mechanism 400, and two sides of the middle of the locking mechanism 400 are respectively hinged on fixed columns 307 at two sides of the base 100; in more detail, a second connecting rod 306 is arranged between the ends of the two pull rods 305 far away from the first connecting rod 304, the pull rods 305 are hinged with the second connecting rod 306, and the two ends of the second connecting rod 306 are respectively hinged with the two sides of the top of the locking mechanism 400 correspondingly; two sides of the base 100 are respectively provided with a bearing plate 310 (positioned at the rear of the positioning mechanism), the top of the bearing plate 310 is provided with a vertical fixed column 307, a reinforcing rod 309 is arranged between the bearing plate 310 and the fixed column 307, and the bearing plate 310, the fixed column 307 and the reinforcing rod enclose a triangle, so that the structural strength is enhanced; a third connecting rod 308 is arranged between the fixed columns 307 on two sides of the base 100, and two ends of the third connecting rod 308 are respectively hinged with two sides of the middle part of the locking mechanism 400 correspondingly; the horizontal movement of the cylinder 301 drives the pull rod 305 to pull the locking mechanism 400 to turn around the third connecting rod 308.
As shown in fig. 2, in this embodiment, the connection plate 303 is a T-shaped structure plate, and includes a longer section parallel to the first connection rod 304 and a shorter section extending from the middle of the longer section, as shown in fig. 7, a limiting plate 302 is connected to the lower portion of the shorter section, the telescopic rod of the oil cylinder 301 is fixedly connected to the limiting plate 302, at least two safety plates 312 are symmetrically arranged on the limiting plate 302, and the top of each safety plate 312 is fixedly connected to the shorter section of the connection plate 303. The base 100 is provided with a front limiter 101 and a rear limiter 102 along the extending and contracting direction of the telescopic rod of the oil cylinder 301, the front limiter 101 is arranged in front of the telescopic rod of the oil cylinder 301, the rear limiter 102 is arranged behind the telescopic rod of the oil cylinder 301, and particularly, various industry conventional forms such as limit switches or limit plates can be adopted, and the front limiter 101 and the rear limiter 102 are respectively matched with the limit plates 302 and are used for precisely controlling the stroke of the telescopic rod of the oil cylinder 301, so that the overturning angle of the locking mechanism 400 is controlled, and multi-angle adjustable overturning is realized.
According to the embodiment, the overturning of the locking mechanism 400 is completed through the horizontal movement of the telescopic rod of the oil cylinder 301, when the telescopic rod of the oil cylinder 301 extends forwards, the limiting plate 302 and the connecting plate 303 are driven to move forwards horizontally, namely the pull rod 305 is driven to pull the second connecting rod 306 forwards, namely the locking mechanism 400 is pulled forwards, so that the locking mechanism 400 overturns around the third connecting rod 308 at an angle, the cylindrical part 500 vertically placed in the locking mechanism 400 can be overturned to be horizontally placed, and therefore materials contained in the cylindrical part 500 can be poured out according to actual requirements, or secondary processing and the like can be performed on the outer surface of the cylindrical part 500. In this embodiment, instead of adopting the manner that the cylinder 301 directly drives the locking mechanism 400 (the structure that the conventional cylinder 301 telescopic rod is directly connected to be turned over, the punctiform fixed driving is adopted between the telescopic rod and the turning structure), the horizontal movement of the cylinder 301 telescopic rod is maintained through the cooperation of the pull rod 305, the punctiform contact movement of the cylinder 301 telescopic rod is converted into the linear contact movement of the second connecting rod 306, the turning action is completed by the wide-range linear pulling of the second connecting rod 306 to the locking mechanism 400, the stability and the safety of turning are obviously improved, and the design of the T-shaped structure of the connecting plate 303, the limiting plate 302 and the safety plate 312 not only helps to enhance the overall structural strength and stability, but also helps to convert the punctiform fixed driving of the cylinder 301 telescopic rod into the whole-surface linear connecting driving, further enhance the movement stability and the safety, prevent the cylindrical member 500 from generating larger oscillating sliding and the like, and avoid causing the surface damage and safety accidents of the cylindrical member 500.
