CN110775653A

CN110775653A - Automatic workpiece taking system of industrial robot

Info

Publication number: CN110775653A
Application number: CN202010000208.9A
Authority: CN
Inventors: 罗文成; 刘思文; 苏鑫; 李林; 梁瑞豪
Original assignee: Foshan Longshen Robot Co Ltd
Current assignee: Foshan Longshen Robot Co Ltd
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2020-02-11
Anticipated expiration: 2040-01-02
Also published as: CN110775653B

Abstract

The invention relates to the technical field of robots, and provides an automatic workpiece taking system of an industrial robot, which comprises a conveyor belt and a sorting device, wherein at least one side of the conveyor belt is provided with a fixed frame, and the fixed frame is provided with a plurality of stations for mounting workpieces; the sorting device comprises a driving device and a rotating shaft, the rotating shaft is arranged between the conveying belt and the fixed frame, a plurality of mechanical arms which are aligned with all stations on the fixed frame are arranged on the rotating shaft, and suction heads used for sucking and placing workpieces are arranged on the mechanical arms; the driving device drives the rotating shaft to rotate forwards and reversely alternately, so that the mechanical arms can swing back and forth between the fixed frame and the conveying belt and transfer the position of a workpiece. The invention improves the integral structure of the system, realizes batch pickup, and effectively improves pickup speed and processing efficiency.

Description

Automatic workpiece taking system of industrial robot

Technical Field

The invention relates to the technical field of robots, in particular to an automatic workpiece taking system of an industrial robot.

Background

With the increasing development of science and technology, in the production and processing operation, the manual assembly line operation originally adopted has been gradually replaced by the full mechanical automation production line, so as to effectively save the labor cost, in particular to the standardized industrial production environment, the high-tech industrial robot equipment has been adopted as the processing node on the production line, the manual operation is replaced, the modern production and processing are carried out by utilizing the advantages of high stability, large bearing capacity, accurate operation and the like of the industrial robot, and the industrial robot has been gradually popularized to various large full mechanical automation production lines.

The processed workpieces are various in types, in order to save storage space, some workpieces are in a superposed state when stored, and the workpieces in the superposed state are sorted out to form a single individual body during actual processing so as to be processed in the next step. For example: in the plastic plates of the common fast food tableware, the plastic plates are stacked and need to be sorted one by one in the sorting process. If the tray is manually handled, a large amount of operation time is consumed, and the adjacent trays in the stacking state have viscosity, so that the trays are difficult to effectively separate, and need to be carefully lifted one by one, thereby further improving the processing difficulty and time consumption and having low operation efficiency. Therefore, a device specially used for sorting overlapped workpieces has been proposed in the prior art, the device is in a turntable structure, a suction rod with a suction function and a discharge function is arranged on the turntable, the overlapped workpieces are separated and extracted in the rotation process of the turntable, and then the position of the overlapped workpieces is transferred along with the rotation of the turntable, so that the manual operation is effectively replaced, and the processing efficiency is improved.

However, in the rotating disc type workpiece taking device in the prior art, the suction rod on the device needs to realize the transfer of the workpiece taking and placing positions along with the rotation of the rotating disc, one workpiece is taken and sent by the rotating disc every time the rotating disc rotates, the rotating speed of the rotating disc limits the workpiece taking speed, and only the sorting work of a stack of workpieces can be completed at each time, so that the processing efficiency is low, and the operation time is long. If the rotating speed of the turntable is increased, the condition of missing or excessive fetching is easy to occur, and the processing quality is seriously influenced. Therefore, the prior art pick-off device has many defects, and the requirement of modern production cannot be met.

Disclosure of Invention

The invention aims to provide an automatic workpiece taking system of an industrial robot, aiming at the defects that the workpiece taking efficiency of a workpiece taking device in the prior art is low and the workpiece is easy to miss, the whole structure of the system is improved, the batch workpiece taking is realized, and the workpiece taking speed and the machining efficiency are effectively improved.

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

an automatic workpiece taking system of an industrial robot comprises a conveyor belt and a sorting device, wherein at least one side of the conveyor belt is provided with a fixing frame, and the fixing frame is provided with a plurality of stations for mounting workpieces; the sorting device comprises a driving device and a rotating shaft, the rotating shaft is arranged between the conveying belt and the fixed frame, a plurality of mechanical arms which are aligned with all stations on the fixed frame are arranged on the rotating shaft, and suction heads used for sucking and placing workpieces are arranged on the mechanical arms; the driving device drives the rotating shaft to rotate forwards and reversely alternately, so that the mechanical arms can swing back and forth between the fixed frame and the conveying belt and transfer the position of a workpiece.

Compared with the prior art, the automatic workpiece taking system of the industrial robot changes the traditional rotating disc type workpiece taking structure, a sorting device and a fixing frame are arranged on two sides of a conveying belt, and a plurality of work stations for mounting workpieces are arranged on the fixing frame; the sorting device is provided with a driving device and a rotating shaft, the rotating shaft is arranged between the conveying belt and the fixing frame, the rotating shaft is provided with a plurality of mechanical arms matched with the number of the stations on the fixing frame, the mechanical arms and the stations are aligned with each other, and the mechanical arms are provided with suction heads for sucking and placing workpieces. The driving device drives the rotating shaft to alternatively rotate in the forward direction and the reverse direction, so that the mechanical arm is controlled to do reciprocating swing motion, workpieces are sucked from the fixed frame and transferred to the conveying belt, the batch sorting and workpiece conveying operation is effectively realized, and the workpiece taking speed is increased. Because each station for installing the workpiece on the fixing frame is aligned with each mechanical arm, the position and the conveying path for taking and placing the workpiece are limited, and the accuracy and the stability of the workpiece taking operation are effectively improved. Moreover, the workpiece is subjected to position transfer through the swinging reciprocating motion of the mechanical arm, so that the workpiece taking motion has a rhythm rule, the workpiece conveying distance is effectively reduced, and the workpiece conveying efficiency is improved.

