CN112692829A - Automatic unloading robot of wisdom mill based on 5G network - Google Patents
Automatic unloading robot of wisdom mill based on 5G network Download PDFInfo
- Publication number
- CN112692829A CN112692829A CN202011526865.3A CN202011526865A CN112692829A CN 112692829 A CN112692829 A CN 112692829A CN 202011526865 A CN202011526865 A CN 202011526865A CN 112692829 A CN112692829 A CN 112692829A
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- clamping jaw
- fixedly connected
- marking
- driving
- air cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
- B25B27/143—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same for installing wire thread inserts or tubular threaded inserts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses an automatic blanking robot of an intelligent factory based on a 5G network, relates to the field of industrial robots, solves the problem that unqualified products cannot be placed in a classified manner in a blanking process in the prior art, and has the technical key points that: a automatic unloading for in multistage detection assembly line includes: the marking unit is used for marking the types of unqualified products and is connected with the detection process control module of the detection process where the marking unit is located; the classified blanking unit is used for blanking the products on the production line and respectively placing the products on different station appliances according to the types marked by the marking unit; the invention marks the unqualified products through the marking unit and places the unqualified products in a classified manner through the blanking unit, so that the repair time can be saved for the working personnel during repair, and meanwhile, the product performance analysis and the productivity improvement are facilitated.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an intelligent factory automatic blanking robot based on a 5G network.
Background
As robots are becoming more widely used and have begun to be used in manufacturing, it is a current and future trend for robots to load machines. More and more factories are introduced to replace manual work in the production process of the automobile brake, so that the production efficiency is improved, and the production cost is reduced.
For example, chinese patent publication No. CN208713972U discloses an automatic unloading controlling means that goes up of robot, including going up unloading robot, the bottom of going up unloading robot is provided with the base, the lower fixed surface of base installs the gyro wheel, and the last fixed surface of base installs revolution mechanic, revolution mechanic's upper surface runs through the rotation and installs the support column, the last fixed surface of support column installs the slide bar, the top fixed mounting of slide bar has first mount pad, the upper surface of first mount pad runs through fixed mounting and has electric putter, the outside slidable mounting of slide bar has the second mount pad, and the device can shift the stopper on producing the line in the automobile brake production process.
However, in the production process of the automobile brake, many parameters, such as high-pressure sealing performance, low-pressure sealing performance, piston sliding resistance and the like, which affect the braking performance, need to be detected, and due to different processing stability of products, the yield exists in the process of assembling the automobile brake, unqualified automobile brakes need to be repaired, and unqualified parts need to be scrapped, so that the robot can only perform product transfer work, but cannot perform work of selecting unqualified products, and therefore, the intelligent factory automatic blanking robot based on the 5G network is provided.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent factory automatic blanking robot based on a 5G network to solve the problem that unqualified products cannot be classified and placed in a blanking process in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an automatic unloading robot of wisdom mill based on 5G network for automatic unloading in the multistage detection assembly line includes:
the marking unit is used for marking the types of unqualified products and is connected with the detection process control module of the detection process where the marking unit is located;
and the classified blanking unit is used for blanking the products on the production line and respectively placing the products on different station appliances according to the types marked by the marking unit.
As a further aspect of the present invention, the marking unit includes a marking base and marking pens with different colors and fixedly connected to the marking base, the marking base is fixedly connected to a marking pen driving module, and the marking pens are detachably and fixedly connected to the marking pen driving module.
As a further aspect of the present invention, the marker driving module includes a driving base, a first driving motor, and a first lead screw, the driving base is fixedly connected to the marking base, the first driving motor is fixedly connected to one end of the driving base, the first lead screw is rotatably connected to the driving base, the first lead screw is fixedly connected to an output shaft of the first driving motor, a first slider is connected to the first lead screw through a thread, two ends of the first slider are slidably connected to the driving base, and the marker is mounted on the first slider.