The orientation mechanism 200 in this embodiment includes guide rails 203 disposed at two sides of the base 100, specifically, two sides of the base 100 are provided with supporting seats 201 in parallel along the length direction, two sides of the supporting seats 201 are uniformly provided with triangular rib plates 202 at intervals, so as to enhance structural strength; the top of the supporting seat 201 is provided with a guide rail 203, the guide rail 203 is parallel to the extending and contracting direction of the telescopic rod of the oil cylinder 301, two ends of the connecting plate 303 are respectively provided with a sliding block 311 matched with the guide rail 203, when the telescopic rod of the oil cylinder 301 drives the pull rod 305 to pull the locking mechanism 400, the connecting plate 303 moves horizontally along the guide rail 203, and the matching of the sliding blocks 311 and the guide rail 203 can ensure the stability and the motion consistency of the motion directions of the pull rods 305 at two sides and ensure the overturning stability.
Example 2
The basic structure of the mobile turnover robot of this embodiment is the same as that of embodiment 1, and further, in the turnover device of this embodiment, at least one force-borrowing rod (not shown) is uniformly arranged between the first connecting rod 304 and the second connecting rod 306 at intervals, in this embodiment, two force-borrowing rods are respectively parallel to the pull rod 305, and the arrangement of the force-borrowing rods can further enhance the strength and stability of the overall structure, strengthen the effective support on the first connecting rod 304 and the second connecting rod 306, prevent the movement deformation of the first connecting rod and the second connecting rod 306, and ensure the movement stability of the first connecting rod and the second connecting rod.
Example 3
The basic structure of the mobile turnover robot in this embodiment is the same as that of embodiment 2, and further, as shown in fig. 8, the guide rail 203 includes a bottom rail, two sides of the bottom rail are symmetrically provided with a first inward shrinking section 204 extending obliquely inwards, an inward extending section 205 extends vertically upwards above the first inward shrinking section 204, two sides of the inward extending section 205 are symmetrically provided with an outward extending section 206 extending obliquely outwards, an outward extending section 207 extends vertically upwards above the outward extending section 206, two sides of the top of the outward extending section 207 are symmetrically provided with second inward shrinking sections 208, and the second inward shrinking sections 208 on two sides are connected by a horizontal plane. The sliding blocks 311 and the guide rails 203 are matched with each other to slide outside, namely, sliding grooves matched with the guide rails 203 are formed in the inner side of the lower part of the sliding blocks 311, the guide rails 203 are embedded into the sliding grooves, when the telescopic rod of the oil cylinder 301 drives the pull rod 305 to pull the locking mechanism 400, the sliding blocks 311 at the two ends of the connecting plate 303 move along the length direction of the guide rails 203, the design of the second inward shrinking section 208 helps to ensure the close matching of the sliding blocks 311 and the tops of the guide rails 203, the matching of the first inward shrinking section 204, the inward extending section 205 and the outward extending section 206 is arranged on the two sides of the length direction of the guide rails 203 to form embedded grooves, the protruding parts matched with the embedded grooves are correspondingly arranged on the sliding blocks 311, the outward extending section 206 can effectively block the sliding blocks 311, the sliding blocks 311 can only move stably along the length direction of the guide rails 203, and the sliding blocks 311 are prevented from being separated from the guide rails 203 upwards, particularly, during the resetting process of the telescopic rod of the oil cylinder 301 after the locking mechanism 400 is overturned (during the inward shrinking motion of the sliding rod of the oil cylinder 301), the connecting plate 305 is prevented from being separated from the guide rails 203 upwards, namely, the lifting of the telescopic rod of the oil cylinder 301 is prevented from being driven, the sliding rod is ensured, the sliding in the sliding block is stable in the direction.
Example 4
The basic structure of the mobile turning robot of this embodiment is the same as that of embodiment 3, further, in the turning device of this embodiment, the locking mechanism 400 includes a fixed locking portion 600 and a movable locking portion 700 which are detachably connected, two sides of the top of the fixed locking portion 600 are respectively hinged with two ends of the second connecting rod 306, two sides of the middle of the fixed locking portion 600 are respectively hinged with two ends of the third connecting rod 308, an extension rod 609 extending downwards is arranged at the bottom of the fixed locking portion 600, and a tray 610 for supporting the tubular member 500 is arranged at the bottom of the extension rod 609; the movable locking part 700 is fixed with the fixed locking part 600 by a locking member 706.
