CN111332774B - Composite mattress unloading system based on industrial robot - Google Patents
Composite mattress unloading system based on industrial robot Download PDFInfo
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- CN111332774B CN111332774B CN202010208152.6A CN202010208152A CN111332774B CN 111332774 B CN111332774 B CN 111332774B CN 202010208152 A CN202010208152 A CN 202010208152A CN 111332774 B CN111332774 B CN 111332774B
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- Prior art keywords
- clamping plate
- plate
- mattress
- upper clamping
- lower clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a composite mattress blanking system based on an industrial robot. The mattress clamping device comprises a mattress conveying mechanism, a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism and the second clamping mechanism are positioned on two sides of the mattress conveying mechanism, and the first clamping mechanism can move along the mattress conveying mechanism; the first clamping mechanism comprises a first upper clamping plate and a first lower clamping plate; the first upper clamping plate and the first lower clamping plate can generate relative motion to change the distance between the first upper clamping plate and the first lower clamping plate, so that the mattress can be clamped; the second clamping mechanism comprises a second upper clamping plate and a second lower clamping plate; the second upper clamping plate and the second lower clamping plate can generate relative motion to change the distance between the two plates, so that the clamping of the mattress is realized; and the second lower clamping plate can rotate relative to the second upper clamping plate. The invention can realize that the machine replaces the manual work, and the mattresses are sequentially placed on the multi-layer mattress frame, thereby greatly reducing the labor intensity of the manual work and improving the automation degree of the mattress production.
Description
Technical Field
The invention belongs to the technical field of mechanical and electrical integration, and relates to a composite mattress blanking mechanism based on an industrial robot.
Background
The mattress is an indispensable product in life, and the size specification (length and width) of the mattress can be divided into various types, such as 1800 and 1500, 1800 and 1000, and 900. For a long time, because the production level of mattress production enterprises falls behind and the automation level is low, mattress products transmitted from the assembly line are all manually carried to a rack for placing the mattress. The composite mattress is formed by laminating multiple layers of materials, so that the weight is heavier, the labor intensity of manual carrying of the mattress is high, the two persons are usually matched, time and labor are wasted, and the manual carrying cost is increased. Aiming at the current situation, a composite mattress blanking system is designed, and the system can be used for solving the problems of time and labor waste caused by manual mattress carrying.
Disclosure of Invention
The invention aims to design a composite mattress blanking system based on an industrial robot aiming at the defects in the production process of a mattress,
the invention comprises a mattress conveying mechanism and a first clamping mechanism and a second clamping mechanism which are positioned on two sides of the mattress conveying mechanism.
The first clamping mechanism is used for clamping one end of the mattress, the second clamping mechanism is used for clamping the other end of the mattress, and the first clamping mechanism can move along the mattress conveying mechanism.
The first clamping mechanism comprises a first upper clamping plate and a first lower clamping plate; the first upper clamping plate and the first lower clamping plate can generate relative movement to change the distance between the first upper clamping plate and the first lower clamping plate, so that the clamping of the mattress is realized.
The second clamping mechanism comprises a second upper clamping plate and a second lower clamping plate; the second upper clamping plate and the second lower clamping plate can generate relative motion to change the distance between the two plates, so that the clamping of the mattress is realized; and the second lower clamping plate can rotate relative to the second upper clamping plate.
The mattress conveying mechanism is provided with a structure used for being connected with an industrial robot.
Furthermore, the first upper clamping plate and the first lower clamping plate are made of L-shaped steel plates, and a first sliding table cylinder is arranged between the side walls of the first upper clamping plate and the first lower clamping plate and used for realizing the relative movement of the first upper clamping plate and the first lower clamping plate.
Furthermore, the second upper clamping plate is provided with a turnover device which is used for realizing the rotation of the second lower clamping plate relative to the second upper clamping plate.
Furthermore, the turning device comprises a mini cylinder, a cylinder piston, a swing arm, a rotating shaft and a shaft clamp, the mini cylinder is connected with one end of the swing arm through the cylinder piston, the other end of the swing arm is connected with the rotating shaft, the shaft clamp is fixedly arranged on two sides of the rotating shaft, a base of the shaft clamp is connected with a connecting plate, and the connecting plate is located on the second lower clamping plate.