As a further scheme of the invention, the marker pen is fixedly connected to the first sliding block through a marker pen fixing seat, the marker pen fixing seat is a flat plate, one end of the marker pen fixing seat is fixedly connected with a limiting plate, the limiting plate is used for limiting the marker pen, the marker pen fixing seat is also fixedly connected with clamping strips, the clamping strips are arc-shaped plates, and the clamping strips are arranged on two sides of the marker pen.
As a further scheme of the present invention, the first slider is further fixedly connected with an elastic seat, the elastic seat includes a limiting groove, a second slider, a first guide rod and a compression spring, the limiting groove is fixedly connected to the first slider, the first guide rod is fixedly connected to the limiting groove, the second slider is slidably connected to the first guide rod, the second slider is sleeved on the first guide rod, the compression spring is arranged on two sides of the second slider, and the second slider is fixedly connected to the marker pen fixing seat.
As a further scheme of the marking device, the marking base comprises a vertical rod and an adjusting rod, the vertical rod is in damping hinge joint with the adjusting rod, a mounting hole for mounting the marking base on a production line is formed in the vertical rod, and the adjusting rod is fixedly connected with the marking pen driving module.
As a further scheme of the invention, the classified blanking unit is arranged at the blanking position of the production line and comprises a mechanical arm and a clamping jaw cylinder arranged on the mechanical arm, a sensor unit is fixedly connected to the mechanical arm, and the sensor unit acquires product image information through a first camera assembly arranged on the mechanical arm.
As a further scheme of the invention, the clamping jaw air cylinder is mounted on the mechanical arm through a clamping jaw driving module, the clamping jaw driving module comprises a clamping jaw air cylinder driving seat, a second driving motor and a second lead screw, the clamping jaw air cylinder driving seat is mounted on the mechanical arm, the second driving motor is fixedly connected to one end of the clamping jaw air cylinder driving seat, the second lead screw is rotatably connected into the clamping jaw air cylinder driving seat, the second lead screw is fixedly connected with an output shaft of the second driving motor, a clamping jaw air cylinder sliding block is sleeved on the second lead screw, and the clamping jaw air cylinder is mounted on the clamping jaw air cylinder sliding block; the clamping jaw air cylinder driving seat is hinged to the mechanical arm, the clamping jaw driving module is fixedly connected with a clamping jaw driving module adjusting motor on the mechanical arm, and the clamping jaw driving module adjusting motor drives the clamping jaw air cylinder driving seat to rotate on the mechanical arm; the clamping jaw air cylinder is hinged to the clamping jaw air cylinder sliding block, the clamping jaw air cylinder is fixedly connected to the clamping jaw air cylinder sliding block through a clamping jaw air cylinder adjusting motor, and the clamping jaw air cylinder is driven by the clamping jaw air cylinder adjusting motor to rotate on the clamping jaw air cylinder sliding block.
As a further scheme of the present invention, the sensor unit is fixedly connected to a second camera assembly and a distance measuring assembly on the clamping jaw cylinder, the second camera assembly is used for collecting video information, and the distance measuring assembly is used for collecting distance information.
As a further scheme of the invention, a screw disassembling module is fixedly connected to the clamping jaw driving module, the screw disassembling module includes an electric wrench, a telescopic cylinder slider and a fifth lead screw, the electric wrench is fixedly connected to the telescopic cylinder, the electric wrench is detachably connected to a sleeve, the telescopic cylinder is fixedly connected to the telescopic cylinder slider, the telescopic cylinder slider is slidably connected to the clamping jaw cylinder driving seat, the fifth lead screw is rotatably connected to one end of the clamping jaw cylinder driving seat, one end of the fifth lead screw is fixedly connected to an interval adjusting motor, the interval adjusting motor is fixedly connected to the clamping jaw cylinder driving seat, the electric wrench, the telescopic cylinder and the telescopic cylinder slider are respectively provided with two groups, and the fifth lead screw is provided with two groups of threads with different screwing directions.
In conclusion, compared with the prior art, the invention has the following beneficial effects:
1. the invention marks the unqualified products through the marking unit and places the unqualified products in a classified manner through the blanking unit, so that the repair time can be saved for the working personnel during repair, and meanwhile, the product performance analysis and the productivity improvement are facilitated.
2. The automatic blanking machine can automatically perform blanking, saves the labor cost of the lower end, and improves the blanking efficiency.
Drawings
FIG. 1 is a schematic structural diagram of a marking unit according to the present invention.
Fig. 2 is a schematic structural view of the blanking unit of the present invention.
FIG. 3 is a schematic structural view of a holder for a marker pen of the present invention.
Fig. 4 is a schematic structural view of a clamping jaw air cylinder slide block in the invention.
Fig. 5 is a working principle diagram of the present invention.
Reference numerals: 1-marking base, 11-vertical rod, 12-adjusting rod, 2-marking pen fixing seat, 21-limiting plate, 22-clamping strip, 23-marking pen, 3-sensor unit, 31-first camera assembly, 32-second camera assembly, 33-distance measuring assembly, 4-marking pen driving module, 41-driving seat, 42-first driving motor, 43-first lead screw, 44-first sliding block, 5-elastic seat, 51-limiting groove, 52-second sliding block, 53-first guide rod, 54-compression spring, 6-mechanical arm, 7-clamping jaw driving module, 71-clamping jaw air cylinder driving seat, 72-second driving motor, 73-second lead screw, 74-second guide rod, 75-clamping jaw air cylinder sliding block, 76-clamping jaw driving module adjusting motor, 8-clamping jaw air cylinder, 81-clamping jaw air cylinder adjusting motor, 9-screw disassembling module, 91-electric wrench, 92-telescopic air cylinder, 93-telescopic air cylinder sliding block and 94-fifth screw rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
As shown in fig. 1 to 2, an intelligent factory automatic blanking robot based on a 5G network is used for automatic blanking in a multi-stage detection assembly line, and includes:
the marking unit is used for marking the types of unqualified products and is connected with the detection process control module of the detection process where the marking unit is located;
the classified blanking unit is used for blanking the products on the production line and respectively placing the products on different station appliances according to the types marked by the marking unit;
the marking unit comprises a marking base 1 and marking pens 23 with different colors fixedly connected to the marking base 1, a marking pen driving module 4 is fixedly connected to the marking base 1, the marking pens 23 are detachably and fixedly connected to the marking pen driving module 4, when a detection process control module of a detection process where the marking unit is located detects an unqualified product, the detection process control module controls the marking pen driving module 4 to drive the marking pens 23 to mark the product, and due to the fact that the marking pens 23 have different colors, the unqualified types can be identified by identifying the colors of the marks;
the marking pen 23 is fixedly connected to the marking base 1 through the marking pen fixing seat 2, as shown in fig. 3, the marking pen fixing seat 2 is a flat plate, one end of the marking pen fixing seat 2 is fixedly connected with a limiting plate 21, the limiting plate 21 is used for limiting the marking pen 23 and preventing the marking pen 23 from sliding on the marking pen fixing seat 2, so that the marking is unclear, the marking pen fixing seat 2 is further fixedly connected with a clamping strip 22, the clamping strip 22 is an arc-shaped plate, the clamping strip 22 is arranged on two sides of the marking pen 23, and the clamping strip 22 is used for clamping the marking pen 23 on the marking pen fixing seat 2;
in some examples, the limiting plate 21 and the clamping strip 22 are fixedly connected to the marker holder 2 by welding;
the marker driving module 4 comprises a driving seat 41, a first driving motor 42 and a first lead screw 43, the driving seat 41 is fixedly connected to the marking base 1, the first driving motor 42 is fixedly connected to one end of the driving seat 41, the first lead screw 43 is rotatably connected to the driving seat 41, the first lead screw 43 is fixedly connected with an output shaft of the first driving motor 42, a first sliding block 44 is connected to the first lead screw 43 through threads, two ends of the first sliding block 44 are slidably connected with the driving seat 41, and the marker 23 is mounted on the first sliding block 44; when the first driving motor 42 is powered on to rotate, the first driving motor 42 drives the first lead screw 43 to rotate, when the first lead screw 43 rotates, the first slide block 44 is driven to move along the axis of the first lead screw 43 on the first lead screw 43, the first slide block 44 moves the pen point of the marking pen 23 to the surface of a product, and the marking pen 23 marks on the surface of the product; the marking pen fixing seat 2 is fixedly connected to the first sliding block 44;
preferably, in order to adapt to products with different angles, the marking base 1 comprises a vertical rod 11 and an adjusting rod 12, the vertical rod 11 is in damping hinge joint with the adjusting rod 12, a mounting hole for mounting the marking base 1 on a production line is formed in the vertical rod 11, and the adjusting rod 12 is fixedly connected with the marking pen driving module 4; when the angle of the marking pen 23 needs to be adjusted, the adjusting rod 12 is rotated, so that the pen point of the marking pen 23 can touch the product when the marking pen 23 moves along the axis of the first screw rod 43;
furthermore, in order to prevent the marker pen 23 from being damaged by impact, the first slider 44 is further fixedly connected with an elastic seat 5, the elastic seat 5 includes a limiting groove 51, a second slider 52, a first guide rod 53 and a compression spring 54, the limiting groove 51 is a box body with an opening on one side, the limiting groove 51 is fixedly connected to the first slider 44, the first guide rod 53 is fixedly connected to the limiting groove 51 along the long side of the elastic seat 5, the second slider 52 is slidably connected to the first guide rod 53, the second slider 52 is sleeved on the first guide rod 53, the compression springs 54 are provided in two sets, the compression springs 54 are sleeved on the first guide rod 53, the compression springs 54 are provided on two sides of the second slider 52, and the second slider 52 is fixedly connected to the marker pen fixing seat 2;
when the marking pen 23 touches the surface of the product, the marking pen 23 applies a reaction force to the marking pen fixing seat 2, and the marking pen fixing seat 2 drives the second sliding block 52 to slide on the first guide rod 53, so that the marking pen 23 is prevented from being damaged due to rigid collision between the marking pen 23 and the product;
the classified blanking unit is arranged at the blanking position of the production line and comprises a mechanical arm 6 and a clamping jaw cylinder 8 arranged on the mechanical arm 6, the mechanical arm 6 is fixedly connected with a sensor unit 3, the sensor unit 3 collects image information of a product through a first camera assembly 31 arranged on the mechanical arm 6 and transmits the image information to a master control unit of the production line, and the master control unit of the production line identifies whether the product is an unqualified product and unqualified parameters of the product through identifying the image information; the clamping jaw air cylinder 8 is used for fixing products on a production line onto a mechanical arm 6, and the mechanical arm 6 is used for moving the products to different station appliances in a classified mode;
the mechanical arm 6 is a robot mechanical arm in the prior art, which is not described herein again;
the clamping jaw air cylinder 8 is a clamping jaw air cylinder, and a product can be clamped after the clamping jaw air cylinder 8 is ventilated;
the clamping jaw air cylinder 8 is arranged on the mechanical arm 6 through a clamping jaw driving module 7, the clamping jaw driving module 7 comprises a clamping jaw air cylinder driving seat 71, a second driving motor 72 and a second lead screw 73, the clamping jaw air cylinder driving seat 71 is installed on the mechanical arm 6, the second driving motor 72 is fixedly connected to one end of the clamping jaw air cylinder driving seat 71, the second lead screw 73 is rotatably connected into the clamping jaw air cylinder driving seat 71, the second lead screw 73 is fixedly connected with an output shaft of the second driving motor 72, a clamping jaw air cylinder sliding block 75 is sleeved on the second lead screw 73, the clamping jaw air cylinder 8 is installed on the clamping jaw air cylinder sliding block 75, when the second driving motor 72 is powered on to rotate, the second driving motor 72 drives the second lead screw 73 to rotate, the second lead screw 73 drives the second guide rod 74 to move on the second lead screw 73 along the axis of the second lead screw, so that the position of the clamping jaw air cylinder 8 is adjusted, and the clamping jaw air cylinder 8 moves to a product;
preferably, a second guide rod 74 parallel to the second lead screw 73 is further fixedly connected in the jaw cylinder driving seat 71, the second guide rod 74 penetrates through the jaw cylinder slider 75 and is slidably connected with the second lead screw 85, and the second guide rod 74 is used for increasing the stability of the jaw cylinder slider 75;
preferably, the clamping jaw air cylinder driving seat 71 is hinged to the mechanical arm 6, the clamping jaw driving module 7 is fixedly connected to the mechanical arm 6 through a clamping jaw driving module adjusting motor 76, the clamping jaw driving module adjusting motor 76 drives the clamping jaw air cylinder driving seat 71 to rotate on the mechanical arm 6, so that the angle of the clamping jaw driving module 7 can be adjusted, the clamping jaw air cylinder 8 is hinged to a clamping jaw air cylinder sliding block 75, the clamping jaw air cylinder 8 is fixedly connected to a clamping jaw air cylinder adjusting motor 81 on the clamping jaw air cylinder sliding block 75, and the clamping jaw air cylinder adjusting motor 81 drives the clamping jaw air cylinder 8 to rotate on the clamping jaw air cylinder sliding block 75, so that the clamping jaw air cylinder 8 can be adjusted to an angle suitable for placing;
as shown in fig. 4, the clamping jaw air cylinder sliding block 75 is a square block, one end of the clamping jaw air cylinder sliding block 75 is provided with a support lug, and the clamping jaw air cylinder sliding block 75 is provided with a screw hole and a guide hole; the screw hole is sleeved on the second screw 73, and the guide hole is sleeved on the second guide rod 74;
it should be noted that the connection mode of the marking base 1 and the mechanical arm 6 of the clamping jaw cylinder 8, the clamping jaw cylinder sliding blocks 75 and 7 is the same as the connection mode of the connecting arm node on the mechanical arm 6;
the sensor unit 3 is fixedly connected with a second camera assembly 32 and a distance measuring assembly 33 on the clamping jaw cylinder 8, the second camera assembly 32 is used for collecting video information, the distance measuring assembly 33 is used for collecting distance information to prevent the clamping jaw cylinder 8 from colliding with a product, and the second camera assembly 32 and the distance measuring assembly 33 send the collected information to the master control unit;
the control unit is a computer, and a PLC control program and a color analysis program are arranged in the control unit.
As another embodiment of the invention, a screw disassembling module 9 is further fixedly connected to the clamping jaw driving module 7, and the screw disassembling module 9 is used for disassembling an upper bolt of a station apparatus, so that the connection relationship between a product and the station apparatus is released;
the screw disassembling module 9 comprises an electric wrench 91, a telescopic cylinder 92, a telescopic cylinder slider 93 and a fifth lead screw 94, wherein the electric wrench 91 is fixedly connected to the telescopic cylinder 92, the electric wrench 91 is detachably connected with a sleeve, the telescopic cylinder 92 is fixedly connected to the telescopic cylinder slider 93, the telescopic cylinder slider 93 is slidably connected to the clamping jaw cylinder driving seat 71, the fifth lead screw 94 is rotatably connected to one end of the clamping jaw cylinder driving seat 71, one end of the fifth lead screw 94 is fixedly connected with a spacing adjusting motor (not shown in the figure), the spacing adjusting motor is fixedly connected to the clamping jaw cylinder driving seat 71, the electric wrench 91, the telescopic cylinder 92 and the telescopic cylinder slider 93 are respectively provided with two groups, and the fifth lead screw 94 is provided with two groups of threads with different screwing directions;
when the spacing adjustment motor rotates, the spacing adjustment motor drives the fifth lead screw 94 to rotate, the fifth lead screw 94 drives the telescopic cylinder sliding block 93 to move along the axis of the fifth lead screw 94, and the threads on the fifth lead screw 94 are opposite in turning direction, so that the telescopic cylinder sliding block 93 is driven to mutually approach or separate from the telescopic cylinder sliding block 93, and the distance between the telescopic cylinder sliding blocks 93 is adjusted;
further, in order to prevent the electric wrench 91 from colliding with a product, the jaw cylinder driving base 71 is further fixedly connected with the first camera assembly 31 in the moving direction of the electric wrench 91.
In summary, the working principle of the invention is as follows:
as shown in fig. 1 to 5, when the detection process control module of the detection process in which the marking unit is located detects an unqualified product, the detection process control module controls the marker pen driving module 4 to drive the marker pen 23 to mark the product, and since the marker pen 23 has different colors, the unqualified product can be identified by identifying the color of the mark;
when a product is marked, when the first driving motor 42 is electrified to rotate, the first driving motor 42 drives the first lead screw 43 to rotate, when the first lead screw 43 rotates, the first slide block 44 is driven to move along the axis of the first lead screw 43 on the first lead screw 43, the first slide block 44 moves the pen point of the marking pen 23 to the surface of the product, and the marking pen 23 marks on the surface of the product;
when a product is off-line, the sensor unit 3 collects image information of the product through a first camera assembly 31 arranged on the mechanical arm 6 and transmits the image information to a master control unit of a production line, and the master control unit of the production line identifies whether the product is an unqualified product and unqualified parameters thereof through identifying the image information;
when a product is clamped, when the second driving motor 72 is electrified and rotates, the second driving motor 72 drives the second lead screw 73 to rotate, the second lead screw 73 drives the second guide rod 74 to move on the second lead screw 73 along the axis of the second lead screw, so that the position of the clamping jaw cylinder 8 is adjusted, the clamping jaw cylinder 8 moves to the product, and after the clamping jaw cylinder 8 clamps the product, the mechanical arm 6 conveys the product to different station appliances according to the type of the product;
before the clamping jaw air cylinder 8 clamps a product, the telescopic air cylinder 92 is ventilated and rotated, and the electric wrench 91 unscrews a fastening screw on the tool, so that the product is in contact with the tool.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an automatic unloading robot of wisdom mill based on 5G network for automatic unloading in the multistage detection assembly line, its characterized in that includes:
the marking unit is used for marking the types of unqualified products and is connected with the detection process control module of the detection process where the marking unit is located;
and the classified blanking unit is used for blanking the products on the production line and respectively placing the products on different station appliances according to the types marked by the marking unit.
2. The intelligent factory automatic blanking robot based on 5G network according to claim 1, wherein the marking unit comprises a marking base (1) and marking pens (23) with different colors fixedly connected to the marking base (1), the marking base (1) is fixedly connected with a marking pen driving module (4), and the marking pens (23) are detachably and fixedly connected to the marking pen driving module (4).
3. The intelligent factory automatic blanking robot based on 5G network as claimed in claim 2, wherein the marker pen driving module (4) comprises a driving base (41), a first driving motor (42) and a first lead screw (43), the driving base (41) is fixedly connected to the marking base (1), the first driving motor (42) is fixedly connected to one end of the driving base (41), the first lead screw (43) is rotatably connected to the driving base (41), the first lead screw (43) is fixedly connected with an output shaft of the first driving motor (42), a first sliding block (44) is connected to the first lead screw (43) through a thread, two ends of the first sliding block (44) are slidably connected with the driving base (41), and the marker pen (23) is installed on the first sliding block (44).
4. The automatic unloading robot of wisdom mill based on 5G network of claim 3, characterized in that, marker (23) pass through marker fixing base (2) fixed connection to first slider (44), marker fixing base (2) are the flat board, and the one end fixedly connected with limiting plate (21) of marker fixing base (2), limiting plate (21) are used for spacing marker (23), still fixedly connected with card strip (22) on marker fixing base (2), card strip (22) are the arc, and card strip (22) set up the both sides at marker (23).
5. The intelligent factory automatic blanking robot based on 5G network of claim 4, characterized in that the first sliding block (44) is also fixedly connected with an elastic seat (5), the elastic seat (5) comprises a limiting groove (51), a second sliding block (52), a first guide rod (53) and a compression spring (54), the limiting groove (51) is fixedly connected to the first sliding block (44), the first guide rod (53) is fixedly connected to the limiting groove (51), the second slider (52) is slidingly connected to a first guide rod (53), the second sliding block (52) is sleeved on the first guide rod (53), the compression spring (54) is arranged on two sides of the second sliding block (52), the second sliding block (52) is fixedly connected to the marking pen fixing seat (2).
6. The intelligent factory automatic blanking robot based on 5G network according to claim 2, characterized in that the marking base (1) comprises a vertical rod (11) and an adjusting rod (12), the vertical rod (11) and the adjusting rod (12) are in damping hinge joint, the vertical rod (11) is provided with a mounting hole for mounting the marking base (1) on a production line, and the adjusting rod (12) is fixedly connected with the marker pen driving module (4).
7. The intelligent factory automatic blanking robot based on the 5G network is characterized in that the classified blanking unit is arranged at the blanking position of a production line, the classified blanking unit comprises a mechanical arm (6) and a clamping jaw cylinder (8) arranged on the mechanical arm (6), a sensor unit (3) is fixedly connected onto the mechanical arm (6), and the sensor unit (3) collects product image information through a first camera assembly (31) arranged on the mechanical arm (6).
8. The intelligent factory automatic blanking robot based on 5G network of claim 7, it is characterized in that the clamping jaw air cylinder (8) is arranged on the mechanical arm (6) through a clamping jaw driving module (7), the clamping jaw driving module (7) comprises a clamping jaw air cylinder driving seat (71), a second driving motor (72) and a second lead screw (73), the clamping jaw air cylinder driving seat (71) is installed on the mechanical arm (6), the second driving motor (72) is fixedly connected to one end of the clamping jaw air cylinder driving seat (71), the second lead screw (73) is rotatably connected into the clamping jaw air cylinder driving seat (71), the second lead screw (73) is fixedly connected with an output shaft of the second driving motor (72), a clamping jaw air cylinder sliding block (75) is sleeved on the second lead screw (73), and the clamping jaw air cylinder (8) is installed on the clamping jaw air cylinder sliding block (75); the clamping jaw air cylinder driving seat (71) is hinged to the mechanical arm (6), the clamping jaw driving module (7) is fixedly connected with a clamping jaw driving module adjusting motor (76) on the mechanical arm (6), and the clamping jaw driving module adjusting motor (76) drives the clamping jaw air cylinder driving seat (71) to rotate on the mechanical arm (6); clamping jaw cylinder (8) articulate on clamping jaw cylinder slider (75), and clamping jaw cylinder (8) fixedly connected with clamping jaw cylinder adjusting motor (81) on clamping jaw cylinder slider (75), clamping jaw cylinder adjusting motor (81) drive clamping jaw cylinder (8) and rotate on clamping jaw cylinder slider (75).
9. The intelligent factory automatic blanking robot based on 5G network of claim 7, wherein the sensor unit (3) is fixedly connected with a second camera assembly (32) and a distance measuring assembly (33) on a clamping jaw cylinder (8), the second camera assembly (32) is used for collecting video information, and the distance measuring assembly (33) is used for collecting distance information.
10. The automatic blanking robot of wisdom mill based on 5G network of claim 8 or 9, characterized in that a screw detaching module (9) is further fixedly connected to the clamping jaw driving module (7), the screw detaching module (9) comprises an electric wrench (91), a telescopic cylinder (92), a telescopic cylinder slider (93) and a fifth lead screw (94), the electric wrench (91) is fixedly connected to the telescopic cylinder (92), the electric wrench (91) is detachably connected with a sleeve, the telescopic cylinder (92) is fixedly connected to the telescopic cylinder slider (93), the telescopic cylinder slider (93) is slidably connected on the clamping jaw cylinder driving seat (71), the fifth lead screw (94) is rotatably connected to one end of the clamping jaw cylinder driving seat (71), and one end of the fifth lead screw (94) is fixedly connected with a spacing adjusting motor, the spacing adjusting motor is fixedly connected to a clamping jaw air cylinder driving seat (71), the electric wrench (91), the telescopic air cylinder (92) and the telescopic air cylinder sliding block (93) are provided with two groups, and the fifth screw rod (94) is provided with two groups of threads with different turning directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526865.3A CN112692829A (en) | 2020-12-22 | 2020-12-22 | Automatic unloading robot of wisdom mill based on 5G network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Application publication date: 20210423 |