More specifically, as shown in fig. 6, the fixed locking part 600 includes an upper frame and a lower frame with the same structure, the upper frame and the lower frame are connected by a longitudinal section 608, wherein the upper frame includes a fixed section 601 parallel to the second connecting rod 306 and hinged at two ends, two ends of the fixed section 601 vertically extend to a first vertical section 602 and a second vertical section 603 (both located at horizontal positions), a first inclined section 604 gradually approaching the fixed section 601 is arranged at an outer end of the first vertical section 602, a second inclined section 606 gradually approaching the fixed section 601 is arranged at an outer end of the second vertical section 603, a middle section 605 is connected between the first inclined section 604 and the second inclined section 606, the middle section 605 is parallel to the fixed section 601, and a short-circuit section 607 is arranged between the middle section 605 and the fixed section 601; the first inclined section 604 and the second inclined section 606 are symmetrically distributed; the connection locations of each two sections of the upper frame are connected by the same location of the longitudinal section 608 and the lower frame. The bottom of the lower frame is also provided with a downward extending extension rod 609, the bottom of the extension rod 609 is provided with a tray 610, specifically, two ends of the middle section 605 of the lower frame are provided with downward extending extension rods 609, and the fixed section 601 of the lower frame is correspondingly provided with a rib plate 613 which extends obliquely and is respectively connected with the two extension rods 609, so that the structural strength is enhanced; the bottom of the extension rod 609 is provided with a supporting plate 612, the tray 610 is arranged on the supporting plate 612, and two sides of the supporting plate 612 are respectively provided with a triangular reinforcing plate 611, so that the stable support of the tray 610 to the tubular member 500 is further ensured.
The movable locking part 700 in this embodiment includes an upper frame part and a lower frame part with the same structure, the upper frame part and the lower frame part are connected by a vertical section 705, specifically, the upper frame part includes a transverse section 702 distributed parallel to the fixed section 601, one end of the transverse section 702 is provided with a vertically extending mounting section 701, the other end of the transverse section 702 is provided with an outer inclined section 703 inclined outwards, and an inner inclined section 704 is arranged between the mounting section 701 and the outer inclined section 703; the included angle alpha between the inner inclined section 704 and the mounting section 701 is an acute angle, and the included angle beta between the inner inclined section 704 and the outer inclined section 703 is an obtuse angle; the two ends of the mounting section 701 of the upper frame part are respectively provided with a vertical section 705 which is fixedly connected with the two ends of the mounting section 701 of the lower frame part, and the two ends of the outer inclined section 703 of the upper frame part are respectively provided with a vertical section 705 which is fixedly connected with the two ends of the outer inclined section 703 of the lower frame part; wherein, two ends of two vertical sections 705 closest to the fixed locking part 600 are respectively locked with the fixed locking part 600 through locking pieces 706, the locking pieces 706 can be provided as locking plates, bolt holes are formed on the locking plates, and the fixed locking part 600 and the movable locking part 700 are detachably connected through bolt locking; further, the locking members 706 at two ends of one vertical section 705 are formed with through grooves 707, and the bolts penetrate through the through grooves 707 to lock the fixed locking portion 600 and the movable locking portion 700, and the through grooves 707 are formed to facilitate the assembly and disassembly of the movable locking portion 700, without completely screwing out the bolts at two sides. As shown in the azimuth of fig. 9, the locking members 706 at two ends of the left vertical section 705 are formed into bolt holes, the locking members 706 at two ends of the right vertical section 705 are formed into through grooves 707, when the locking members are disassembled, the left locking bolts are unscrewed, then the right locking bolts are unscrewed, the whole movable locking part 700 can be removed leftwards without completely unscrewing, and the production and the high-efficiency operation are facilitated.
