CN112974273B - Door frame material line following robot and using method thereof - Google Patents
Door frame material line following robot and using method thereof Download PDFInfo
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- CN112974273B CN112974273B CN202110160126.5A CN202110160126A CN112974273B CN 112974273 B CN112974273 B CN 112974273B CN 202110160126 A CN202110160126 A CN 202110160126A CN 112974273 B CN112974273 B CN 112974273B
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- connecting rod
- door frame
- frame material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The invention discloses a door frame material line following robot and a use method thereof, wherein the door frame material line following robot comprises the following steps: the door frame material conveying device comprises a conveying mechanism, a thickness detection mechanism, a turnover mechanism, a width detection mechanism and a transfer mechanism, wherein the thickness detection mechanism is arranged on the outer wall of the upper end, close to the right side, of the conveying mechanism, and the turnover mechanism is fixed on the right side of the conveying mechanism.
Description
Technical Field
The invention belongs to the technical field of door frame material conveying, and particularly relates to a door frame material line following robot and a using method thereof.
Background
The door frame is generally referred to as a door pocket, which is a building decoration term and refers to two door frames inside and outside the door. The main functions of the door are to fix the door leaf and protect the corner, decorate and the like. The door pocket is commonly used in the decoration process to protect the door from being scratched, corroded, damaged, stained and the like, and one of the main contents of the door pocket home decoration has very important influence on the style of the whole home decoration by the shape, the material and the color. The door frame is one of main contents of home decoration, and is also connected with a closing opening of an indoor decoration material, so that the process is more perfect. The door frame can also repair the defects of unreasonable sealing of the door and the window frame and ventilation and air leakage in the decoration process. The door pocket that modern vast majority of families used, the supporting installation simultaneously when purchasing the finished product timber, has already decided the individual character of house ornamentation to a certain extent, in the application of the production processing work of door frame, often need utilize conveyor to carry the door frame of processing in the workshop.
The prior door frame material conveying technology has the following problems: the existing door frame material conveying device has certain defects in the application of actual door frame conveying work, the existing door frame material conveying device cannot detect the thickness and the width of a door frame while conveying door frame materials, cannot classify and arrange the door frame materials in the door frame material conveying process, and is low in practicability.
Disclosure of Invention
The invention aims to provide a door frame material line following robot and a using method thereof, and aims to solve the problems that the existing door frame material conveying device provided in the background technology cannot detect the thickness and the width of a door frame while conveying the door frame material, and cannot classify and arrange the door frame material in the door frame material conveying process.
In order to achieve the purpose, the invention provides the following technical scheme:
door frame material is with line machine people, and it includes: the device comprises a conveying mechanism, a thickness detection mechanism, a turnover mechanism, a width detection mechanism and a transfer mechanism, wherein the thickness detection mechanism is arranged on the outer wall of the upper end of the conveying mechanism close to the right side;
the conveying mechanism comprises a first frame, vertical bearings, conveying rollers, a conveying belt and a second frame, the first frame and the second frame are respectively arranged on the front side and the rear side of the conveying belt, the conveying rollers are arranged inside the conveying belt, the vertical bearings are uniformly distributed on the outer walls of the upper ends of the first frame and the second frame, and the two ends of the conveying rollers are rotatably connected inside the vertical bearings;
the turnover mechanism comprises a shell, a mounting plate, a sliding plate, a first connecting rod mechanism, a second connecting rod mechanism and a driving mechanism, wherein the number of the first connecting rod mechanism and the number of the second connecting rod mechanism are two, the two first connecting rod mechanisms are symmetrically arranged, the two second connecting rod mechanisms are symmetrically arranged, the first connecting rod mechanisms and the second connecting rod mechanisms are both fixed on the inner wall of the shell, the second connecting rod mechanisms are positioned on the right side of the first connecting rod mechanisms, the driving mechanism is fixed on the inner wall of the shell, the driving mechanism is positioned on the right side of the second connecting rod mechanisms, the mounting plate is fixed at the upper end of the first connecting rod mechanisms, the door frame material is placed at the upper end of the mounting plate, and the sliding plate is fixed at the lower side of the driving mechanism;
the transfer mechanism comprises a first vertical plate, an electric push rod, a second vertical plate, a bottom plate, a sliding block, a sliding rail, a fixed plate, a cylinder and a moving plate, the number of the slide rails is two, the two slide rails are fixed on the outer wall of the upper end of the bottom plate, the slide block is sleeved on the outer wall of the slide rails in a sliding manner, the movable plate is fixed on the outer wall of the upper end of the sliding block, the first vertical plates are provided with two first vertical plates, the two first vertical plates are respectively fixed on the outer walls of the upper ends of the movable plate close to the front side and the rear side, the opposite inner walls of the two first vertical plates are respectively fixed with an electric push rod, the second vertical plate is fixed on the outer wall of the upper end of the bottom plate, the air cylinder is fixed on the outer wall of the rear end of the second vertical plate, the bottom surface of the fixed plate is fixed on the outer wall of the upper end of the movable plate, a push rod is arranged inside the cylinder, the inside of fixed plate is seted up threaded hole, be connected through the threaded hole between push rod and the fixed plate.