Furthermore, the second lower clamping plate is made of an L-shaped steel plate, steel ball rollers are arranged on the surface of the second lower clamping plate, which is opposite to the second upper clamping plate, the steel ball rollers are uniformly distributed on the surface, a second sliding table cylinder is arranged on the side surface of the second lower clamping plate, and the connecting plate is fixedly arranged on the second sliding table cylinder.
Furthermore, the second upper clamping plate is also provided with a buffer mechanism for reducing the impact force when the connecting plate is turned over.
Further, the mattress conveying mechanism comprises a mounting plate, a stepping motor, a transition plate and a transmission mechanism.
One side of mounting panel with the clamp plate is fixed on the second, the mounting panel in the middle of be provided with the cab apron, cross cab apron top fixed mounting flange for connect the robot sixth axle.
The opposite side of mounting panel sets up step motor, and step motor drives drive mechanism and removes, drive mechanism fixed the setting on first upper pinch plate.
The invention has the beneficial effects that: by combining the teaching programming of the industrial robot, the invention can realize that the machine replaces the manual work, and the mattresses are sequentially placed on the multi-layer mattress frame, thereby greatly reducing the labor intensity of the manual work, reducing the production cost of enterprises and improving the automation degree of mattress production.
Drawings
FIG. 1 is a perspective view of the entire mechanism of the present invention;
FIG. 2a is a top view of a second clamping mechanism of the present invention;
FIG. 2b is a rear view of the second clamping mechanism flipped at an angle;
FIG. 3 is a front view of the entire mechanism of the present invention;
FIG. 4a is a top view of the mattress transport mechanism with the mounting plate removed;
FIG. 4b is a front view of the complete mattress transport mechanism;
fig. 5 is a perspective view of the entire blanking system.
In the figure: 1-first upper clamping plate, 2-sliding table cylinder A1, 3-sliding table cylinder A2, 4-three-position five-way electromagnetic valve A, 5-first lower clamping plate, 6-second lower clamping plate, 7-mini cylinder, 8-mini cylinder mounting seat, 9-second upper clamping plate, 10-three-position five-way electromagnetic valve B, 11-sliding table cylinder B1, 12-sliding table cylinder B2, 13-hydraulic buffer B1, 14-steel ball roller, 15-buffer mounting seat B1, 16-small shaft, 17-shaft clamp B2, 18-bearing mounting seat B1, 19-connecting plate, 20-mini cylinder piston, 21-bearing mounting seat B2, 22-shaft clamp B1, 23-lower base plate, 24-ribbed plate, 25-hydraulic buffer B2, 26-swing arm, 27-buffer mounting seats B2, 28-mounting plates, 29-stepping motors, 30-heightening blocks, 31-guide rail sliders C1 and 32-conveying mechanism supporting plates, 33-silver sliding guide rails, 34-mounting flanges, 35-transition plates, 36-ball nut seats, 37-ball nuts, 38-bearing fixing seats C1 and 39-couplers, 40-feeding motor mounting plates, 41-guide rail sliders C2, 42-bearing fixing seats C2 and 43-ball screws.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, this embodiment includes a first clamping mechanism on the right and a second clamping mechanism on the left with an intermediate mattress transport mechanism. The first clamping mechanism on the right side mainly comprises a first upper clamping plate 1, a sliding table cylinder 2, a sliding table cylinder 3, a three-position five-way electromagnetic valve A4 and a first lower clamping plate 5.
The first clamping mechanism has the structure that: the first upper clamping plate and the first lower clamping plate are both L-shaped steel plates, the second upper mounting plate is located above the second upper clamping plate, and the second lower mounting plate is located below the second upper clamping plate. Two installation surfaces of the two sliding table cylinders are respectively installed on the vertical plates of the first upper installation plate and the first lower installation plate, and the horizontal plate of the first upper clamping plate is fixedly provided with a three-position five-way electromagnetic valve through a bolt.
The working mode of the first clamping mechanism is as follows: when the sliding table cylinder piston extends out and retracts, the first lower clamping plate moves up and down along the sliding strip inside the sliding table cylinder, and the clamping function of the first clamping mechanism is achieved.
As shown in fig. 1, 2a and 2B, the second clamping mechanism mainly includes a second lower clamping plate 6, a mini cylinder 7, a mini cylinder mounting seat 8, a second upper clamping plate 9, a three-position five-way solenoid valve B10, a sliding table cylinder 11, 12, a hydraulic buffer 13, a steel ball roller 14, a buffer mounting seat 15, a small shaft 16, i.e., a rotating shaft, a shaft clamp 17, 22, a bearing mounting seat 18, a connecting plate 19, a mini cylinder piston 20, a bearing mounting seat 21, a shaft clamp 22, a lower plate 23, a rib plate 24, a hydraulic buffer 25, a swing arm 26, and a buffer mounting seat 27.
The structure of the second clamping mechanism is as follows: the mounting panel is located the top on the second, and the mounting panel is located the below under the second. Two mounting surfaces of the two sliding table cylinders 11 and 12 are respectively mounted on a connecting plate of the second upper mounting plate and a vertical plate of the second lower mounting plate, and a three-position five-way electromagnetic valve is fixedly mounted on a horizontal plate of the second upper clamping plate through bolts. The mini cylinder mounting seat and the second upper clamping plate are fixed through bolts. The mini cylinder and the mini cylinder mounting seat are connected through a revolute pair. The mini cylinder piston is connected with one end of the swing arm through a revolute pair. The other end of the swing arm is connected with the small shaft. The hydraulic buffer device is characterized in that a pair of bearings are mounted at two ends of the small shaft through bearing mounting seats, the bearing mounting seats are located at two ends of the small shaft and fixed with a lower bottom plate through bolts, the lower bottom plate is fixed above a horizontal plate of the second upper clamping plate, a buffer mounting seat 15 is mounted on the side of the lower bottom plate, a buffer mounting seat 27 is also mounted above the lower bottom plate, a hydraulic buffer 13 is mounted at the inclined end of the buffer mounting seat 15, and a buffer 25 is mounted above the buffer mounting seat 27. The small shaft is connected with the two shaft clamps, the lower side of the shaft clamp base is connected to one side of a connecting plate of the second clamping mechanism through bolts, and the other side of the connecting plate is connected with a sliding table cylinder through bolts. The steel ball roller 13 is installed above the second lower clamping plate through a bolt, the ball on the steel ball roller can roll in the rolling groove, and the ribbed plate 24 is arranged for enhancing the structural strength of the second lower clamping plate and is positioned at the joint of the two plates of the second lower clamping plate.
The working form of the second clamping mechanism is as follows: the mini cylinder stretches out and drives the swing arm swing, the swing arm drives the staff and rotates round the bearing, it rotates round the staff to drive axle clamp one when the staff rotates, and then drive the connecting plate and realize the turnover motion, because connecting plate and slip table cylinder pass through bolted connection, the slip table cylinder is connected with clamp plate under the second again, therefore can drive clamp plate under the second when the connecting plate upset and realize the turnover motion, the upset function of second clamping mechanism has been realized, can drive clamp plate up-and-down motion under the second when slip table cylinder piston is flexible, realize the clamp function of second clamping mechanism. The hydraulic shock absorbers 13, 25 function to: when the connecting plate is turned over, when the connecting plate runs into the hydraulic buffer, the built-in spring of the hydraulic buffer can reduce the impact force when the connecting plate turns over, and then the effect of stopping turning over when running into the hydraulic buffer is realized, and the steel ball roller is a terminal stop device, and the effect of steel ball roller lies in reducing the frictional force when the mattress moves, realizes the rapid movement of mattress.
As shown in fig. 3, 4a and 4b, the mattress transfer mechanism mainly comprises a mounting plate 28, a stepping motor 29, a raising block 30, guide rail sliders 31 and 41, a transfer mechanism support plate 32, a slide silver guide rail 33, a mounting flange 34, a transition plate 35, a ball nut seat 36, a ball nut 37, a bearing fixing seat 38, a coupling 39, a feeding motor mounting plate 40, a guide rail slider 41, a bearing fixing seat 42 and a ball screw 43.
The structure of the mattress conveying mechanism is as follows: the left side of the mounting plate is connected with a second upper clamping plate of a second clamping mechanism through a bolt, the middle end of the mounting plate is connected with a transition plate, and a mounting flange is fixed at the center above the transition plate through a bolt and used for connecting a sixth shaft of the ABB robot. The rightmost end of the mounting plate is connected with a stepping motor through a bolt. The elevating block is fixedly connected below the mounting plate and connected with the sliding silver guide rail through a bolt, four guide rail sliding blocks are installed below the sliding silver guide rail and can slide along the guide rail, the guide rail sliding blocks are fixedly connected with the upper portion of the supporting plate of the conveying mechanism through bolts, and the lower portion of the supporting plate of the conveying mechanism is fixedly connected with the first upper clamping plate horizontal plate of the first clamping mechanism, so that the first clamping mechanism is driven to move synchronously when the sliding blocks move along the guide rail. The stepping motor is located on the motor mounting plate and is connected with a ball screw through a coupler, and the bearing fixing seats 38 and 42 are mounted at two ends of the ball screw and used for mounting the bearings and the ball screw. The ball nut seat is fixedly connected above the supporting plate of the conveying mechanism and used for installing and fixing the ball nut, and the ball nut is structurally characterized in that balls (serving as intermediate transmission elements) are arranged between screw nuts with spiral grooves so as to reduce friction, when the screw rod rotates relative to the nut, the screw nut and the screw nut generate axial displacement, and the balls can roll along a roller path to convert rotary motion into linear motion.
The working mode of the mattress conveying mechanism is as follows: step motor rotates, ball nut makes linear motion along ball, drive ball nut seat a motion, and ball nut seat and transport mechanism backup pad link to each other, thereby it follows ball nut seat along ball to drive first clamping mechanism and makes linear motion, the distance of motion can be realized through the specific pulse number of PLC or host computer setting, after having moved appointed distance along the lead screw, step motor reverses, can realize first clamping mechanism's return again.
The process of the invention for blanking the mattress comprises the following steps: referring to fig. 5, firstly, when a mattress on the production line reaches a platform, after the mattress is in place, a jacking cylinder under the platform jacks up the mattress, and simultaneously, after a photoelectric correlation sensor under the platform senses that the mattress is in place, a high-level signal is returned, an upper computer controls a robot to move to a first designated position according to a teaching program, a sliding table cylinder of a first clamping mechanism of a mattress blanking mechanism extends out, a mini cylinder and a sliding table cylinder piston of a second clamping mechanism extend out, after the first clamping mechanism passes through the mattress, a sliding table cylinder of the first clamping mechanism retracts and a mini cylinder and a sliding table cylinder piston of the second clamping mechanism retract, clamping of diagonal ends of the mattress by the first clamping mechanism and the second clamping mechanism is realized, then the robot moves to a second teaching point, then a stepping motor rotates, the first clamping mechanism clamps the mattress to move along a ball screw in the direction of the second clamping mechanism, after moving for a specified distance, the mattress is placed on the frame at the moment, and the stepping motor stops rotating. And then, the sliding table cylinder of the first clamping mechanism is controlled to extend out, the mini cylinder and the sliding table cylinder piston of the second clamping mechanism extend out, and after the mattress is loosened by the first clamping mechanism and the second clamping mechanism, the first mattress is successfully carried. The robot may then proceed to carry a second mattress according to the above steps.
In conclusion, the invention can realize that the mattress is manually put on the machine, thereby greatly reducing the labor intensity of workers and the labor cost, and can realize that the mattress can be placed on the shelf with different heights of each layer and can be placed on the eighth layer of the shelf at the highest by teaching and programming the robot.
Claims (1)
1. Composite mattress unloading system based on industrial robot, including mattress conveying mechanism, be located the first clamping mechanism of mattress conveying mechanism one side and be located the second clamping mechanism of mattress conveying mechanism opposite side, its characterized in that:
the first clamping mechanism is used for clamping one end of the mattress, the second clamping mechanism is used for clamping the other end of the mattress, and the first clamping mechanism can move along the mattress conveying mechanism;
the first clamping mechanism comprises a first upper clamping plate and a first lower clamping plate; the first upper clamping plate and the first lower clamping plate can generate relative movement to change the distance between the first upper clamping plate and the first lower clamping plate, so that the clamping of the mattress is realized, wherein:
the first upper clamping plate and the first lower clamping plate are made of L-shaped steel plates, and a first sliding table cylinder is arranged between the side walls of the first upper clamping plate and the first lower clamping plate and used for realizing the relative movement of the first upper clamping plate and the first lower clamping plate; the mounting surface of the first sliding table cylinder is respectively mounted on the vertical plates of the first upper mounting plate and the first lower mounting plate, and the horizontal plate of the first upper clamping plate is fixedly provided with a first three-position five-way electromagnetic valve;
the second clamping mechanism comprises a second upper clamping plate and a second lower clamping plate; the second upper clamping plate and the second lower clamping plate can generate relative motion to change the distance between the two plates, so that the clamping of the mattress is realized; meanwhile, the second lower clamping plate can rotate relative to the second upper clamping plate; wherein:
the second upper clamping plate is provided with a turnover device which is used for realizing the rotation of the second lower clamping plate relative to the second upper clamping plate; the second lower clamping plate is an L-shaped steel plate, steel ball rollers are arranged on the surface of the second lower clamping plate, which is opposite to the second upper clamping plate, the steel ball rollers are uniformly distributed on the surface, a second sliding table cylinder is arranged on the side surface of the second lower clamping plate, and a connecting plate is fixedly arranged on the second sliding table cylinder; the second upper clamping plate is also provided with a buffer mechanism for reducing the impact force when the connecting plate is turned over; the turning device comprises a mini cylinder, a cylinder piston, swing arms, a rotating shaft and shaft clamps, the mini cylinder is connected with one end of each swing arm through the cylinder piston, the other end of each swing arm is connected with the rotating shaft, the shaft clamps are fixedly arranged on two sides of the rotating shaft, a base of each shaft clamp is connected with a connecting plate, and the connecting plate is located on the second lower clamping plate;
the mattress conveying mechanism is provided with a structure connected with an industrial robot and comprises a mounting plate, a stepping motor, a transition plate and a transmission mechanism;
one side of the mounting plate is fixed with the second upper clamping plate, a transition plate is arranged in the middle of the mounting plate, and a mounting flange is fixed above the transition plate and used for connecting a sixth shaft of the robot;
the opposite side of mounting panel sets up step motor, and step motor drives drive mechanism and removes, drive mechanism fixed the setting on first upper pinch plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010208152.6A CN111332774B (en) | 2020-03-23 | 2020-03-23 | Composite mattress unloading system based on industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010208152.6A CN111332774B (en) | 2020-03-23 | 2020-03-23 | Composite mattress unloading system based on industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111332774A CN111332774A (en) | 2020-06-26 |
| CN111332774B true CN111332774B (en) | 2021-10-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010208152.6A Expired - Fee Related CN111332774B (en) | 2020-03-23 | 2020-03-23 | Composite mattress unloading system based on industrial robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111332774B (en) |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2104713B1 (en) * | 1970-08-21 | 1974-06-14 | Usinor | |
| JPS6434817A (en) * | 1987-07-28 | 1989-02-06 | Murata Machinery Ltd | Article transferring device |
| DE4203118C2 (en) * | 1991-11-07 | 2003-06-12 | Windmoeller & Hoelscher | Device for gripping and transporting stacks of flat objects |
| CN2894965Y (en) * | 2006-04-05 | 2007-05-02 | 上海发那科机器人有限公司 | Staking-carrying servo tongs |
| DE102009016333A1 (en) * | 2009-03-18 | 2010-09-23 | CFS Bühl GmbH | Gripper for arrangement with a robot arm with independently drivable blades |
| CN104724503A (en) * | 2013-12-24 | 2015-06-24 | 珠海格力电器股份有限公司 | Clamping and stacking device |
| CN204036465U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of robot palletizer box handgrip |
| WO2016118830A1 (en) * | 2015-01-23 | 2016-07-28 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
| CN205219138U (en) * | 2015-12-15 | 2016-05-11 | 上海兰众自动化设备有限公司 | Pile up neatly machine people clamping device |
| CN105835079A (en) * | 2016-05-31 | 2016-08-10 | 佛山科学技术学院 | Stacking manipulator |
| CN110407010B (en) * | 2019-06-25 | 2021-03-19 | 安吉八塔机器人有限公司 | Conveying and deviation rectifying system and method suitable for elastic materials |
| CN110255169A (en) * | 2019-07-09 | 2019-09-20 | 安吉八塔机器人有限公司 | A kind of grabbing device suitable for composite machine people's system |
-
2020
- 2020-03-23 CN CN202010208152.6A patent/CN111332774B/en not_active Expired - Fee Related
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| CN111332774A (en) | 2020-06-26 |
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Granted publication date: 20211029 |