The fixing and locking part 600 and the movable locking part 700 are matched, so that the clamping device is particularly suitable for stably clamping the cylindrical part 500, four inclined connecting rods are surrounded on the periphery of the cylindrical part 500 and locked, symmetrical multi-point clamping of the cylindrical part 500 is realized, clamping stability is guaranteed, the self structural strength of the fixing and locking part 600 and the movable locking part 700 can be effectively enhanced, the tray 610 is matched, the bottom supporting and side wall encircling type locking of the cylindrical part 500 is realized, the problem of loosening and slipping of the cylindrical part 500 in the overturning process is avoided, and overturning safety is guaranteed.
Example 5
The multi-station turning method of the mobile turning robot of the embodiment adopts the mobile turning robot and operates according to the following steps:
step one, fixing a turnover device on a transfer trolley 800, hanging a cylindrical piece 500 in a locking mechanism 400 by a cantilever, specifically, locking a movable locking part 700 and a fixed locking part 600 after the cylindrical piece 500 is contacted with a tray 610 stably, and completing the fastening of the cylindrical piece 500;
step two, the transfer trolley 800 drives the turning device to perform station movement along the travelling rail 900, and after the turning device moves to the setting position, the oil cylinder 301 of the turning device horizontally moves and drives the pull rod 305 to pull the locking mechanism 400 to turn around the third connecting rod 308; specifically, the oil cylinder 301 ejects the telescopic rod, the sliding block 311 moves towards the direction of the hydraulic station, the oil cylinder 301 drives the limiting plate 302 and the connecting plate 303 to move forwards in the same direction, namely, the pull rod 305 is driven to pull the second connecting rod 306 forwards, namely, the locking mechanism 400 is pulled forwards, so that the telescopic rod of the oil cylinder 301 turns around the third connecting rod 308 in an angle, 90 degrees of turning is just completed when the telescopic rod of the oil cylinder 301 moves to the position of the front limiter 101, the cylindrical part 500 is horizontally placed, and other auxiliary equipment can be adopted to carry out subsequent processing on the cylindrical part 500 at the moment;
and thirdly, after the horizontal processing of the cylindrical member 500 is finished, the telescopic rod of the oil cylinder 301 is retracted, and when the telescopic rod moves to the position of the rear limiter 102, the locking mechanism 400 is turned back by 90 degrees around the third connecting rod 308, and the cylindrical member 500 is restored to be vertically placed and can be lifted out by a crane.
In the embodiment, the overturning speed can be adjusted by controlling the oil cylinder 301, so that the production takt is satisfied; meanwhile, mechanical and electrical protection is provided, reliable brake protection is adopted, power-off and enclasping are carried out, so that a power-off self-locking function is achieved at any position, fixed positioning and closed-loop control are adopted, and the locking mechanism 400 is guaranteed to be in an ideal vertical state after being overturned, and positioning accuracy is high.
The embodiment can realize multi-station overturning operation by matching with the movement of the transfer trolley 800 on different stations of the running track 900, and can meet the requirement of fast-paced industrial production; and the whole overturning process is stable in clamping the cylindrical piece 500, stable in overturning and high in production safety.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (6)
1. Remove upset robot, its characterized in that: the turnover device is arranged on the transfer trolley (800), and the transfer trolley (800) transfers the turnover device to different processing stations along the transfer rail (900) for turnover operation; the turnover device comprises a power mechanism (300), an orientation mechanism (200) and a locking mechanism (400), wherein the locking mechanism (400) is used for fixing a cylindrical part (500) to be turned, the power mechanism (300) comprises an oil cylinder (301) and a pull rod (305), the pull rod (305) is connected with the locking mechanism (400), the oil cylinder (301) horizontally moves to drive the pull rod (305) to pull the locking mechanism (400) to turn around a certain axis, and the orientation mechanism (200) is used for controlling the running direction of the power mechanism (300);
a connecting plate (303) is arranged at the top of the telescopic rod of the oil cylinder (301), a first connecting rod (304) is arranged between two ends of the connecting plate (303), pull rods (305) are respectively hinged at two ends of the first connecting rod (304), the other ends of the two pull rods (305) are respectively hinged at two sides of the top of the locking mechanism (400), and two sides of the middle of the locking mechanism (400) are respectively hinged on fixed columns (307) at two sides of the base (100); a second connecting rod (306) is arranged between the ends of the two pull rods (305) far away from the first connecting rod (304), the pull rods (305) are hinged with the second connecting rod (306), and the two ends of the second connecting rod (306) are respectively hinged with the two sides of the top of the locking mechanism (400) correspondingly; a third connecting rod (308) is arranged between the fixed columns (307) on two sides of the base (100), and two ends of the third connecting rod (308) are respectively hinged with two sides of the middle part of the locking mechanism (400); the oil cylinder (301) horizontally moves to drive the pull rod (305) to pull the locking mechanism (400) to overturn around the third connecting rod (308);