Preferably, the first link mechanism includes a first support plate, a first link, a second link, a third link, a fourth link, a fifth link, an installation block, a limiting block, a spring and a connecting shaft, the connecting shaft is fixed inside the first support plate, one end of the first link is rotatably connected to the first support plate through a shaft, the other end of the first link is rotatably connected to one end of the second link, the other end of the second link is rotatably connected to one end of the third link, the other end of the third link is rotatably connected to the upper end of the fifth link, one end of the fourth link is rotatably connected to the middle position of the third link, the other end of the fourth link is rotatably connected to the first support plate through a shaft, the installation block is fixed on the inner wall of the lower side of the first support plate, one end of the spring is connected to the upper end face of the installation block, and the other end of the spring is connected to the lower end face of the third link on the left side of the fourth link, a through groove is formed in the right side of the first supporting plate, a sliding groove is formed above the through groove, and the fifth connecting rod is slidably sleeved inside the sliding groove.
Preferably, the second link mechanism comprises a sixth link, a seventh link, a third support plate, a baffle, a limiting plate, a supporting plate and a transverse plate, the baffle is fixed on the inner wall of the third support plate, the limiting plate is fixed on the inner wall of the third support plate on the upper side of the baffle, the seventh link is arranged on the upper side of the limiting plate, one end of the seventh link is rotatably connected to the third support plate, the other end of the seventh link is rotatably connected to the middle position of the sixth link, the supporting plate is vertically fixed on the side surface of the sixth link, the transverse plate is fixed on the sixth link and used for supporting door frame materials, the limiting plate comprises a straight section and an inclined section, and the inclined section is inclined towards the upper right side.
Preferably, actuating mechanism includes motor, drum and acts as go-between, the output fixedly connected with axis of rotation of motor, drum fixed connection is in the axis of rotation outer wall, act as go-between one end is fixed and twine on the drum, the side that the backup pad was kept away from to the other end fixed connection of acting as go-between in sixth connecting rod.
Preferably, the electric push rods on the two first vertical plates are staggered from each other in the left-right direction.
Preferably, the vertical bearings are distributed in a one-to-one correspondence relationship between the first frame and the second frame, and the vertical bearings are distributed at equal intervals between the first frame and the second frame.
The use method of the door frame material line following robot comprises the following steps:
when the device works, the door frame material is conveyed to the position of the thickness detection mechanism through the conveying mechanism, the conveying mechanism stops, the thickness detection mechanism is controlled to detect the thickness of the door frame material, and then the conveying mechanism continues to convey the door frame material forwards;
the door frame material falls onto the first connecting rod mechanism under the inertia effect of the door frame material, and slides on the mounting plate of the inclined first connecting rod mechanism until the door frame material is contacted with the side surface of the sixth connecting rod;
when the door frame material is conveyed to the position where the door frame material is in contact with the inclined section of the limiting plate, under the action of gravity, the sixth connecting rod rotates anticlockwise to drive the seventh connecting rod to rotate anticlockwise until the door frame material falls onto the upper surface of the supporting plate, the right side of the sixth connecting rod is in contact with the left side of the baffle plate, at the moment, the door frame material is basically in a vertical state, and the lower side of the seventh connecting rod is in contact with the horizontal section of the limiting plate;
the power supply is switched on, when the motor rotates, the motor drives the wire coil to rotate, the length of the pull wire is shortened, the pull wire drives the sixth connecting rod to rotate, when the sixth connecting rod rotates to a certain position, the seventh connecting rod is driven to rotate, when the seventh connecting rod rotates to the position that the lower side surface of the seventh connecting rod is contacted with the upper surface of the inclined section of the limiting plate, the seventh connecting rod stops rotating, at the moment, the sixth connecting rod continues rotating under the action of the pull wire until the doorframe material can slide on the sixth connecting rod, so that the doorframe material is contacted with the upper surface of the sliding plate, and the motor stops rotating and slides down through the sliding plate;
the thickness detection mechanism is fixedly arranged on the upper surface of the first frame, before the door frame material runs to the turnover mechanism, a thickness detection device in the thickness detection mechanism detects the thickness of the door frame material to judge whether the thickness of the door frame material is qualified, the width detection mechanism is fixedly arranged on the outer side surface of one side of the shell to ensure that the width detection device in the width detection mechanism is positioned right above the width direction of the door frame material, and when the door frame material is turned over by the turnover mechanism and is in a vertical state, the width detection device in the width detection mechanism detects the width of the door frame material to judge whether the width of the door frame material is qualified;
after the door frame material is in a vertical state in the turnover mechanism, controlling the width detection mechanism to detect the width of the door frame material and judging whether the width of the door frame material is qualified or not;
if the width and the thickness of the doorframe material are detected to be unqualified, the doorframe material is moved out by a material taking robot arranged at the top of the device, if the width and the thickness of the doorframe material are detected to be qualified, but the thickness of the doorframe material is not qualified, a transfer mechanism at the bottom is started, an air source switch is opened, an air cylinder drives a movable plate to move towards the right side, after an electric push rod close to the rear side is moved in place, the electric push rod close to the rear side pushes the doorframe material to move towards one side until the doorframe material is moved out of the turnover mechanism, if the thickness and the width of the doorframe material are detected to be unqualified, the air cylinder drives the movable plate to move, after the electric push rod close to the front side is moved in place, the electric push rod close to the front side pushes the doorframe material to move towards the other side until the doorframe material is moved out of the turnover mechanism, and the classification of unqualified products is realized;
when the width and the thickness of the door frame material are qualified, a power switch of the motor is started, the motor drives the pull wire to continuously tighten, the pull wire drives the sixth connecting rod to rotate towards the right side, the sixth connecting rod drives the door frame material to rotate towards the right side until the door frame material slides down from the second connecting rod mechanism and contacts with the sliding plate, and the door frame material moves downwards along the sliding plate and is conveyed to the next process.