The structure of the fixing frame is further improved, a plurality of limiting pipes, a plurality of jacking motors and a tray for bearing a workpiece are arranged on stations of the fixing frame, and the limiting pipes are uniformly distributed on the periphery of the tray; the bottom of tray be equipped with the drive shaft that jacking motor is connected, jacking motor drive the drive shaft is in order to adjust the height of tray. Because the pick-up position of the mechanical arm is fixed, the mechanical arm absorbs the top layer of workpieces in the swinging reciprocating motion and transfers the position, but the height of the workpieces on the tray is gradually reduced along with the gradual reduction of the absorbed quantity of the workpieces, so that the suction head of the mechanical arm is difficult to absorb. Therefore, the bottom of the fixing frame is provided with the jacking motor which is connected with the tray through the driving shaft, so that the height of the tray is adjusted, the suction head can accurately suck the workpiece, and the missing rate of the workpiece is effectively reduced.

Furthermore, the limiting pipe is provided with a sensor for detecting the position of the workpiece, and the sensor is arranged at the top end of the limiting pipe. The jacking motor can be connected with the sensor through a circuit, and the height of the tray can be adjusted according to a detection signal of the sensor, so that a workpiece is kept at the top position of the fixing frame, and a suction head of the mechanical arm can suck the workpiece.

Furthermore, the sorting device is also connected with an air outlet device for providing air flow, and the air outlet device is connected with the limiting pipe through a pipeline; the top end of the limiting pipe is provided with an air jet hole facing the tray, and the air jet hole jets airflow provided by the air outlet device to the tray so as to separate a workpiece on the top layer for the mechanical arm to suck; the top end of the limiting pipe is further provided with a limiting blocking piece extending to the tray, and the limiting blocking piece is an elastic piece. Since a certain viscosity exists between the adjacent works in the stacked state, it is difficult to completely separate the respective works, resulting in a situation where the sucked works are easily overlapped. In order to effectively separate the superposed workpieces, the top end of the limiting pipe is provided with an air injection hole, the air injection hole outputs air provided by the air outlet device and injects air to the workpieces on the tray, and the air injection hole is arranged at the top end of the limiting pipe, so that the top workpiece position of the superposed workpieces arranged on the tray corresponds to and blows up the workpieces on the top layer, the workpieces on the top layer are separated from the superposed workpieces, the suction head of the mechanical arm can directly suck the workpieces, and the superposition rate of the workpieces is effectively reduced. In addition, in the process of spraying air to the workpiece, impurities or dust particles on the workpiece are simultaneously removed, and the workpiece is not required to be pretreated by an additional dust removal device, so that the structure and the operation procedure of the whole machine are effectively simplified, the stability of workpiece taking operation is ensured, and the processing efficiency is improved.

In addition, aiming at the problem that the workpiece on the top layer is easy to separate after being blown, the top end of the limiting pipe is provided with the limiting blocking piece, and the limiting pipe arranged in a plurality of directions on the peripheral side of the tray is combined to limit the position of the workpiece, so that the workpiece is suspended on the top of the fixing frame after being blown by the air injection holes, and the suction head of the mechanical arm can be directly sucked after being in place. The limiting blocking piece is preferably an elastic piece, so that the limiting blocking piece can play a role in blocking the workpiece from coming off, and can deform under stress to give way out of the extraction channel when the suction head of the mechanical arm extracts the workpiece, and the performance and the processing quality of the whole machine are further improved.

On the basis, the air outlet device comprises a fan and a control valve, the fan is connected with the control valve, and the control valve is provided with at least two groups of vent pipes connected with the limiting pipes on the fixing frame; the control valve is provided with an air cylinder and a valve plug, and the valve plug is accommodated in the control valve and is connected with a driving rod of the air cylinder; the cylinder drives the valve plug to move in the control valve so as to open and close the communication port between the control valve and the vent pipe. According to the automatic pickup system, two groups of sorting devices can be preferably arranged on two sides of the conveying belt respectively, and the fixing frames arranged on the two sides of the conveying belt are provided with corresponding number of stations matched with the positions of the mechanical arms of the sorting devices. The air outlet device can carry out gas conveying and distribution operation aiming at the limiting pipes on the fixing frames on the two sides of the conveying belt, the control valve of the air outlet device is provided with the vent pipes respectively connected with the limiting pipes on the fixing frames on the two sides, and the distribution operation of gas conveying is realized through the control of the cylinder of the control valve and the valve plug. In practical application, the operation flow of the whole machine can be that the sorting device on one side of the conveyor belt starts to perform sorting operation of the workpieces, and the sorting device on the other side stops to perform operation, so that the workers can conveniently perform feeding operation on the trays on the side fixing frames, install the workpieces on the trays of all stations, and operate alternately in the mode. Therefore, the air outlet device arranged on the automatic part taking system can meet the requirement of air supply of the limiting pipes on the fixing frames at two sides of the conveying belt, the whole machine can continuously carry out processing operation, parts and energy consumption are effectively saved, and the production efficiency is improved.

The driving device is further improved and comprises a rotating motor, an eccentric wheel, a connecting rod, a driven gear and a connecting frame, wherein the rotating motor is connected with the eccentric wheel and drives the eccentric wheel to rotate in a single direction; a first connecting shaft is arranged on the eccentric wheel, a lantern ring sleeved with the first connecting shaft is arranged at one end of the connecting rod, and the other end of the connecting rod is supported on the connecting frame; the connecting frame is provided with a sleeve hole which is connected with the rotating shaft in a penetrating way, so that the end part of the rotating shaft penetrates out of the sleeve hole of the connecting frame; the connecting rod is provided with convex teeth, and the driven gear is sleeved on the end part of the rotating shaft and meshed with the convex teeth on the connecting rod. The mechanical arm needs to realize reciprocating and swinging motion, so that the rotating shaft needs to rotate in a forward direction and a reverse direction alternately to provide driving force, the rotating shaft is generally driven to rotate in the forward direction and the reverse direction by controlling the switching of the forward rotation and the reverse rotation of the motor in the prior art, but the switching operation is delayed in the process from starting to stopping and from stopping to starting in the switching operation of the forward rotation and the reverse rotation, so that the reciprocating frequency of the mechanical arm is reduced, and the conveying speed is seriously influenced. For this purpose, the driving device of the invention is provided with a combination of an eccentric wheel, a connecting rod and a driven gear between the rotating motor and the rotating shaft, wherein the connecting rod is provided with convex teeth and is meshed with the driven gear fixed at the end part of the rotating shaft. The rotating motor can drive the eccentric wheel to rotate in a unidirectional rotation mode so as to drive the connecting rod to be meshed with the driven gear fixed on the rotating shaft on the connecting frame and to reciprocate, and therefore the rotating shaft is driven to rotate in a forward direction and a reverse direction alternately. The unidirectional rotation of the single rotating machine can ensure the continuity of the reciprocating motion of the connecting rod, effectively solve the problem of delay of the forward and reverse rotation switching of the motor, improve the reciprocating frequency of the mechanical arm, accelerate the workpiece conveying speed of the mechanical arm and improve the driving performance of the driving device.

On the basis, the connecting frame is further provided with a guide rail, and the connecting rod is provided with a guide edge embedded with the guide rail. On one hand, the convex teeth on the periphery of the connecting rod are meshed with the driven gear on the rotating shaft; on the other hand, the guide edge on the connecting rod is embedded and fixed with the guide rail on the connecting frame, so that the reciprocating track of the connecting rod is effectively limited, and the stability of the forward and reverse rotation switching operation of the rotating shaft is improved.

The control structure of the mechanical arm is further improved, the rotating shaft is a hollow through pipe, an input head for inputting external gas is arranged at the end part of the rotating shaft, a plurality of output pipes aligned with the mechanical arm are arranged on the rotating shaft, and an air supply pipe is connected between each output pipe and the suction head; the rotating shaft is provided with a sensing strip which rotates along with the swinging of the mechanical arm, the rotating shaft is provided with a first position at which the mechanical arm absorbs a workpiece, a second position at which the mechanical arm releases the workpiece and a third position at which the mechanical arm is stored and reset, and the first position, the second position and the third position are respectively provided with a sensing head which is aligned with the sensing strip; the rotating shaft is further connected with an electric control valve for opening and closing input gas, the electric control valve is connected with the induction head, and the input of the gas is opened and closed through alignment detection of the induction head and the induction strip. On the one hand, the pneumatic gas for sucking the workpiece is communicated with the suction heads on the mechanical arms through the rotating shaft, so that an additional air duct is avoided, the connecting structure of the device is simplified, the fault of blocking or breaking of the duct is avoided, and the quality of the whole machine is effectively improved. On the other hand, the sorting device of the system provided by the invention performs suction and release operations on the workpiece in the reciprocating swing process of the mechanical arm, so that a corresponding control mechanism is arranged for the suction and release control of the mechanical arm, the three positions of the mechanical arm for sucking, releasing the workpiece and accommodating and resetting are provided with the induction heads, the rotating shaft is provided with the induction strips which rotate along with the rotating shaft and are aligned with the induction heads, the electric control valves are arranged to be connected with the induction heads at the positions, and the gas input is opened and closed according to the alignment detection of the induction heads and the induction strips, so that the suction and release operations of the suction head of the mechanical arm are controlled, the suction and release functions of the sorting device are effectively ensured, and the workpiece taking.

Furthermore, a plurality of fixed seats and fixed wheels which are aligned with the mechanical arm are arranged on the rotating shaft, one end of the mechanical arm is fixedly sleeved with the rotating shaft, and the fixed wheels are clamped with the fixed seats; the other end of the mechanical arm is provided with a positioning wheel and a second connecting shaft, a limiting belt is connected between the positioning wheel and the fixed wheel, and the suction head is connected with the second connecting shaft and rotates to keep drooping through the sleeving connection of the second connecting shaft and the positioning wheel. In order to reduce the ineffective action of the mechanical arm, a suction head on the mechanical arm needs to keep a downward drooping state so as to accurately position and operate the suction and placement of workpieces. One end of the mechanical arm is fixedly connected with the rotating shaft and is matched with the fixed seat and the fixed wheel on the rotating shaft, and a limiting belt is connected between the fixed wheel and the positioning wheel on the other end of the mechanical arm, so that the fixed wheel and the positioning wheel are static and do not rotate in the swinging process of the mechanical arm; the other end of the mechanical arm enables the suction head to be in sleeve joint rotation with the positioning wheel on the end part of the mechanical arm through the second connecting shaft, so that the suction head can keep a drooping state under the action of gravity and can move along with the swing of the mechanical arm. The mechanical arm only swings, so that the suction head can move to a position for sucking and placing the workpiece and transferring the workpiece, the structure of the mechanical arm is effectively simplified, ineffective actions are saved, and the workpiece conveying speed and the operation efficiency are improved.

Furthermore, the mechanical arm is provided with an adapter and a fixing hole, and the adapter is arranged on the fixing hole; the air supply pipe is connected with the adaptor and is connected with the suction head through the fixing hole. In the operation process of the system, the air supply pipe connected between the rotating shaft and the suction head is easy to wind on the mechanical arm and is clamped and damaged, or the clamping accident is caused. Therefore, the fixing structure of the air supply pipe is arranged on the mechanical arm and comprises an adapter and a fixing hole, the air supply pipe is fixed on the mechanical arm and connected with the suction head, the wiring position of the air supply pipe is effectively limited, the air supply pipe is prevented from being easily broken by clamping and damaged, and the blocking fault is eliminated.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is an overall structural diagram of an automatic workpiece taking system of an industrial robot according to an embodiment of the invention;

FIG. 2 is a diagram of an internal structure of an automatic pickup system according to an embodiment of the present invention;

fig. 3 is a structural view of a sorting device and a fixing frame on one side of a conveyor belt according to an embodiment of the present invention;

fig. 4 is a first perspective view of a fixing frame according to an embodiment of the present invention;

fig. 5 is a perspective view of a second fixing frame according to an embodiment of the present invention;

FIG. 6 is a partial structural view of a position limiting pipe according to an embodiment of the present invention;

fig. 7 is a perspective view of an air outlet device provided in the embodiment of the present invention;

FIG. 8 is a cross-sectional view of a control valve provided in accordance with an embodiment of the present invention;

fig. 9 is a first perspective view of a sorting apparatus according to an embodiment of the present invention;

FIG. 10 is an exploded view of a drive device according to an embodiment of the present invention;

fig. 11 is a perspective view of a second sorting apparatus provided in the embodiment of the present invention;

FIG. 12 is an enlarged view of portion A of FIG. 11;

FIG. 13 is an enlarged view of portion B of FIG. 11;

FIG. 14 is a pickup status view of the automatic pickup system according to an embodiment of the present invention;

fig. 15 is a view of a placement status of the automatic pick-up system according to the embodiment of the invention.

Reference numerals: 100. a fixed frame; 200. a workpiece;

1. a conveyor belt;

2. a sorting device;

3. a fixed mount; 31. a limiting pipe; 32. a jacking motor; 33. a tray; 34. a drive shaft; 35. an inductor; 36. a gas injection hole; 37. a limiting baffle plate;

4. a drive device; 41. a rotating electric machine; 42. an eccentric wheel; 421. a first connecting shaft; 43. a connecting rod; 431. a collar; 432. a convex tooth; 433. a guide edge; 44. a driven gear; 45. a connecting frame; 451. trepanning; 452. a guide rail;

5. a rotating shaft; 51. an input head; 52. an output pipe; 53. an air supply pipe; 54. an induction strip; 55. an inductive head; 56. an electrically controlled valve; 57. a fixed seat; 58. a fixed wheel;

6. a mechanical arm; 61. a suction head; 62. a second connecting shaft; 63. positioning wheels; 64. a stopper band; 65. an adapter; 66. a fixing hole;

7. an air outlet device; 71. a fan; 72. a control valve; 721. a cylinder; 722. a valve plug; 723. a drive rod; 73. a breather pipe; 74. a communication port.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 3, an automatic workpiece picking system for an industrial robot according to an embodiment of the present invention includes a fixing frame 100, a conveyor belt 1 and a sorting device 2 are disposed in the fixing frame 100, two sides of the conveyor belt are provided with fixing frames 3, and the fixing frames 3 are provided with a plurality of stations for mounting workpieces 200. The sorting device 2 comprises a driving device 4 and a rotating shaft 5, the rotating shaft 5 is arranged between the conveyor belt 1 and the fixed frame 3, a plurality of mechanical arms 6 which are aligned with all stations on the fixed frame 3 are arranged on the rotating shaft 5, and suction heads 61 used for sucking and placing workpieces 200 are arranged on the mechanical arms 6; the driving device 4 drives the rotating shaft 5 to rotate forward and backward alternately, so that the mechanical arms 6 swing back and forth between the fixed frame 3 and the conveyor belt 1 and transfer the position of the workpiece 200.

The automatic workpiece taking system changes the traditional rotating disc type workpiece taking structure, a sorting device 2 and a fixing frame 3 are arranged on two sides of a conveyor belt 1, and a plurality of stations for mounting workpieces 200 are arranged on the fixing frame 3; the sorting device 2 is provided with a driving device 4 and a rotating shaft 5, the rotating shaft 5 is arranged between the conveying belt 1 and the fixing frame 3, the rotating shaft 5 is provided with a plurality of mechanical arms 6 matched with the number of the stations on the fixing frame 3, the mechanical arms 6 are aligned with the stations, and the mechanical arms 6 are provided with suction heads 61 for sucking and placing the workpieces 200. The driving device 4 drives the rotating shaft 5 to alternatively rotate in the forward direction and the reverse direction, so that the mechanical arm 6 is controlled to do reciprocating swing motion, the workpiece 200 is sucked from the fixed frame 3 and transferred to the conveying belt 1, the batch sorting and workpiece conveying operation is effectively realized, and the workpiece taking speed is improved. Because each station for installing the workpiece 200 on the fixing frame 3 and each mechanical arm 6 are mutually aligned, the position and the conveying path for taking and placing the workpiece 200 are limited, and the accuracy and the stability of the workpiece taking operation are effectively improved. Moreover, the workpiece 200 is subjected to position transfer through the swinging reciprocating motion of the mechanical arm 6, so that the workpiece taking motion has a rhythm rule, the workpiece conveying distance is effectively reduced, and the workpiece conveying efficiency is improved.

Since the pick-up position of the robot arm 6 is fixed, the robot arm 6 sucks and transfers the top layer of the work 200 in the swing reciprocating motion, but as the number of the sucked works 200 is gradually reduced, the height of the overlapped works is gradually reduced, resulting in difficulty in sucking the suction head 61 of the robot arm 6. For this reason, the structure of the fixing frame 3 is optimized, as shown in fig. 3 to 5, a position limiting pipe 31, a jacking motor 32 and a tray 33 for bearing the workpiece 200 are arranged on a station of the fixing frame 3, and a plurality of position limiting pipes 31 are uniformly distributed on the periphery of the tray 33; the bottom of the tray 33 is provided with a driving shaft 34 connected with the jacking motor 32, and the jacking motor 32 drives the driving shaft 34 to adjust the height of the tray 33, so that the suction head 61 can accurately suck the workpiece 200, and the missing rate of the workpiece 200 is effectively reduced.

Preferably, as shown in fig. 5 to 6, an inductor 35 for detecting the position of the workpiece 200 is disposed on the limiting tube 31, and the inductor 35 is disposed at the top end of the limiting tube 31. The lift motor can be connected with the sensor 35 through a circuit, and can adjust the height of the tray 33 according to the detection signal of the sensor 35, so that the workpiece 200 can be kept at the top position of the fixed frame 3 for the suction of the suction head 61 of the mechanical arm 6.

Since there is a certain viscosity between the adjacent works 200 in the stacked state, it is difficult to completely separate the respective works 200, resulting in a case where the sucked works 200 are easily overlapped. In order to effectively separate the stacked workpieces 200, as shown in fig. 2, 5 and 6, the sorting device 2 is further connected with an air outlet device 7 for providing air flow, and the air outlet device 7 is connected with the limiting pipe 31 through a pipeline; the top end of the limiting pipe 31 is provided with an air injection hole 36 facing the tray 33, and the air injection hole 36 injects the air flow provided by the air outlet device 7 to the tray 33, so as to separate the top-layer workpiece 200 for the suction head 61 of the mechanical arm 6 to suck. Because the air injection holes 36 are arranged at the top end of the limiting pipe 31, corresponding to the position of the top layer workpiece 200 of the stacked workpieces arranged on the tray 33, the air provided by the air outlet device 7 is output through the air injection holes 36, and air is injected to the workpiece 200 on the tray 33 to blow up the top layer workpiece 200, so that the top layer workpiece 200 is separated from the stacked workpieces 200, the suction head 61 of the mechanical arm 6 can directly suck the workpieces, and the stacking rate of the workpieces 200 is effectively reduced. In addition, in the process of spraying air to the workpiece 200, impurities or dust particles on the workpiece 200 are removed at the same time, and the workpiece 200 is not required to be pretreated by arranging another dust removal device, so that the structure and the operation procedure of the whole machine are effectively simplified, the stability of workpiece taking operation is ensured, and the processing efficiency is improved.

In addition, as shown in fig. 5 to 6, in order to solve the problem that the top workpiece 200 is easy to come off after being blown up, the top end of the limiting tube 31 is further provided with a limiting baffle 37 extending to the tray 33, and the limiting tube 31 arranged in a plurality of directions on the peripheral side of the tray 33 is combined to limit the position of the workpiece 200, so that the workpiece 200 is blown up by the air injection holes 36 and then suspended on the top of the fixed frame 3, and the suction head 61 of the mechanical arm 6 is directly sucked after being in place. The limiting blocking piece 37 is preferably an elastic piece, so that the limiting blocking piece 37 not only can play a role in blocking the workpiece 200 from coming off, but also can deform under stress when the suction head 61 of the mechanical arm 6 extracts the workpiece 200 to give way out of an extraction channel, and the performance and the processing quality of the whole machine are further improved.