the locking mechanism (400) comprises a fixed locking part (600) and a movable locking part (700) which are detachably connected, wherein two sides of the top of the fixed locking part (600) are respectively hinged with two ends of a second connecting rod (306), two sides of the middle of the fixed locking part (600) are respectively hinged with two ends of a third connecting rod (308), the bottom of the fixed locking part (600) is provided with an extension rod (609) which extends downwards, and the bottom of the extension rod (609) is provided with a tray (610) for supporting the tubular piece (500); the movable locking part (700) and the fixed locking part (600) are fixed through a locking piece (706);
the fixed locking part (600) comprises an upper frame and a lower frame which are identical in structure, the upper frame and the lower frame are connected through a longitudinal section (608), the upper frame comprises a fixed section (601) which is parallel to a second connecting rod (306) and hinged to two ends, a first vertical section (602) and a second vertical section (603) are respectively and vertically extended at two ends of the fixed section (601), a first inclined section (604) which is gradually close to the fixed section (601) is arranged at the outer end part of the first vertical section (602), a second inclined section (606) which is gradually close to the fixed section (601) is arranged at the outer end part of the second vertical section (603), an intermediate section (605) is connected between the first inclined section (604) and the second inclined section (606), the intermediate section (605) is parallel to the fixed section (601), and a short-circuit section (607) is arranged between the intermediate section (605) and the fixed section (601); the first inclined section (604) and the second inclined section (606) are symmetrically distributed; every two connecting positions of the upper frame are connected with the same positions of the lower frame through a longitudinal section (608);
the movable locking part (700) comprises an upper frame part and a lower frame part which are identical in structure, the upper frame part and the lower frame part are connected through a vertical section (705), the upper frame part comprises transverse sections (702) which are distributed in parallel with the fixed sections (601), one end of each transverse section (702) is provided with a vertically extending mounting section (701), the other end of each transverse section (702) is provided with an outer inclined section (703) which is inclined outwards, and an inner inclined section (704) is arranged between each mounting section (701) and each outer inclined section (703); the included angle alpha between the inner inclined section (704) and the mounting section (701) is an acute angle, and the included angle beta between the inner inclined section (704) and the outer inclined section (703) is an obtuse angle; the two ends of the mounting section (701) of the upper frame part are respectively provided with a vertical section (705) which is fixedly connected with the two ends of the mounting section (701) of the lower frame part, and the two ends of the outer inclined section (703) of the upper frame part are respectively provided with a vertical section (705) which is fixedly connected with the two ends of the outer inclined section (703) of the lower frame part; wherein, two ends of two vertical sections (705) closest to the fixed locking part (600) are respectively locked with the fixed locking part (600) through locking pieces (706).
2. The mobile rollover robot as recited in claim 1, wherein: at least one force-aid rod is uniformly arranged between the first connecting rod (304) and the second connecting rod (306) at intervals, and the force-aid rod is parallel to the pull rod (305).
3. The mobile rollover robot as recited in claim 1, wherein: the orientation mechanism (200) comprises guide rails (203) arranged on two sides of the base (100), the guide rails (203) are parallel to the extending and contracting direction of the telescopic rod of the oil cylinder (301), and two ends of the connecting plate (303) are respectively provided with a sliding block (311) matched with the guide rails (203).
4. A mobile tilting robot according to claim 3, characterized in that: the guide rail (203) comprises a bottom rail, first inward shrinking sections (204) extending inwards are symmetrically arranged on two sides of the bottom rail, inward extending sections (205) are vertically and upwardly extending above the first inward shrinking sections (204), outward extending sections (206) extending outwards in an inclined mode are symmetrically arranged on two sides of the inward extending sections (205), outward extending sections (207) are vertically and upwardly extending above the outward extending sections (206), inward extending second inward shrinking sections (208) are symmetrically arranged on two sides of the top of the outward extending sections (207), and the second inward shrinking sections (208) on two sides are connected through a horizontal plane; the slider 311 is slidably moved on the outside of the guide rail 203.