Specifically, the door frame material moves forwards under the action of inertia and falls to the upper part of the mounting plate, the gravity center of the door frame material is positioned on the right side of the joint of the fourth connecting rod and the third connecting rod, when the gravity of the door frame material is applied to the first connecting rod mechanism, the gravity of the door frame material enables the fifth connecting rod to move downwards, the third connecting rod drives the fourth connecting rod to rotate, the third connecting rod drives the second connecting rod to move, the second connecting rod drives the first connecting rod, when the fifth connecting rod is in contact with the limiting block, the right-side inclination angle of the third connecting rod is the largest, and the second connecting rod and the first connecting rod are not in the same straight line;
the door frame material slides downwards to the right along the surface of the mounting plate, one side of the door frame material contacts with a transverse plate fixed on a sixth connecting rod, the contact position of the door frame material and the transverse plate is positioned at the upper side of the supporting plate, the sixth connecting rod is pressed to rotate anticlockwise, at the moment, the wire coil is controlled to rotate to release the pull wire until the door frame material contacts with and presses the supporting plate downwards, so that the seventh connecting rod starts to rotate anticlockwise around the connection position of the seventh connecting rod and the third supporting plate and finally abuts against a straight section of the limiting plate, the door frame material completely falls onto the supporting plate, and the door frame material is in a vertical state;
under the action of the spring, the third connecting rod swings anticlockwise and leftwards, the fifth connecting rod moves upwards to the highest position, the first connecting rod rotates anticlockwise, and the first connecting rod and the second connecting rod are not located on the same straight line.
Compared with the existing door frame material conveying technology, the invention provides a door frame material line following robot and a using method thereof, and the door frame material line following robot has the following beneficial effects:
firstly, the door frame material is conveyed by the conveying mechanism, the thickness of the door frame material can be detected by the thickness detection device in the thickness detection mechanism, whether the thickness of the door frame material is qualified or not is judged, the door frame material is turned over when passing through the turning mechanism and is in a vertical state, and at the moment, the width detection device in the width detection mechanism detects the width of the door frame material and judges whether the width of the door frame material is qualified or not;
the moving plate is driven to move by the air cylinder on the transfer mechanism through the transfer mechanism, so that the moving plate can drive the electric push rods to move, and under the action of the two electric push rods, door frame materials with unqualified widths or thicknesses can be respectively moved out of the turnover mechanism;
the invention can realize the detection of the thickness and the width of the material in the material conveying process, can realize the classification and the arrangement of the material in the material conveying process, and has high use value.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:
fig. 1 is a schematic plan view of an assembly of a door frame material line following robot provided by the invention;
fig. 2 is a schematic view of a three-dimensional structure of a door frame material line following robot assembly provided by the invention;
FIG. 3 is a schematic perspective view of a conveying mechanism according to the present invention;
FIG. 4 is a schematic plane structure of the turnover mechanism according to the present invention;
fig. 5 is a schematic plan structure diagram of a first connecting mechanism according to the present invention;
fig. 6 is a schematic plan view of a second connecting mechanism according to the present invention;
FIG. 7 is a schematic plan view of a driving mechanism according to the present invention;
fig. 8 is a schematic perspective view of a transfer mechanism according to the present invention;
fig. 9 is a schematic view of a first state of the door frame material entering the turnover mechanism from the conveying mechanism according to the present invention;
fig. 10 is a schematic view of a door frame material entering a second linkage mechanism from a first linkage mechanism according to the present invention;
fig. 11 is a schematic view of a door frame material in the turnover mechanism of the present invention at a 90 ° turnover position;
fig. 12 is a schematic diagram of the door frame material conveying through the second link mechanism after the door frame material detection is completed according to the present invention;
fig. 13 is a schematic perspective view of a portion of the first and second connection mechanisms according to the present invention;
in the figure: 1. a first frame; 2. a vertical bearing; 3. a conveying roller; 4. a conveyor belt; 5. a second frame; 6. a housing; 7. door frame material; 8. mounting a plate; 9. a slide plate; 10. a first support plate; 11. a first link; 12. a second link; 13. a third link; 14. a fourth link; 15. a fifth link; 16. mounting blocks; 17. a limiting block; 18. a spring; 19. a connecting shaft; 20. a sixth link; 21. a seventh connecting rod; 22. a third support plate; 23. a baffle plate; 24. a limiting plate; 25. a support plate; 26. a motor; 27. wire coils; 28. a pull wire; 29. a first vertical plate; 30. an electric push rod; 31. a second vertical plate; 32. a base plate; 33. a slider; 34. a slide rail; 35. a fixing plate; 36. a cylinder; 37. moving the plate; 38. a first link mechanism; 39. a second link mechanism; 40. a drive mechanism; 41. a through groove; 42. a chute; 43. a conveying mechanism; 44. a thickness detection mechanism; 45. a turnover mechanism; 46. a width detection mechanism; 47. a transfer mechanism; 48 transverse plate.
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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-13, the present invention provides a technical solution: line machine people is followed to door frame material, it includes: a conveying mechanism 43, a thickness detection mechanism 44, a turnover mechanism 45, a width detection mechanism 46 and a transfer mechanism 47, wherein the thickness detection mechanism 44 is arranged on the outer wall of the upper end of the conveying mechanism 43 close to the right side, the turnover mechanism 45 is fixed on the right side of the conveying mechanism 43, the width detection mechanism 46 is fixed on the outer wall of the front end of the turnover mechanism 45, the transfer mechanism 47 is fixed below the turnover mechanism 45, the door frame material 7 is conveyed by the conveying mechanism 43, the thickness of the door frame material 7 can be detected by the thickness detecting device in the thickness detecting mechanism 44, whether the thickness of the door frame material 7 is qualified or not is judged, the door frame material 7 is turned over when passing through the turning mechanism 45 and is in a vertical state, at this time, the width detection device in the width detection mechanism 46 detects the width of the doorframe material 7, determines whether the width of the doorframe material 7 is qualified, the door frame material 7 with unqualified width or thickness is transferred by a transfer mechanism 47 at the bottom.