As shown in fig. 7 to 8, the air outlet device 7 includes a blower 71 and a control valve 72, the blower 71 is connected to the control valve 72, and at least two sets of air pipes 73 connected to the limiting pipes 31 on the fixing frame 3 are disposed on the control valve 72; the control valve 72 is provided with an air cylinder 721 and a valve plug 722, and the valve plug 722 is accommodated in the control valve 72 and is connected with a driving rod 723 of the air cylinder 721; the cylinder 721 drives the valve plug 722 to displace within the control valve 72 to open and close the communication port 74 between the control valve 72 and the breather pipe 73. In order to cooperate with the station setting on the fixing frames 3 on both sides of the conveyor belt 1, the air outlet device 7 can perform air conveying and distributing operations for the limiting pipes 31 on the fixing frames 3 on both sides, the control valve 72 of the air outlet device 7 is provided with air pipes 73 respectively connected with the limiting pipes 31 on the fixing frames 3 on both sides, and the distributing operation of air conveying is realized through the control of the air cylinder 721 and the valve plug 722 of the control valve 72. In practical application, the operation flow of the whole machine may be that the sorting device 2 on one side of the conveyor belt 1 starts to perform picking and sorting operation, and the sorting device 2 on the other side stops to perform loading operation on the tray 33 on the side fixing frame 3 by a worker, so as to install the workpieces 200 on the trays 33 of each station, and perform the operation alternately in this way. Therefore, the air outlet device 7 arranged on the automatic part taking system can meet the requirement of air supply of the limiting pipes 31 on the fixing frames 3 at two sides of the conveyor belt 1, so that the whole machine can continuously carry out processing operation, parts and energy consumption are effectively saved, and the production efficiency is improved.

Since the mechanical arm 6 needs to perform reciprocating and swinging motion, the rotating shaft 5 needs to rotate alternately in the forward direction and the reverse direction to provide driving force, the prior art generally drives the rotating shaft 5 to rotate in the forward direction and the reverse direction by controlling the switching of the forward rotation and the reverse rotation of the motor, but as the switching operation of the motor needs to occur from starting to stopping and from stopping to starting in the switching operation of the forward rotation and the reverse rotation, the switching operation is delayed, so that the reciprocating frequency of the mechanical arm 6 is reduced, and the conveying speed is seriously influenced. For this purpose, the present invention optimizes the driving device 4, as shown in fig. 9 to 10, the driving device 4 includes a rotating motor 41, an eccentric wheel 42, a connecting rod 43, a driven gear 44 and a connecting frame 45, the rotating motor 41 is connected with the eccentric wheel 42 and drives the eccentric wheel 42 to rotate in one direction; a first connecting shaft 421 is arranged on the eccentric wheel 42, a lantern ring 431 sleeved with the first connecting shaft 421 is arranged at one end of the connecting rod 43, and the other end of the connecting rod 43 is supported on the connecting frame 45; the connecting frame 45 is provided with a sleeve hole 451 penetrating through the rotating shaft 5, so that the end part of the rotating shaft 5 penetrates out of the sleeve hole 451 of the connecting frame 45; the connecting rod 43 is provided with a convex tooth 432, and the driven gear 44 is sleeved on the end part of the rotating shaft 5 and meshed with the convex tooth 432 on the connecting rod 43. The rotating motor 41 can drive the eccentric wheel 42 to rotate in a unidirectional rotation manner, so as to drive the connecting rod 43 to be meshed with the driven gear 44 fixed on the rotating shaft 5 on the connecting frame 45 and to reciprocate, and thus the rotating shaft 5 is driven to rotate in a forward direction and a reverse direction alternately. The unidirectional rotation of the single rotating machine 41 can ensure the continuity of the reciprocating motion of the connecting rod 43, effectively solve the delay problem of the switching of the positive rotation and the negative rotation of the motor, improve the reciprocating frequency of the mechanical arm 6, accelerate the workpiece feeding speed of the mechanical arm 6 and improve the driving performance of the driving device 4.

In addition, as shown in fig. 10, the connecting frame 45 is further provided with a guide rail 452, and the link 43 is provided with a guide edge 433 engaged with the guide rail 452. On one hand, the convex teeth 432 on the periphery of the connecting rod 43 are meshed with the driven gear 44 on the rotating shaft 5; on the other hand, the guide edge 433 of the link 43 is engaged and fixed with the guide rail 452 of the link bracket 45, so that the reciprocating track of the link 43 is effectively limited, and the stability of the forward and reverse rotation switching operation of the rotating shaft 5 is improved.

The sorting device 2 of the system of the invention performs suction and release operations on the workpiece 200 in the reciprocating swing process of the mechanical arm 6, so that a corresponding control mechanism is arranged for the suction and release control of the mechanical arm 6, as shown in fig. 2, 11 and 12, the rotating shaft 5 is a hollow through pipe, an input head 51 for inputting external gas is arranged at the end part of the rotating shaft 5, a plurality of output pipes 52 aligned with the mechanical arm 6 are arranged on the rotating shaft 5, and an air supply pipe 53 is connected between the output pipes 52 and the suction head 61. The pneumatic gas for sucking the workpiece 200 is communicated with the suction heads 61 on the mechanical arms 6 through the rotating shaft 5, so that an additional air duct is avoided, the connecting structure of the device is simplified, the fault of blocking or breaking of the duct is avoided, and the quality of the whole machine is effectively improved.

As shown in fig. 11 to 12, a sensing strip 54 rotating along with the swinging of the mechanical arm 6 is disposed on the rotating shaft 5, a first position where the mechanical arm 6 sucks the workpiece 200, a second position where the mechanical arm 6 releases the workpiece 200, and a third position where the mechanical arm 6 is retracted and returned are disposed on the rotating shaft 5, the first position, the second position, and the third position may preferably be two sides and an upper side of the rotating shaft 5 in the axial direction, and sensing heads 55 aligned with the sensing strip 54 are disposed on the first position, the second position, and the third position, respectively. The rotating shaft 5 is also connected with an electric control valve 56 for opening and closing input gas, the electric control valve 56 is connected with the induction head 55, and the input of the gas is opened and closed through the alignment detection of the induction head 55 and the induction strip 54, so that the suction head 61 of the mechanical arm 6 is controlled to perform suction and discharge operations, the suction and discharge functions of the sorting device 2 are effectively ensured, and the picking efficiency is improved.

The sorting device 2 of the system controls the mechanical arm 6 to move back and forth and simultaneously transfer the workpiece 200, and in order to reduce the ineffective action of the mechanical arm 6, the suction head 61 on the mechanical arm 6 needs to keep a downward-facing sagging state so as to accurately perform the operations of sucking and placing the workpiece. Therefore, in order to meet the technical requirement, a control structure of the mechanical arm 6 is optimized, as shown in fig. 11 to 12, a plurality of fixing seats 57 and a plurality of fixing wheels 58 aligned with the mechanical arm 6 are arranged on the rotating shaft 5, one end of the mechanical arm 6 is fixedly sleeved with the rotating shaft 5, and the fixing wheels 58 are clamped with the fixing seats 57; the other end of the mechanical arm 6 is provided with a second connecting shaft 62 and a positioning wheel 63, a limit belt 64 is connected between the positioning wheel 63 and the fixed wheel 58, the suction head 61 is connected with the second connecting shaft 62, and the second connecting shaft 62 and the positioning wheel 63 are sleeved and rotated to keep sagging. One end of the mechanical arm 6 is fixedly connected with the rotating shaft 5 and is matched with the fixed seat 57 and the fixed wheel 58 on the rotating shaft 5, and a limit belt 64 is connected between the fixed wheel 58 and the positioning wheel 63 on the other end of the mechanical arm 6, so that the fixed wheel 58 and the positioning wheel 63 are static and do not rotate in the swinging process of the mechanical arm 6; the other end of the mechanical arm 6 is sleeved and rotated by the suction head 61 and a positioning wheel 63 on the end part of the mechanical arm 6 through a second connecting shaft 62, so that the suction head 61 can be displaced along with the swinging of the mechanical arm 6 in a sagging state under the action of gravity. The mechanical arm 6 only swings to move the suction head 61 to the position for sucking and placing the workpiece 200 and transferring the workpiece 200, thereby effectively simplifying the structure of the mechanical arm 6, saving the ineffective action of the mechanical arm 6 and improving the workpiece conveying speed and the operation efficiency.

In the operation process of the system of the invention, the air feed pipe 53 connected between the rotating shaft 5 and the suction head 61 is easy to be wound on the mechanical arm 6 to be clamped and damaged, or cause a blocking accident. For this purpose, as shown in fig. 12, an adaptor 65 and a fixing hole 66 are provided on the mechanical arm 6, and the adaptor 65 is provided on the fixing hole 66; the air supply pipe 53 is connected to the adaptor 65 and connected to the suction head 61 through the fixing hole 66. The fixing structure of the air supply pipe 53 is arranged on the mechanical arm 6, and comprises an adapter 65 and a fixing hole 66, so that the air supply pipe 53 is fixed on the mechanical arm 6 and connected with the suction head 61, the routing position of the air supply pipe 53 is effectively limited, the air supply pipe 53 is prevented from being easily clamped and damaged, and the clamping fault is eliminated.

Referring to fig. 1 to 2 and 14 to 15, the working principle of the automatic workpiece taking system of the industrial robot of the invention is as follows:

1. the workpiece 200 is installed, the two sides of the conveyor belt 1 of the system are respectively provided with the fixed frame 3, the fixed frame 3 is provided with a plurality of stations, each station is provided with the tray 33 for installing the workpiece 200, and a worker can firstly load the tray 33 of the fixed frame 3 at one side and install the workpiece 200 on the tray 33 of each station. When the sorting device 2 on the side is started, the tray 33 of the fixed frame 3 on the other side is loaded. The air outlet device 7 in the system switches the air flow conveying according to the starting conditions of the sorting devices 2 on the two sides, so that the system can keep a continuous working state, and the operation efficiency is improved.

2. The position of the workpiece 200 is adjusted, the sensor 35 on the limiting pipe 31 in the fixed frame 3 detects the position of the workpiece 200 arranged on the tray 33, the jacking motor 32 below the tray 33 adjusts the height of the tray 33 according to the detection condition of the sensor 35, and the workpiece 200 is kept at the top of the fixed frame 3 and is sucked by the suction head 61 of the mechanical arm 6.

3. The workpieces 200 are sorted, the air outlet device 7 generates air flow and conveys the air flow to the limiting pipe 31 on the fixed frame 3, and the air flow is sprayed out from the air spraying holes 36 of the limiting pipe 31 to the workpieces 200 on the tray 33, so that the workpieces 200 on the top layer are effectively separated. Since the top end of the limiting pipe 31 is provided with the limiting baffle 37, the workpiece 200 on the top layer is suspended on the top of the fixing frame 3 after being blown up, so that the suction head 61 of the mechanical arm 6 can suck the workpiece.

4. The workpiece 200 is transferred, the driving device 4 drives the rotating shaft 5 to rotate forward and backward alternately, so that the mechanical arm 6 fixed on the rotating shaft 5 performs reciprocating swing motion along with the rotation of the rotating shaft 5, and the workpiece 200 is sucked from the fixed frame 3 and transferred onto the conveyor belt 1 through the suction head 61 of the mechanical arm 6 to release the workpiece 200, thereby effectively realizing the position transfer operation of the workpiece 200.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An automatic workpiece taking system of an industrial robot comprises a conveyor belt and a sorting device, and is characterized in that at least one side of the conveyor belt is provided with a fixed frame, and the fixed frame is provided with a plurality of work stations for installing workpieces; the sorting device comprises a driving device and a rotating shaft, the rotating shaft is arranged between the conveying belt and the fixed frame, a plurality of mechanical arms which are aligned with all stations on the fixed frame are arranged on the rotating shaft, and suction heads used for sucking and placing workpieces are arranged on the mechanical arms; the driving device drives the rotating shaft to rotate forwards and reversely alternately, so that the mechanical arms can swing back and forth between the fixed frame and the conveying belt and transfer the position of a workpiece.

2. The automatic workpiece taking system of the industrial robot according to claim 1, wherein a plurality of limiting pipes, a jacking motor and a tray for bearing the workpiece are arranged on the station of the fixing frame, and are uniformly distributed on the periphery of the tray; the bottom of tray be equipped with the drive shaft that jacking motor is connected, jacking motor drive the drive shaft is in order to adjust the height of tray.

3. The automatic workpiece taking system of the industrial robot as claimed in claim 2, wherein the limiting tube is provided with a sensor for detecting the position of the workpiece, and the sensor is arranged at the top end of the limiting tube.

4. The automatic workpiece taking system of the industrial robot as claimed in claim 2, wherein the sorting device is further connected with an air outlet device for providing air flow, and the air outlet device is connected with the limiting pipe through a pipeline; the top end of the limiting pipe is provided with an air jet hole facing the tray, and the air jet hole jets airflow provided by the air outlet device to the tray so as to separate a workpiece on the top layer for the mechanical arm to suck; the top end of the limiting pipe is further provided with a limiting blocking piece extending to the tray, and the limiting blocking piece is an elastic piece.

5. The automatic workpiece taking system of the industrial robot according to claim 4, wherein the air outlet device comprises a fan and a control valve, the fan is connected with the control valve, and the control valve is provided with at least two groups of vent pipes connected with the limiting pipes on the fixing frame; the control valve is provided with an air cylinder and a valve plug, and the valve plug is accommodated in the control valve and is connected with a driving rod of the air cylinder; the cylinder drives the valve plug to move in the control valve so as to open and close the communication port between the control valve and the vent pipe.

6. The automatic workpiece taking system of the industrial robot according to claim 1, wherein the driving device comprises a rotating motor, an eccentric wheel, a connecting rod, a driven gear and a connecting frame, the rotating motor is connected with the eccentric wheel and drives the eccentric wheel to rotate in a single direction; a first connecting shaft is arranged on the eccentric wheel, a lantern ring sleeved with the first connecting shaft is arranged at one end of the connecting rod, and the other end of the connecting rod is supported on the connecting frame; the connecting frame is provided with a sleeve hole which is connected with the rotating shaft in a penetrating way, so that the end part of the rotating shaft penetrates out of the sleeve hole of the connecting frame; the connecting rod is provided with convex teeth, and the driven gear is sleeved on the end part of the rotating shaft and meshed with the convex teeth on the connecting rod.

7. The automatic workpiece taking system of an industrial robot as claimed in claim 6, wherein the connecting frame is further provided with a guide rail, and the connecting rod is provided with a guide edge which is embedded in the guide rail.

8. The automatic workpiece taking system of the industrial robot according to any one of claims 1 to 7, wherein the rotating shaft is a hollow through pipe, an input head for inputting external gas is arranged at the end part of the rotating shaft, a plurality of output pipes aligned with the mechanical arm are arranged on the rotating shaft, and an air supply pipe is connected between the output pipes and the suction head; the rotating shaft is provided with a sensing strip which rotates along with the swinging of the mechanical arm, the rotating shaft is provided with a first position at which the mechanical arm absorbs a workpiece, a second position at which the mechanical arm releases the workpiece and a third position at which the mechanical arm is stored and reset, and the first position, the second position and the third position are respectively provided with a sensing head which is aligned with the sensing strip; the rotating shaft is further connected with an electric control valve for opening and closing input gas, the electric control valve is connected with the induction head, and the input of the gas is opened and closed through alignment detection of the induction head and the induction strip.

9. The automatic workpiece taking system of the industrial robot according to claim 8, wherein the rotating shaft is provided with a plurality of fixed seats and fixed wheels aligned with the mechanical arm, one end of the mechanical arm is fixedly sleeved with the rotating shaft and clamps the fixed wheels with the fixed seats; the other end of the mechanical arm is provided with a positioning wheel and a second connecting shaft, a limiting belt is connected between the positioning wheel and the fixed wheel, and the suction head is connected with the second connecting shaft and rotates to keep drooping through the sleeving connection of the second connecting shaft and the positioning wheel.

10. The automatic pickup system of an industrial robot according to claim 9, wherein the robot arm is provided with an adaptor and a fixing hole, and the adaptor is provided on the fixing hole; the air supply pipe is connected with the adaptor and is connected with the suction head through the fixing hole.