5. The mobile rollover robot as recited in claim 1, wherein: the base (100) is provided with a front limiter (101) and a rear limiter (102) along the extending and retracting direction of the oil cylinder (301) extending and retracting rod, the front limiter (101) is arranged in front of the oil cylinder (301) extending and retracting rod, and the rear limiter (102) is arranged behind the oil cylinder (301) extending and retracting rod.
6. A multi-station turning method of a mobile turning robot, characterized in that the mobile turning robot according to any one of claims 1-5 is adopted, and after a transfer trolley (800) transfers a turning device to a certain station, an oil cylinder (301) horizontally moves and drives a pull rod (305) to pull a locking mechanism (400) to turn around a third connecting rod (308).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499378.0A CN107953303B (en) | 2017-12-29 | 2017-12-29 | Mobile overturning robot and multi-station overturning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499378.0A CN107953303B (en) | 2017-12-29 | 2017-12-29 | Mobile overturning robot and multi-station overturning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107953303A CN107953303A (en) | 2018-04-24 |
| CN107953303B true CN107953303B (en) | 2023-08-22 |
Family
ID=61957352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711499378.0A Active CN107953303B (en) | 2017-12-29 | 2017-12-29 | Mobile overturning robot and multi-station overturning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953303B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109139037B (en) * | 2018-10-29 | 2024-06-04 | 安徽唐兴装备科技股份有限公司 | Overturning device for disassembling and assembling push bench |
| CN109625867B (en) * | 2018-12-03 | 2024-06-14 | 东莞东聚电子电讯制品有限公司 | Overturning method of middle section track precise overturning mechanism |
| CN109484829B (en) * | 2019-01-02 | 2024-05-28 | 广东和胜工业铝材股份有限公司 | Workpiece steering device |
| CN111908377B (en) * | 2020-07-06 | 2022-03-15 | 中交武汉港湾工程设计研究院有限公司 | Heavy construction quick assembling and disassembling structure and manufacturing method thereof |
| CN112743514B (en) * | 2020-12-24 | 2022-11-11 | 华中科技大学 | Equipment suitable for automatic transportation and upset of acoustic resonance mixing container |
| CN115008431B (en) * | 2022-08-08 | 2022-11-01 | 四川精诚致远门窗工程有限公司 | Turnover operation table for metal door and window processing |
| CN117485860B (en) * | 2023-10-24 | 2024-06-14 | 蚌埠市高远光电有限公司 | Screen turning device for liquid crystal display panel production |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0529793A (en) * | 1991-07-19 | 1993-02-05 | Nec Home Electron Ltd | Method of automatically turning over and supplying printed board, and apparatus therefor |
| CN202743537U (en) * | 2012-07-24 | 2013-02-20 | 南京文采科技有限责任公司 | GD packing machine section package turning device |
| CN202781523U (en) * | 2012-09-01 | 2013-03-13 | 上海致远绿色能源有限公司 | Die for impeller of wind power generator |
| CN203254393U (en) * | 2013-05-20 | 2013-10-30 | 常州星宇车灯股份有限公司 | Working platform capable of multi-angle overturning |
| JP2015155601A (en) * | 2014-02-20 | 2015-08-27 | 川崎重工業株式会社 | Shape holding device of segment |
| CN204624624U (en) * | 2015-04-13 | 2015-09-09 | 长兴蓝天电子有限公司 | Cond is produced and is used lath automatic charging device |
| CN105217448A (en) * | 2015-10-08 | 2016-01-06 | 贵州省遵义市永力机电安装有限公司 | A kind of safety device preventing the derailing of driving road wheel |
| CN205248071U (en) * | 2015-12-04 | 2016-05-18 | 无锡市电力变压器有限公司 | Iron core fixed knot of transformer constructs |
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
| CN106829728A (en) * | 2017-02-09 | 2017-06-13 | 河北新大地机电制造有限公司 | A kind of stable stacking machine for realizing rapid transport |