Conveying mechanism 43 includes first frame 1, vertical bearing 2, conveying roller 3, conveyer belt 4 and second frame 5, and first frame 1 and second frame 5 set up respectively in the front and back both sides of conveyer belt 4, and conveying roller 3 sets up in the inside of conveyer belt 4, and cloth is equallyd divide to the upper end outer wall of first frame 1 and second frame 5 has vertical bearing 2, and the both ends of conveying roller 3 are rotated and are connected in vertical bearing 2's inside.
Tilting mechanism 45 includes casing 6, mounting panel 8, slide 9, first link mechanism 38, second link mechanism 39 and actuating mechanism 40, first link mechanism 38 and second link mechanism 39 all are provided with two, two first link mechanism 38 symmetries set up, two second link mechanism 39 symmetries set up, first link mechanism 38 and second link mechanism 39 all are fixed in the inner wall of casing 6, second link mechanism 39 is located the right side of first link mechanism 38, actuating mechanism 40 is fixed in the inner wall of casing 6, actuating mechanism 40 is located the right side of second link mechanism 39, mounting panel 8 is fixed in the upper end of first link mechanism 38, door frame material 7 is placed in the upper end of mounting panel 8, slide 9 is fixed in actuating mechanism 40's downside.
The transfer mechanism 47 comprises a first vertical plate 29, an electric push rod 30, a second vertical plate 31, a bottom plate 32, a slide block 33, a slide rail 34, a fixed plate 35, an air cylinder 36 and a moving plate 37, the slide rails 34 are arranged two, the two slide rails 34 are fixed on the outer wall of the upper end of the bottom plate 32, the outer wall of the slide rails 34 is arranged on the slide blocks 33 in a sliding mode, the movable plate 37 is fixed on the outer wall of the upper end of the slide blocks 33, the first vertical plates 29 are arranged two, the two first vertical plates 29 are fixed on the outer wall of the upper end of the movable plate 37 close to the front side and the rear side respectively, the opposite inner walls of the two first vertical plates 29 are fixed with the electric push rods 30, the second vertical plates 31 are fixed on the outer wall of the upper end of the bottom plate 32, the air cylinders 36 are fixed on the outer wall of the rear end of the second vertical plates 31, the bottom surface of the fixing plate 35 is fixed on the outer wall of the upper end of the movable plate 37, push rods are arranged inside the air cylinders 36, threaded holes are formed in the fixing plate 35, and the push rods are connected with the fixing plate 35 through threaded holes.
The first link mechanism 38 includes a first support plate 10, a first link 11, a second link 12, a third link 13, a fourth link 14, a fifth link 15, an installation block 16, a limit block 17, a spring 18 and a connecting shaft 19, the connecting shaft 19 is fixed inside the first support plate 10, one end of the first link 11 is rotatably connected to the first support plate 10 through a shaft, the other end of the first link 11 is rotatably connected to one end of the second link 12, the other end of the second link 12 is rotatably connected to one end of the third link 13, the other end of the third link 13 is rotatably connected to the upper end of the fifth link 15, one end of the fourth link 14 is rotatably connected to the middle position of the third link 13, the other end of the fourth link 14 is rotatably connected to the first support plate 10 through the connecting shaft 19, the installation block 16 is fixed on the lower inner wall of the first support plate 10, one end of the spring 18 is connected to the upper end surface of the installation block 16, the other end of the spring 18 is connected to the lower end face of the third connecting rod 13 on the left side of the fourth connecting rod 14, a through groove 41 is formed in the right side of the first supporting plate 10, a sliding groove 42 is formed above the through groove 41, and the fifth connecting rod 15 is slidably sleeved inside the sliding groove 42.
When the door frame material 7 moves to the first link mechanism 38, under the action of gravity of the door frame material 7, the door frame material 7 rotates the third link 13 to drive the fifth link 15 to vertically move downwards, so that the mounting plate 8 drives the door frame material 7 to move towards the lower right, and when the fifth link 15 contacts the limiting block 17, the inclination angle of the third link 13 towards the right side is the largest. Slides down the surface of the mounting plate 8 to the right until it comes into contact with the second link mechanism 39.
The second link mechanism 39 comprises a sixth link 20, a seventh link 21, a third support plate 22, a baffle plate 23, a limit plate 24, a support plate 25 and a transverse plate 48, the baffle plate 23 is fixed on the inner wall of the third support plate 22, the limit plate 24 is fixed on the inner wall of the third support plate 22 on the upper side of the baffle plate 23, the seventh link 21 is arranged on the upper side of the limit plate 24, one end of the seventh link 21 is pivotally connected to the third support plate 22, the other end of the seventh link 21 is pivotally connected to the middle position of the sixth link 20, the support plate 25 is vertically fixed on the side surface of the sixth link 20, the transverse plate 48 is fixed on the sixth link 20 and is used for supporting the door frame material 7, and the limit plate 24 comprises a straight section and an inclined section, and the inclined section is arranged obliquely towards the upper right side.
During the first state, the lower side of the seventh connecting rod 21 in the second link mechanism 39 contacts with the upper surface of the inclined section of the limiting plate 24, after the door frame material 7 contacts with the side of the sixth connecting rod 20, under the action of gravity, the sixth connecting rod 20 rotates to drive the seventh connecting rod 21 to rotate until the door frame material 7 falls on the upper surface of the supporting plate 25, the right side of the sixth connecting rod 20 contacts with the left side of the baffle plate 23, at this moment, the door frame material 7 is basically in a vertical state, and at this moment, the width detection device in the width detection mechanism 46 is convenient to detect the width of the door frame material 7.
The driving mechanism 40 comprises a motor 26, a wire coil 27 and a pull wire 28, wherein the output end of the motor 26 is fixedly connected with a rotating shaft, the wire coil 27 is fixedly connected with the outer wall of the rotating shaft, one end of the pull wire 28 is fixed and wound on the wire coil 27, and the other end of the pull wire 28 is fixedly connected with the side face, far away from the supporting plate 25, of the sixth connecting rod 20. When the motor 26 rotates, the motor 26 drives the wire coil 27 to rotate, so that the length of the pull wire 28 is shortened, the pull wire 28 drives the sixth connecting rod 20 to rotate, when the sixth connecting rod 20 rotates to a certain position, the seventh connecting rod 21 is driven to rotate, when the seventh connecting rod 21 rotates to the position where the lower side surface is in contact with the upper surface of the inclined section of the limiting plate 24, the seventh connecting rod 21 stops rotating, at the moment, the sixth connecting rod 20 continues to rotate under the action of the pull wire 28 until the doorframe material 7 can slide on the sixth connecting rod 20, so that the doorframe material 7 is in contact with the upper surface of the sliding plate 9, and the motor 26 stops rotating.
In order to enable the two electric push rods 30 to respectively push the door frame material 7 with unqualified width and thickness, one electric push rod 30 is arranged on each first vertical plate 29, the electric push rods 30 are totally arranged in two, and the two electric push rods 30 are mutually staggered in the left-right direction.
The use method of the door frame material line following robot comprises the following steps:
when the door frame material conveying device works, the door frame material 7 is conveyed to the position of the thickness detection mechanism 44 through the conveying mechanism 43, the conveying mechanism 43 stops, the thickness detection mechanism 44 is controlled to detect the thickness of the door frame material 7, and then the conveying mechanism 43 continues to convey the door frame material 7 forwards;
the doorframe material 7 falls onto the first link mechanism 38 under the inertia effect thereof, and slides down on the mounting plate 8 inclining the first link mechanism 38 to contact with the side surface of the sixth link 20;
in the first state, the lower side surface of a seventh connecting rod 21 in the second connecting rod mechanism 39 is in contact with the inclined section of the limiting plate 24, after the door frame material 7 is conveyed to be in contact with the side surface of the sixth connecting rod 20, under the action of gravity, the sixth connecting rod 20 rotates anticlockwise to drive the seventh connecting rod 21 to rotate anticlockwise until the door frame material 7 falls on the upper surface of the supporting plate 25, the right side surface of the sixth connecting rod 20 is in contact with the left side surface of the baffle plate 23, at the moment, the door frame material 7 is basically in a vertical state, and the lower side surface of the seventh connecting rod 21 is in contact with the horizontal section of the limiting plate 24;
when the power is switched on, when the motor 26 rotates, the motor 26 drives the wire coil 27 to rotate, so that the length of the pull wire 28 is shortened, the pull wire 28 drives the sixth connecting rod 20 to rotate, when the sixth connecting rod 20 rotates to a certain position, the seventh connecting rod 21 is driven to rotate, when the seventh connecting rod 21 rotates to the position that the lower side surface is in contact with the upper surface of the inclined section of the limiting plate 24, the seventh connecting rod 21 stops rotating, at the moment, the sixth connecting rod 20 continues to rotate under the action of the pull wire 28 until the doorframe material 7 can slide on the sixth connecting rod 20, so that the doorframe material 7 is in contact with the upper surface of the sliding plate 9, and the motor 26 stops rotating and slides down through the sliding plate 9;
the thickness detection mechanism 44 is fixedly installed on the upper surface of the first frame 1, before the door frame material 7 runs to the turnover mechanism 45, a thickness detection device in the thickness detection mechanism 44 detects the thickness of the door frame material 7 to judge whether the thickness of the door frame material 7 is qualified, the width detection mechanism 46 is fixedly installed on the outer side surface of one side of the shell 6 to ensure that a width detection device in the width detection mechanism 46 is positioned right above the width direction of the door frame material 7, and when the door frame material 7 is turned over by the turnover mechanism 45 and then is in a vertical state, the width detection device in the width detection mechanism 46 detects the width of the door frame material 7 to judge whether the width of the door frame material 7 is qualified;
after the door frame material 7 is in a vertical state in the turnover mechanism 45, controlling the width detection mechanism 46 to detect the width of the door frame material 7, and judging whether the width of the door frame material 7 is qualified;
if the width of the door frame material 7 is detected to be qualified, but the thickness is not qualified, starting a transfer mechanism 47 at the bottom, opening an air source switch, driving a moving plate 37 to move towards the right side by an air cylinder 36, moving an electric push rod 30 close to the rear side to the proper position, pushing the door frame material 7 to move towards one side by the electric push rod 30 close to the rear side until the door frame material 7 is moved out of a turnover mechanism 45, driving the moving plate 37 to move by the air cylinder 36 if the thickness of the door frame material 7 is detected to be qualified, but the width is not qualified, moving the electric push rod 30 close to the front side to the proper position, pushing the door frame material 7 to move towards the other side by the electric push rod 30 close to the front side until the door frame material 7 is moved out of the turnover mechanism 45, and realizing the classification of unqualified products;
when the width and the thickness of the doorframe material 7 are qualified, a power switch of the motor 26 is started, the motor 26 drives the pull wire 28 to be continuously tightened, the pull wire 28 drives the sixth connecting rod 20 to rotate towards the right side, the sixth connecting rod 20 drives the doorframe material 7 to rotate towards the right side until the doorframe material slides down from the second connecting rod mechanism 39 and contacts with the sliding plate, and the doorframe material 7 moves down along the sliding plate 9 and is conveyed to the next process.
The door frame material 7 moves forwards under the action of inertia and falls to the upper side of the mounting plate 8, at the moment, the gravity center of the door frame material 7 is located on the right side of the connection position of the fourth connecting rod 14 and the third connecting rod 13, when the gravity of the door frame material 7 is applied to the first connecting rod mechanism 38, the gravity of the door frame material 7 enables the fifth connecting rod 15 to move downwards, the third connecting rod 13 drives the fourth connecting rod 14 to rotate, the third connecting rod 13 drives the second connecting rod 12 to move, the second connecting rod 12 drives the first connecting rod 11, when the fifth connecting rod 15 is in contact with the limiting block 17, the inclination angle of the third connecting rod 13 towards the right side is the largest, and the second connecting rod 12 and the first connecting rod 11 are not in the same straight line;
the door frame material 7 slides downwards to the right along the surface of the mounting plate 8, one side of the door frame material 7 is in contact with a transverse plate 48 fixed on the sixth connecting rod 20, the contact position of the door frame material 7 and the transverse plate 48 is positioned at the upper side of the supporting plate 25, the sixth connecting rod 20 rotates anticlockwise under pressure, at the moment, the control wire coil 27 rotates to release the pull wire 28 until the door frame material 7 is in contact with and presses the supporting plate 25 downwards, so that the seventh connecting rod 21 starts to rotate anticlockwise around the connection position of the seventh connecting rod 21 and the third supporting plate 22 and finally abuts against a straight section of the limiting plate 24, the door frame material 7 completely falls onto the supporting plate 25, and the door frame material 7 is in a vertical state;
under the action of the spring 18, the third connecting rod 13 swings anticlockwise and leftwards, the fifth connecting rod 15 moves upwards to the highest position, the first connecting rod 11 rotates anticlockwise, the first connecting rod 11 and the second connecting rod 12 are not in the same straight line,
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 (6)
1. Door frame material is with line machine people, its characterized in that, it includes: the device comprises a conveying mechanism (43), a thickness detection mechanism (44), a turnover mechanism (45), a width detection mechanism (46) and a transfer mechanism (47), wherein the thickness detection mechanism (44) is installed on the outer wall of the upper end, close to the right side, of the conveying mechanism (43), the turnover mechanism (45) is fixed on the right side of the conveying mechanism (43), the width detection mechanism (46) is fixed on the outer wall of the front end of the turnover mechanism (45), and the transfer mechanism (47) is fixed below the turnover mechanism (45);
the conveying mechanism (43) comprises a first frame (1), vertical bearings (2), conveying rollers (3), a conveying belt (4) and a second frame (5), the first frame (1) and the second frame (5) are respectively arranged on the front side and the rear side of the conveying belt (4), the conveying rollers (3) are arranged inside the conveying belt (4), the vertical bearings (2) are uniformly distributed on the outer walls of the upper ends of the first frame (1) and the second frame (5), and the two ends of the conveying rollers (3) are rotatably connected inside the vertical bearings (2);
the turnover mechanism (45) comprises a shell (6), a mounting plate (8), a sliding plate (9), two first link mechanisms (38), two second link mechanisms (39) and a driving mechanism (40), wherein the first link mechanisms (38) and the second link mechanisms (39) are respectively provided with two, the two first link mechanisms (38) are symmetrically arranged, the two second link mechanisms (39) are symmetrically arranged, the first link mechanisms (38) and the second link mechanisms (39) are respectively fixed on the inner wall of the shell (6), the second link mechanisms (39) are positioned on the right side of the first link mechanisms (38), the driving mechanism (40) is fixed on the inner wall of the shell (6), the driving mechanism (40) is positioned on the right side of the second link mechanisms (39), the mounting plate (8) is fixed on the upper end of the first link mechanisms (38), door frame materials (7) are placed on the upper end of the mounting plate (8), the sliding plate (9) is fixed on the lower side of the driving mechanism (40);
the transfer mechanism (47) comprises first vertical plates (29), electric push rods (30), second vertical plates (31), a bottom plate (32), a sliding block (33), sliding rails (34), a fixed plate (35), air cylinders (36) and moving plates (37), wherein the sliding rails (34) are provided with two, the two sliding rails (34) are fixed on the outer wall of the upper end of the bottom plate (32), the sliding block (33) is sleeved on the outer wall of the sliding rail (34) in a sliding manner, the moving plates (37) are fixed on the outer wall of the upper end of the sliding block (33), the first vertical plates (29) are provided with two, the two moving plates (37) respectively fixed on the first vertical plates (29) are close to the outer walls of the upper ends of the front side and the rear side, the electric push rods (30) are fixed on the opposite inner walls of the two first vertical plates (29), the second vertical plates (31) are fixed on the outer wall of the upper end of the bottom plate (32), and the air cylinders (36) are fixed on the outer wall of the rear end of the second vertical plates (31), the bottom surface of the fixed plate (35) is fixed on the outer wall of the upper end of the moving plate (37), a push rod is arranged inside the air cylinder (36), a threaded hole is formed inside the fixed plate (35), and the push rod is connected with the fixed plate (35) through the threaded hole;
the first connecting rod mechanism (38) comprises a first support plate (10), a first connecting rod (11), a second connecting rod (12), a third connecting rod (13), a fourth connecting rod (14), a fifth connecting rod (15), a mounting block (16), a limiting block (17), a spring (18) and a connecting shaft (19), the connecting shaft (19) is fixed inside the first support plate (10), one end of the first connecting rod (11) is rotatably connected to the first support plate (10) through a shaft, the other end of the first connecting rod (11) is rotatably connected to one end of the second connecting rod (12), the other end of the second connecting rod (12) is rotatably connected to one end of the third connecting rod (13), the other end of the third connecting rod (13) is rotatably connected to the upper end of the fifth connecting rod (15), one end of the fourth connecting rod (14) is rotatably connected to the middle position of the third connecting rod (13), and the other end of the fourth connecting rod (14) is rotatably connected to the first connecting shaft (10) through the fourth connecting rod (19), the mounting block (16) is fixed on the inner wall of the lower side of the first support plate (10), one end of the spring (18) is connected to the upper end face of the mounting block (16), the other end of the spring (18) is connected to the lower end face of the third connecting rod (13) on the left side of the fourth connecting rod (14), a through groove (41) is formed in the right side of the first support plate (10), a sliding groove (42) is formed above the through groove (41), and the fifth connecting rod (15) is slidably sleeved in the sliding groove (42);
the second connecting rod mechanism (39) comprises a sixth connecting rod (20), a seventh connecting rod (21), a third supporting plate (22), a baffle plate (23), a limiting plate (24), a supporting plate (25) and a transverse plate (48), the baffle plate (23) is fixed on the inner wall of the third supporting plate (22), the limiting plate (24) is fixed on the inner wall of the third supporting plate (22) on the upper side of the baffle plate (23), the seventh connecting rod (21) is arranged on the upper side of the limiting plate (24), one end of the seventh connecting rod (21) is pivotally connected to the third supporting plate (22), the other end of the seventh connecting rod (21) is pivotally and rotatably connected to the middle position of the sixth connecting rod (20), the supporting plate (25) is vertically fixed on the side surface of the sixth connecting rod (20), the transverse plate (48) is fixed on the sixth connecting rod (20) and used for supporting a door frame material (7), and the limiting plate (24) comprises a straight section and an inclined section, the inclined section is obliquely arranged towards the upper right side.
2. The door frame material line following robot of claim 1, characterized in that: actuating mechanism (40) include motor (26), drum (27) and act as go-between (28), the output fixedly connected with axis of rotation of motor (26), drum (27) fixed connection is in the axis of rotation outer wall, act as go-between (28) one end is fixed and twine on drum (27), act as go-between (28) other end fixed connection is in the side of backup pad (25) is kept away from in sixth connecting rod (20).
3. The door frame material line following robot of claim 1, characterized in that: the electric push rods (30) on the two first vertical plates (29) are mutually staggered in the left-right direction.
4. The door frame material line following robot of claim 1, characterized in that: the vertical bearings (2) are distributed in a one-to-one correspondence relationship between the first frame (1) and the second frame (5), and the vertical bearings (2) are distributed at equal intervals between the first frame (1) and the second frame (5).
5. Use method of door frame material line following robot, use claim 2 door frame material line following robot, characterized in that:
when the device works, the door frame material (7) is conveyed to the position of the thickness detection mechanism (44) through the conveying mechanism (43), the conveying mechanism (43) stops, the thickness detection mechanism (44) is controlled to detect the thickness of the door frame material (7), and then the conveying mechanism (43) continues to convey the door frame material (7) forwards;
the door frame material (7) falls onto the first connecting rod mechanism (38) under the inertia effect of the door frame material, slides on the mounting plate (8) of the inclined first connecting rod mechanism (38) to be contacted with the side surface of the sixth connecting rod (20);
when the door frame material is in the first state, the lower side surface of a seventh connecting rod (21) in the second connecting rod mechanism (39) is in contact with the inclined section of the limiting plate (24), after the door frame material (7) is conveyed to be in contact with the side surface of the sixth connecting rod (20), the sixth connecting rod (20) rotates anticlockwise under the action of gravity to drive the seventh connecting rod (21) to rotate anticlockwise until the door frame material (7) falls on the upper surface of the supporting plate (25), the right side surface of the sixth connecting rod (20) is in contact with the left side surface of the baffle plate (23), at the moment, the door frame material (7) is basically in a vertical state, and the lower side surface of the seventh connecting rod (21) is in contact with the horizontal section of the limiting plate (24);
the power supply is switched on, when the motor (26) rotates, the motor (26) drives the wire coil (27) to rotate, the length of the pull wire (28) is shortened, the pull wire (28) drives the sixth connecting rod (20) to rotate, when the sixth connecting rod (20) rotates to a certain position, the seventh connecting rod (21) is driven to rotate, when the seventh connecting rod (21) rotates to the position that the lower side surface of the seventh connecting rod is contacted with the upper surface of the inclined section of the limiting plate (24), the seventh connecting rod (21) stops rotating, at the moment, the sixth connecting rod (20) continues to rotate under the action of the pull wire (28) until the door frame material (7) can slide on the sixth connecting rod (20), so that the door frame material (7) is contacted with the upper surface of the sliding plate (9), the motor (26) stops rotating, and the door frame material slides down through the sliding plate (9);
the thickness detection mechanism (44) is fixedly arranged on the upper surface of the first frame (1), before the door frame material (7) runs to the turnover mechanism (45), the thickness detection device in the thickness detection mechanism (44) detects the thickness of the door frame material (7) and judges whether the thickness of the door frame material (7) is qualified, the width detection mechanism (46) is fixedly arranged on the outer side surface of one side of the shell (6), it is ensured that the width detection device in the width detection mechanism (46) is positioned right above the width direction of the door frame material (7), and when the door frame material (7) is turned over by the turnover mechanism (45) and then is in a vertical state, the width detection device in the width detection mechanism (46) detects the width of the door frame material (7) and judges whether the width of the door frame material (7) is qualified;
after the door frame material (7) is in a vertical state in the turnover mechanism (45), controlling the width detection mechanism (46) to detect the width of the door frame material (7) and judging whether the width of the door frame material (7) is qualified or not;
if the width of the door frame material (7) is detected to be qualified, but the thickness of the door frame material is detected to be unqualified, a transfer mechanism (47) at the bottom is started, an air source switch is opened, an air cylinder (36) drives a moving plate (37) to move towards the right side, after an electric push rod (30) close to the rear side is moved in place, the electric push rod (30) close to the rear side pushes the door frame material (7) to move towards one side until the door frame material (7) is moved out of a turnover mechanism (45), if the thickness of the door frame material (7) is detected to be qualified, but the width of the door frame material is unqualified, the air cylinder (36) drives the moving plate (37) to move, after the electric push rod (30) close to the front side is moved in place, the electric push rod (30) close to the front side pushes the door frame material (7) to move towards the other side until the door frame material (7) is moved out of the turnover mechanism (45), and classification of unqualified products is realized;
when the width and the thickness of the door frame material (7) are qualified, a power switch of the motor (26) is started, the motor (26) drives the stay wire (28) to continuously tighten, the stay wire (28) drives the sixth connecting rod (20) to rotate towards the right side, the sixth connecting rod (20) drives the door frame material (7) to rotate towards the right side until the door frame material slides down from the second connecting rod mechanism (39) and contacts with the sliding plate, and the door frame material (7) moves downwards along the sliding plate (9) and is conveyed to the next process.
6. The use method of the door frame material line following robot is characterized in that the door frame material (7) falls to the upper part of the mounting plate (8) under the inertia effect, the gravity center of the door frame material (7) is positioned at the right side of the connection position of the fourth connecting rod (14) and the third connecting rod (13), when the gravity of the door frame material (7) is applied to the first connecting rod mechanism (38), the gravity of the door frame material (7) enables the fifth connecting rod (15) to move downwards, the third connecting rod (13) drives the fourth connecting rod (14) to rotate, the third connecting rod (13) drives the second connecting rod (12) to move, the second connecting rod (12) drives the first connecting rod (11), when the fifth connecting rod (15) is contacted with the limiting block (17), the inclination angle of the third connecting rod (13) towards the right side is maximum, and the second connecting rod (12) and the first connecting rod (11) are not positioned on the same straight line;
the door frame material (7) slides downwards to the right along the surface of the mounting plate (8), one side of the door frame material (7) is in contact with a transverse plate (48) fixed on the sixth connecting rod (20), the contact position of the door frame material (7) and the transverse plate (48) is positioned on the upper side of the supporting plate (25), the sixth connecting rod (20) is pressed to rotate anticlockwise, at the moment, the control wire coil (27) rotates to release the pull wire (28) until the door frame material (7) is in contact with and presses the supporting plate (25) downwards, so that the seventh connecting rod (21) starts to rotate anticlockwise around the connection position of the seventh connecting rod (21) and the third supporting plate (22) and finally abuts against a straight section of the limiting plate (24), the door frame material (7) completely falls onto the supporting plate (25), and the door frame material (7) is in a vertical state;
under the action of the spring (18), the third connecting rod (13) swings anticlockwise and leftwards, the fifth connecting rod (15) moves upwards to the highest position, the first connecting rod (11) rotates anticlockwise, and the first connecting rod (11) and the second connecting rod (12) are not in the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110160126.5A CN112974273B (en) | 2021-02-05 | 2021-02-05 | Door frame material line following robot and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110160126.5A CN112974273B (en) | 2021-02-05 | 2021-02-05 | Door frame material line following robot and using method thereof |
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| CN112974273A CN112974273A (en) | 2021-06-18 |
| CN112974273B true CN112974273B (en) | 2022-05-17 |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4043130B2 (en) * | 1999-03-08 | 2008-02-06 | 株式会社マキ製作所 | Saucepan for agricultural product sorting equipment |
| CN109127451B (en) * | 2018-08-30 | 2019-06-14 | 南京瑞贻电子科技有限公司 | A kind of manufacturing material is with line robot |
| CN210935971U (en) * | 2019-06-18 | 2020-07-07 | 沈阳瑞晟智能装备有限公司 | Sorting trolley, trolley turning plate opening mechanism and sorting system |
| CN111099324B (en) * | 2019-12-24 | 2021-03-30 | 浙江科技学院 | Unpowered turnover device capable of being reset actively and turning stably and working method thereof |
| CN111204551A (en) * | 2020-03-02 | 2020-05-29 | 陈以诺 | Cargo transferring machine for logistics sorting and using method thereof |
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Denomination of invention: Door frame material tracking robot and its usage method Effective date of registration: 20230414 Granted publication date: 20220517 Pledgee: Jinhua Bank Co.,Ltd. Yongkang sub branch Pledgor: YONGKANG JIEDICI ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2023330000758 |