| CN106956915A (en) * | 2017-05-11 | 2017-07-18 | 徐州徐工环境技术有限公司 | Tipper |
| CN207684414U (en) * | 2017-12-29 | 2018-08-03 | 安徽佩吉智能科技有限公司 | Moving and turning machine device people |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015196207A1 (en) * | 2014-06-20 | 2015-12-23 | GroupeSTAHL | Table for weeding heat transfers |
-
2017
- 2017-12-29 CN CN201711499378.0A patent/CN107953303B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0529793A (en) * | 1991-07-19 | 1993-02-05 | Nec Home Electron Ltd | Method of automatically turning over and supplying printed board, and apparatus therefor |
| CN202743537U (en) * | 2012-07-24 | 2013-02-20 | 南京文采科技有限责任公司 | GD packing machine section package turning device |
| CN202781523U (en) * | 2012-09-01 | 2013-03-13 | 上海致远绿色能源有限公司 | Die for impeller of wind power generator |
| CN203254393U (en) * | 2013-05-20 | 2013-10-30 | 常州星宇车灯股份有限公司 | Working platform capable of multi-angle overturning |
| JP2015155601A (en) * | 2014-02-20 | 2015-08-27 | 川崎重工業株式会社 | Shape holding device of segment |
| CN204624624U (en) * | 2015-04-13 | 2015-09-09 | 长兴蓝天电子有限公司 | Cond is produced and is used lath automatic charging device |
| CN105217448A (en) * | 2015-10-08 | 2016-01-06 | 贵州省遵义市永力机电安装有限公司 | A kind of safety device preventing the derailing of driving road wheel |
| CN205248071U (en) * | 2015-12-04 | 2016-05-18 | 无锡市电力变压器有限公司 | Iron core fixed knot of transformer constructs |
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
| CN106829728A (en) * | 2017-02-09 | 2017-06-13 | 河北新大地机电制造有限公司 | A kind of stable stacking machine for realizing rapid transport |
| CN106956915A (en) * | 2017-05-11 | 2017-07-18 | 徐州徐工环境技术有限公司 | Tipper |
| CN207684414U (en) * | 2017-12-29 | 2018-08-03 | 安徽佩吉智能科技有限公司 | Moving and turning machine device people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107953303A (en) | 2018-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107953303B (en) | Mobile overturning robot and multi-station overturning method thereof | |
| CN207684414U (en) | Moving and turning machine device people | |
| CN201990234U (en) | High-temperature steel coil turning conveyor | |
| CN102275811A (en) | Lifting device and engineering machine thereof | |
| CN109760364B (en) | Die changing equipment and method | |
| CN103787058A (en) | Alloy casting rod conveying device | |
| CN203845710U (en) | Automobile production line welding station switching device | |
| CN203091997U (en) | Double-layer telescopic welding robot system | |
| CN210633264U (en) | Automatic metal processing production line for casting ball socket | |
| CN202006344U (en) | Welding clamp lifting mechanism | |
| CN115339992B (en) | Lifting appliance system and lifting method for sleeper die | |
| CN107601268B (en) | Portal crane | |
| CN204381313U (en) | A kind of metal die installing mechanism in place | |
| CN208906903U (en) | A kind of intermittent conveyer and sack for transporting calcium carbide line | |
| CN102950589B (en) | A kind of tandem large-size propeller turning manipulator | |
| CN105459143A (en) | Slope pushing type gripper | |
| CN105345357A (en) | Positioning device for assembling and welding of upper beams of pallet fork frame of forklift | |
| CN202080807U (en) | Sheet metal workpiece hoisting device | |
| CN113562607B (en) | Clamping jaw is transported at heavy longmen of unmanned ization | |
| CN205363941U (en) | Inclined plane repulsive -type maglev tongs | |
| CN212174326U (en) | Feeding device for forging production | |
| CN104803325A (en) | Fork truck used in coal mine tunnel | |
| CN215752415U (en) | Working component for cart mechanism | |
| CN218968679U (en) | Telescopic lifting beam for monorail crane | |
| CN211309882U (en) | Hydraulic moving device for producing large steel members |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |