CN113998448A - Feeding manipulator based on automatic production line - Google Patents

Abstract

The utility model provides a feeding manipulator based on automatic production line, be circular shape bottom surface open-ended casing including the cross-section, top surface installation montant in the casing, the lower extreme installation plectane of montant, the annular first guide rail of periphery fixed mounting of plectane, the periphery cover of first guide rail is equipped with the second guide rail, be equipped with four at least return type frames that are annular distribution between first guide rail and the second guide rail, it is trapezoidal standpipe to all sell the axle installation in the return type frame, casing top surface middle part fixed connection arm, be located and be equipped with the hydraulic stem on the first electronic slider of first guide rail periphery, the plectane bottom surface still is equipped with image acquisition device. According to the invention, the image acquisition device and the control terminal are used as command terminals of the whole device, materials are carried through the cooperation of the control terminal and the mechanical arm, the materials can be clamped and grabbed fully according to the characteristics of the materials, intelligent operation is adopted, the intelligent degree of the whole production line can be effectively improved, manual participation is reduced, and the carrying efficiency can be effectively improved.

Description

Feeding manipulator based on automatic production line

Technical Field

The invention belongs to the field of feeding manipulators, and particularly relates to a feeding manipulator based on an automatic production line.

Background

With the gradual deepening of mechanization degree, the manipulator can imitate certain action functions of a human hand and an arm and is an automatic operation device used for grabbing and carrying objects or operating tools according to a fixed program, so that the manipulator is favored by the production industry and gradually becomes a prime force in production; but the manipulator among the prior art mostly can only snatch the transport to specific article, and generally snatch the transport to regular object, but in actual production, often need snatch the transport to some anomalous material, especially in the stone production in large-scale quarry, its raw materials are irregular shape mostly, often need artifical and machinery to cooperate simultaneously just can accomplish and snatch the transport, and whole process is wasted time and energy, and degree of mechanization is not high.

Disclosure of Invention

The invention provides a feeding manipulator based on an automatic production line, which is used for overcoming the defects in the prior art.

The invention is realized by the following technical scheme:

a feeding manipulator based on an automatic production line comprises a shell with a circular cross section and an opening at the bottom, a vertical rod coaxial with the vertical rod is fixedly installed on the inner top surface of the shell, a circular plate coaxial with the vertical rod is fixedly installed at the lower end of the vertical rod, an annular first guide rail is fixedly installed on the periphery of the circular plate, the bottom surface of the circular plate is positioned below the shell, a second guide rail is sleeved on the periphery of the first guide rail, the periphery of the second guide rail is fixedly connected with the inner side of the opening at the bottom of the shell, at least four circular frame bodies distributed in an annular mode are arranged between the first guide rail and the second guide rail, C-shaped first electric slide blocks are fixedly installed on two sides of each circular frame body respectively, two first electric slide blocks of the same circular frame body are respectively wrapped on the outer sides of the first guide rail and the second guide rail and are in sliding fit with the first guide rail and the second guide rail, a vertical tube with a trapezoidal cross section is installed on a pin shaft in each circular frame body, the lower end of each vertical tube is in a hook shape, and a mechanical arm is fixedly connected to the middle of the top surface of the shell, be located and be equipped with the oblique ascending hydraulic stem of articulated installation of standpipe with corresponding on the first electronic slider of first guide rail periphery, the plectane bottom surface still is equipped with image acquisition device, and image acquisition device, first electronic slider, arm are equallyd divide and are do not connected with the power, and image acquisition device, first electronic slider, arm are equallyd divide and do not are connected with control terminal.

According to the feeding manipulator based on the automatic production line, the tops of the first electric sliding blocks positioned on the periphery of the first guide rail are fixedly provided with the third guide rail, the third guide rail faces the center of the circular plate and is radially distributed along the circular plate, a hydraulic rod is hinged between the top surface of one side of the top surface of the third guide rail, which is far away from the middle part of the circular plate, and the corresponding vertical pipe, one side of the top surface of the third guide rail, which faces the middle part of the circular plate, is fixedly provided with the second electric sliding block, one side of the second electric sliding block is provided with a horizontal first rotating shaft, one end of the first rotating shaft, which faces the middle part of the circular plate, penetrates through the corresponding second electric sliding block and is rotatably connected with the second electric sliding block, the other end of the first rotating shaft is connected with the vertical pipe through the first universal coupling, the movable end of the first rotating shaft is obliquely upwards telescopic shaft, the movable end of the telescopic shaft is fixedly connected with the horizontal second rotating shaft through the second universal coupling, and a square shaft coaxial with the telescopic shaft is rotatably arranged in the vertical pipe, the torsional spring is arranged at the rotary connection part of the square shaft and the vertical pipe, a plurality of wire rollers which are distributed up and down are sleeved on the periphery of the square shaft, the upper side and the lower side of each wire roller are respectively provided with a limiting ring which is coaxial with the wire roller, the limiting rings are fixedly arranged on the periphery of the square shaft, springs are fixedly arranged between the limiting rings and the corresponding wire rollers, the inner side of each wire pipe is square, one side of the upper part of the vertical pipe, which is close to the circular plate, is respectively provided with a horizontal first through hole, the other end of the second rotating shaft penetrates through the corresponding first through hole and is rotatably connected with the first through hole, the other end of the second rotating shaft is respectively fixedly provided with a first bevel gear, the upper part of the square shaft is respectively fixedly provided with a second bevel gear, the second bevel gears are respectively engaged with the corresponding first bevel gears, the bevel gear on one side of the vertical pipe is provided with second through holes which are in one-to-one correspondence with the wire rollers, horizontal insertion blocks are respectively arranged in the second through holes, a plurality of circles of first connecting ropes are uniformly wound on the periphery of the wire rollers, the free ends of the first connecting ropes are respectively fixedly connected with the inner ends of the corresponding insertion blocks, the outer ends of the inserting blocks penetrate through the corresponding second through holes, the other bevel edge of each vertical pipe is fixedly provided with connecting blocks which are in one-to-one correspondence with the second through holes, one side of each connecting block, far away from the corresponding vertical pipe, is provided with a horizontal inserting hole, the inserting blocks can be respectively matched with the corresponding inserting holes of the adjacent vertical pipes in an inserting way, the inner side walls of the inserting holes are provided with annular inserting grooves, the plug block all is equipped with the locking structure that can correspond with adjacent standpipe slot grafting cooperation simultaneously, the equal fixed mounting third bevel gear of one end at first pivot towards the plectane middle part, the periphery cover of montant is equipped with the sleeve pipe of rotating the connection with it, sheathed tube lower extreme fixed mounting annular bevel gear, the equal meshing cooperation of third bevel gear and annular bevel gear of ability, be equipped with the power device that drive sleeve pipe pivoted in the casing, two stoppers that distribute about the equal fixed mounting in the inner outside of second through-hole is, power device is connected with power, control terminal respectively.

The feeding manipulator based on the automatic production line comprises vertical third through holes formed in one side, close to the vertical pipe, of the top surface of an insertion block, vertical fourth through holes formed in one side, far away from the vertical pipe, of the top surface of the insertion block, horizontal fifth through holes are formed between the fourth through holes and the third through holes, wire wheels are fixedly mounted on the inner side walls, far away from a square pipe, of the fourth through holes, two horizontal locking blocks are mounted in the fourth through holes through pin shafts and are respectively located on the upper side and the lower side of the corresponding wire wheel, torsion springs are mounted at the positions, close to the pin shafts, of the middle portion of one side, close to the square pipe, of each third through hole, second connecting ropes are fixed horizontally, the free ends of the second connecting ropes are divided into two parts, the free ends of the second connecting ropes penetrate through the corresponding fifth through holes to bypass the locking blocks, fixedly connected to the corresponding wire wheels and located on the two sides of the wire wheels, and can be respectively matched with corresponding slots of the adjacent vertical pipes in an inserting mode, vertical blind hole is all seted up to the interior level of second through-hole, the equal fixed mounting expansion end first electric telescopic handle down in the blind hole, the equal fixed mounting ejector pad of lower extreme of first electric telescopic handle, the lower extreme homoenergetic of ejector pad insert the third through-hole that corresponds and with the second connection rope ejection, first electric telescopic handle is equallyd divide and is do not connected with power, control terminal.

According to the feeding manipulator based on the automatic production line, the bottom surface of the push block is provided with the horizontal left and right through grooves, and the through grooves are located above the corresponding second connecting ropes.

According to the feeding manipulator based on the automatic production line, the power device comprises a motor which is arranged in the shell and faces towards the output shaft of the fixed surface, a first gear is fixedly arranged on the output shaft of the motor, a second gear is fixedly arranged on the periphery of the sleeve, the first gear is meshed with the second gear, and the motor is respectively connected with the power supply and the control terminal.

As above a feeding manipulator based on automation line, image acquisition device include the vertical groove of accomodating that the plectane bottom surface middle part was seted up, accomodate the second electric telescopic handle that the inslot fixed mounting expansion end was down, the equal fixed mounting camera of expansion end of second electric telescopic handle, camera are connected with the power respectively, second electric telescopic handle, camera are connected with control terminal respectively.

The invention has the advantages that: the invention is suitable for conveying and moving irregular large-volume and large-mass materials; in the initial state, the vertical pipes are all in a vertical state; when the materials need to be grabbed and moved, the mechanical arm moves the shell to the position above the materials, the image acquisition device acquires images of the materials below and feeds image information back to the control terminal, the control terminal formulates a related grabbing scheme according to the shapes of the materials, the control terminal sets grabbing points of the materials according to the shapes of the materials, enables the first electric slide block to move to corresponding positions around the materials along the corresponding first guide rail and the corresponding second guide rail, enables the vertical pipe to move to the grabbing points, then the hydraulic rod contracts to pull the upper end of the corresponding vertical pipe to rotate towards one side of the circular plate along the pin shaft of the vertical pipe, enables the lower end of the vertical pipe to be in an open state, then the hydraulic rod gradually extends to enable the lower end of the vertical pipe to gradually approach the materials, gradually clamps the materials at the lower end of the vertical pipe, enables the vertical pipe to keep a clamping state, and simultaneously lifts the shell and the materials at the lower part to move through the mechanical arm, placing the materials to a corresponding production line, then enabling the vertical pipes to rotate along corresponding pin shafts by contraction of the hydraulic rods, enabling the lower ends of the vertical pipes to be opened and separated from the materials, enabling the corresponding vertical pipes to be driven by the first electric sliding blocks to move to one side of the first guide rail along the first guide rail, then enabling the shell to move to an initial position by the mechanical arm, and repeatedly grabbing and carrying the materials; according to the invention, the image acquisition device and the control terminal are used as command terminals of the whole device, corresponding grabbing schemes are formulated according to different special-shaped materials, the vertical pipes which are distributed annularly are used as finger parts of the manipulator for clamping and grabbing, the vertical pipes are driven by the first electric slide block to move along the first guide rail and the second guide rail, so that the clamping points are distributed, the gravity centers of different materials are different, the clamping points are different, the vertical pipes are opened and tightened under the cooperation of the hydraulic rods, so that the clamping and grabbing actions are realized, then the materials are carried through the cooperation of the control terminal and the mechanical arm, the clamping and grabbing can be fully carried out according to the characteristics of the materials, the intelligent operation is adopted, the intelligent degree of the whole production line can be effectively improved, the manual participation is reduced, and the carrying efficiency can be effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention; FIG. 2 is an enlarged view of the view from FIG. 1A; FIG. 3 is an enlarged view of a portion of FIG. 1I; FIG. 4 is an enlarged view of a portion of FIG. 1 II; FIG. 5 is an enlarged view of a portion of FIG. 2 III; FIG. 6 is a cross-sectional view taken along line B-B of FIG. 2; FIG. 7 is a block diagram of the push block; FIG. 8 is a first use state diagram of the present invention; fig. 9 is a second use state diagram of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.

A feeding manipulator based on an automatic production line comprises a shell 1 with a circular cross section and an opening on the bottom surface, a vertical rod 2 coaxial with the vertical rod 2 is fixedly installed on the inner top surface of the shell 1, a circular plate 3 coaxial with the vertical rod 2 is fixedly installed at the lower end of the vertical rod 2, an annular first guide rail 50 is fixedly installed on the periphery of the circular plate 3, the bottom surface of the circular plate 3 is positioned below the shell 1, a second guide rail 4 is sleeved on the periphery of the first guide rail 50, the periphery of the second guide rail 4 is fixedly connected with the inner side of the opening on the bottom surface of the shell 1, at least four circular frame 5 distributed in an annular shape are arranged between the first guide rail 50 and the second guide rail 4, C-shaped first electric sliders 6 are fixedly installed on two sides of the circular frame 5 respectively, two first electric sliders 6 of the same circular frame 5 are wrapped on the outer sides of the first guide rail 50 and the second guide rail 4 respectively and are in sliding fit with the first guide rail 4, a vertical pipe 7 with a trapezoidal cross section is installed on a pin shaft in each circular frame 5, the lower extreme of standpipe 7 is the hook-type, and 1 top surface middle part fixed connection arm of casing is equipped with the oblique ascending hydraulic stem 9 with the articulated installation of standpipe 7 that corresponds on the first electric slider 6 that is located first guide rail 50 periphery, and 3 bottom surfaces of plectane still are equipped with image acquisition device, and image acquisition device, first electric slider 6, arm are equallyd divide and do not are connected with the power, and image acquisition device, first electric slider 6, arm are equallyd divide and do not are connected with control terminal. The invention is suitable for conveying and moving irregular large-volume and large-mass materials; in the initial state, the vertical pipes 7 are all in a vertical state; when the materials need to be grabbed and moved, the shell 1 is moved to the position above the materials by the mechanical arm, the materials below are subjected to image acquisition by the image acquisition device, image information is fed back to the control terminal, the control terminal formulates a related grabbing scheme according to the shape of the materials, the control terminal sets grabbing points of the materials according to the shape of the materials, the first electric slide block 6 moves to corresponding positions around the materials along the corresponding first guide rail 50 and the corresponding second guide rail 4, the vertical pipe 7 moves to the grabbing points, the hydraulic rod 9 contracts and pulls the upper end of the corresponding vertical pipe 7 to rotate along the pin shaft of the vertical pipe 7 towards one side of the circular plate 3, so that the lower end of the vertical pipe 7 is in an open state, the hydraulic rod 9 extends gradually to enable the lower end of the vertical pipe 7 to be gradually close to the materials, the materials are gradually clamped by the lower end of the vertical pipe 7, and the vertical pipe 7 is kept in a clamping state by the hydraulic rod 9, the shell 1 and materials on the lower portion are lifted simultaneously through the mechanical arm to move, the materials are placed on a corresponding production line, then the hydraulic rod 9 contracts to enable the vertical pipe 7 to rotate along the corresponding pin shaft, the lower end of the vertical pipe 7 is opened to be separated from the materials, the first electric slide block 6 drives the corresponding vertical pipe 7 to move to one side of the first guide rail 50 along the first guide rail 50, then the mechanical arm moves the shell 1 to an initial position, and grabbing and carrying of the materials can be carried out repeatedly; the invention takes the image acquisition device and the control terminal as the command terminal of the whole device, and makes corresponding grabbing schemes according to different special-shaped materials, the vertical pipes 7 distributed annularly are used as finger parts of the manipulator for clamping and grabbing, the vertical pipes 7 are driven by the first electric slide block 6 to move along the first guide rail 50 and the second guide rail 4, thereby the distribution of the clamping points is carried out, and the gravity centers of different materials are different, so that the clamping points are different, the vertical tube 7 is opened and tightened under the coordination of the hydraulic rod 9, thereby realizing the clamping and grabbing actions, then carry the material through the cooperation of control terminal and arm, can be abundant carry out the centre gripping according to the material characteristics and snatch, adopt intelligent operation, can effectually promote the intelligent degree of whole production line, reduce artificial participation, and can effectual promotion handling efficiency.

Specifically, as shown in fig. 1, in order to make the vertical pipes 7 grip and grab the material more stably and make the stress on the multiple vertical pipes 7 more balanced when grabbing simultaneously, in this embodiment, third guide rails 8 are fixedly installed on the tops of first electric sliders 6 located on the peripheries of the first guide rails 50, the third guide rails 8 are distributed along the radial direction of the circular plates 3 toward the centers of the circular plates 3, hydraulic rods 9 are hinged between the top surfaces of one sides of the top surfaces of the third guide rails 8 away from the middle portions of the circular plates 3 and the corresponding vertical pipes 7, second electric sliders 10 are fixedly installed on one sides of the top surfaces of the third guide rails 8 toward the middle portions of the circular plates 3, a horizontal first rotating shaft 11 is disposed on one side of each second electric slider 10, one end of each first rotating shaft 11 toward the middle portions of the circular plates 3 penetrates through the corresponding second electric slider 10 and is rotatably connected thereto, the other end of each first rotating shaft 11 is connected to an inclined telescopic shaft 12 on the movable end through a first universal coupling, the movable end of the telescopic shaft 12 is fixedly connected with a horizontal second rotating shaft 13 through a second universal coupling, a square shaft 14 coaxial with the vertical pipe is rotatably installed in the vertical pipe 7, a torsional spring is installed at the rotating connection position of the square shaft 14 and the vertical pipe 7, a plurality of wire rollers 15 distributed up and down are sleeved on the periphery of the square shaft 14, limiting rings 34 coaxial with the wire rollers 15 are respectively arranged on the upper side and the lower side of each wire roller 15, the limiting rings 34 are fixedly installed on the periphery of the square shaft 14, springs 36 are respectively and fixedly installed between the limiting rings 34 and the corresponding wire rollers 15, the inner side of each wire pipe 15 is square, a horizontal first through hole 16 is respectively formed in one side of the upper portion of the vertical pipe 7 close to the circular plate 3, the other end of the second rotating shaft 13 penetrates through the corresponding first through hole 16 and is rotatably connected with the same, a first bevel gear 17 is fixedly installed at the other end of the second rotating shaft 13, a second bevel gear 18 is fixedly installed at the upper portion of the square shaft 14, and the second bevel gear 18 is engaged with the corresponding first bevel gear 17, the bevel edge of one side of the vertical pipe 7 is provided with second through holes 19 corresponding to the wire rollers 15 one by one, horizontal insertion blocks 20 are arranged in the second through holes 19, the periphery of the wire rollers 15 is wound with a plurality of circles of first connecting ropes 21, the free ends of the first connecting ropes 21 are fixedly connected with the inner ends of the corresponding insertion blocks 20, the outer ends of the insertion blocks 20 penetrate through the corresponding second through holes 19, the other bevel edge of the vertical pipe 7 is fixedly provided with connecting blocks 28 corresponding to the second through holes 19 one by one, one side of each connecting block 28 far away from the vertical pipe 7 is provided with a horizontal insertion hole 29, the insertion blocks 20 can be respectively matched with the insertion holes 29 corresponding to the adjacent vertical pipes 7 in an insertion manner, the inner side wall of each insertion hole 29 is provided with an annular insertion groove 30, meanwhile, each insertion block 20 is provided with a locking structure matched with the insertion groove 30 corresponding to the adjacent vertical pipe 7 in an insertion manner, one end of the first rotating shaft 11, facing the middle part of the circular plate 3 is fixedly provided with a third bevel gear 31, the periphery of the vertical pipe 2 is sleeved with a sleeve 32 rotatably connected with the vertical pipe, an annular bevel gear 33 is fixedly installed at the lower end of the sleeve 32, the third bevel gear 31 can be meshed and matched with the annular bevel gear 33, a power device for driving the sleeve 32 to rotate is arranged in the shell 1, two limiting blocks 38 which are vertically distributed are fixedly installed on the outer side of the inner end of the second through hole 29, and the power device is respectively connected with a power supply and a control terminal. In the initial state, the vertical pipes 7 are all in the vertical state, the second electric sliding blocks 10 are all positioned in the middle of the corresponding third guide rails 8, and the third bevel gears 31 are not engaged with the annular bevel gears 33; when the opposite materials need to be clamped, taking the materials shown in fig. 8 as an example, the shapes of the materials to be clamped are collected by an image collecting device, then corresponding image information is fed back to a control terminal, the control terminal plans a corresponding clamping scheme according to the shapes of the materials, all the first electric sliding blocks 6 simultaneously move to one side of the materials along the corresponding first guide rail 50 and the corresponding second guide rail 4, as shown in fig. 8, because the cross sections of the vertical pipes 7 are trapezoidal, the oblique sides of the two adjacent vertical pipes 7 are close to each other, before the materials are clamped, the oblique sides of the two adjacent vertical pipes 7 are close to each other, so that the insert block 20 of one vertical pipe 7 is gradually inserted into the insertion hole 29 of the adjacent vertical pipe 7, the insert block 20 and the insertion hole 29 are locked and fixed through the locking structure, then the first electric sliding blocks 6 move to the clamping point designated by the control terminal along the first guide rail 50 and the second guide rail 4, in the moving process of the first electric sliding block 6, as the inserting block 20 of the two vertical pipes 7 is in inserting fit with the inserting hole 29 and locked, the distance between the two vertical pipes 7 is increased, the first connecting rope 21 is pulled to be gradually released from the corresponding wire roller 15, and because the periphery of the square shaft 14 is sleeved with the plurality of wire rollers 15 which are distributed up and down, the upper side and the lower side of each wire roller 15 are respectively provided with a limiting ring 34 which is coaxial with the wire roller 15, the limiting rings 34 are fixedly arranged at the periphery of the square shaft 14, springs 36 are fixedly arranged between the limiting rings 34 and the corresponding wire rollers 15, so that in the process of releasing the first connecting rope 16 by the wire rollers 15, the wire rollers 15 vertically move along the corresponding square shaft 14, so that the inserting block 20 pulls the corresponding first connecting rope 21 to be released in a horizontal state, the first connecting rope 21 can be prevented from being clamped in the releasing process, and the step can also drive the corresponding vertical pipe 7 to firstly to move to a designated grabbing point by the first electric sliding block 6, then two adjacent vertical pipes 7 which need to use the first connecting rope 21 are mutually close to each other, after the insertion block 20 is in insertion fit with the insertion holes 29 of the adjacent vertical pipes 7, the two vertical pipes 7 are driven to move to a specified grabbing point again under the movement of the first electric sliding block 6, the first connecting rope 21 is pulled out in the moving process, torsion springs are arranged at the rotating connection positions of the square shaft 14 and the vertical pipes 7, so that the first connecting rope 21 is in a tightening state under the action of the torsion springs in the pulling-out process, the inner side part of the first connecting rope 21 is ensured to be tightly attached to the periphery of the material, after the vertical pipes 7 are moved to the specified grabbing points, the hydraulic rod 9 is contracted first, the upper parts of the corresponding vertical pipes 7 are rotated towards one side of the circular plate 3 along the corresponding pin shafts, the lower ends of the vertical pipes 7 are in an opening state, then the hydraulic rod 9 is gradually extended, and the lower ends of the corresponding vertical pipes 7 are gradually close to the material, the lower end of the vertical pipe 7 is contacted with the material, meanwhile, the hydraulic rod 9 continues to extend, so that the lower end of the vertical pipe 7 applies pressure to the outside of the material to stably clamp the material, the state is as shown in fig. 9, the material is grabbed under the combined action of the lower end of the vertical pipe 7 and the first connecting rope 21, the material can be grabbed to a corresponding production line by lifting and moving the whole device through the mechanical arm, after the material is grabbed to the production line, the vertical pipe 7 is in a vertical state by retracting the hydraulic rod 9, then the vertical pipe is moved to one side of the material along the corresponding first guide rail 50 and the corresponding second guide rail 4 through the first electric slide block 6, then the second electric slide blocks 10 of the two vertical pipes 7, which are spliced and matched with the insertion block 20 and the insertion hole 29, are moved to one side of the corresponding third guide rail 8, which is close to the middle part of the circular plate 3, the telescopic shaft 12 extends, so that the third bevel gear 31 is meshed with the annular bevel gear 33, then the power device drives the sleeve 32 to rotate, the rotation of the sleeve 32 drives the corresponding annular bevel gears 33 to rotate, so as to drive the two corresponding first rotating shafts 11 to rotate, the first rotating shafts 11 rotate and drive the second rotating shafts 13 to rotate through the first universal couplings, the telescopic shafts 12 and the second universal couplings, and the second bevel gears 18 are meshed and matched with the corresponding first bevel gears 17, so that the square shafts 14 rotate along with the second rotating shafts 13, the corresponding wire rollers 15 are driven to rotate through the rotation of the square shafts 14, so that the corresponding first connecting ropes 21 are tensioned and wound on the peripheries of the corresponding wire rollers 15, meanwhile, the locking of the inserting blocks 20 and the inserting grooves 30 is released through the locking structures, the inserting blocks 20 are separated from the inserting holes 29 of the adjacent vertical pipes 7, and the whole device is moved to an initial position through a mechanical arm, so as to perform next material grabbing; by adopting the mode that the inserting block 20 is in inserting fit with the adjacent inserting holes 29, the vertical pipes 7 pull the first connecting rope 21 in the moving process along with the first electric slide block 6, so that the part of the first connecting rope 21 is attached to the periphery of the material, the two vertical pipes 7 are taken as supporting points through the first connecting rope 21, the first connecting rope 21 is taken as an acting point in the material grabbing process, the vertical pipes 7 are more stable in clamping the material, the grabbing force is more dispersed, the grabbing process is more stable and safer, and the control terminal can control the first connecting rope 21 to be pulled out among a plurality of groups of adjacent vertical pipes 7 according to the characteristics of the material, so that the first connecting rope 21 can be added as a clamping point to be clamped and grabbed under the clamping of the vertical pipes 7, the whole device can be suitable for grabbing and moving various special-shaped materials, and different grabbing modes can be adopted for grabbing different materials, the stability, the safety and the high efficiency of grabbing are ensured.

Specifically, as shown in fig. 5, in order to make in time carry out the locking after the inserted block 20 inserts in the slot 30, and contact locking that can be smooth, this embodiment the locking structure include that one side that the top surface of inserted block 20 is close to standpipe 7 all sets up vertical third through-hole 22, one side that standpipe 7 was kept away from to the top surface of inserted block 20 all sets up vertical fourth through-hole 23, all set up horizontally fifth through-hole 24 between fourth through-hole 23 and the third through-hole 22, the equal fixed mounting line wheel 25 of inside wall that square pipe 7 was kept away from to fourth through-hole 23, two horizontally locking blocks 27 of equal round pin axle installation in the fourth through-hole 23, locking blocks 27 are located corresponding line wheel 25 upper and lower both sides respectively, locking block 27 all installs the torsional spring with round pin axle department, the equal fixed horizontally second connection rope 26 is close to square pipe 7 one side middle part in the third through-hole 22, the free end of second connection rope 26 is equallyd divide into two strands, the free end of second connection rope 26 all runs through corresponding fifth through hole 24 and walks around corresponding line wheel 25 fixed connection and is located corresponding line wheel 25 Locking block 27 of 25 both sides of line wheel, and locking block 27 can peg graft the cooperation with the slot 30 that adjacent standpipe 7 corresponds respectively, vertical blind hole 36 is all seted up to the stationary plane in the second through-hole 19, equal fixed mounting expansion end first electric telescopic handle 37 down in the blind hole 36, the equal fixed mounting ejector pad 38 of lower extreme of first electric telescopic handle 37, the lower extreme homoenergetic of ejector pad 38 inserts in the third through-hole 22 that corresponds and is connected rope 26 ejection with the second, first electric telescopic handle 37 equally divide do not with the power, control terminal connects. In an initial state, the locking blocks 17 are in a vertical state under the action of the torsion springs, the outer ends of the locking blocks 17 are located outside the corresponding fourth through holes 23, the pushing blocks 38 are located inside the corresponding blind holes 36, and the second connecting ropes 26 are in a horizontal state; when the device is used, in the process that the plug block 20 is inserted into the insertion hole 29 of the adjacent vertical pipe 7 along with the vertical pipe 7, because the torsion springs are arranged at the pin shafts of the locking blocks 17, when the locking blocks 17 contact with the connecting blocks 28, the locking blocks 17 rotate towards one side of the second through hole 19 along the corresponding pin shafts under the action of the torsion springs, so that the locking blocks 17 are inserted into the insertion holes 29 along with the corresponding insertion holes 20, and simultaneously, when the locking blocks 17 move to the inner sides of the insertion grooves 30, the locking blocks 17 restore to the vertical state (as shown in the dotted line of fig. 5) under the action of the torsion springs, so that the plug block 20 is locked with the connecting blocks 28, when the locking of the plug block 20 and the connecting blocks 28 needs to be released after the material is grabbed, the first electric telescopic rods 37 are extended, the push blocks 38 are pushed into the second through holes 19 below, the push blocks 38 are inserted into the third through holes 22 below, and the push blocks 38 push the second connecting ropes 26 towards the lower ends of the third through holes 22, the second connecting rope 26 pulls the corresponding locking block 17 to be in a horizontal state, and the two vertical pipes 7 are gradually far away along with the first electric sliding block 6, so that the insertion block 20 can be gradually separated from the insertion hole 29, and the locking of the insertion block 20 is contacted; the state of the locking block 17 is controlled by the mutual matching of the pushing block 38 and the second connecting rope 26, so that the locking state of the plug block 20 and the jack 29 is adjusted, the whole process is smooth and continuous, and the plug block 20 can be locked timely.

Further, as shown in fig. 7, in order to better push the second connecting rope 26, the bottom surfaces of the pushing blocks 38 of the present embodiment are both provided with horizontal through grooves 39 that are left and right through, and the through grooves 39 are located above the corresponding second connecting ropes 26. When the device is used, the electric telescopic rod 37 pushes the corresponding pushing block 38 into the third through hole 22, so that the second connecting rope 26 is located inside the corresponding through groove 39, and the second connecting rope 26 is pushed through the through groove 39, thereby effectively ensuring that the second connecting rope 26 cannot slide in the pushing process.

Furthermore, as shown in fig. 1, in order to rotate the sleeve 32, the power device according to the embodiment includes a motor 40 installed on the inner fixed surface of the housing 1 and having an output shaft facing the motor, a first gear 41 is fixedly installed on the output shaft of the motor 40, a second gear 42 is fixedly installed on the outer periphery of the sleeve 32, the first gear 41 is engaged with the second gear 42, and the motor 40 is respectively connected to a power source and a control terminal. In use, rotation of the motor 40 drives the sleeve 32 to rotate, as the first gear 41 is in meshing engagement with the second gear 42.

Furthermore, as shown in fig. 1, in order to formulate a corresponding grabbing scheme for each different material, image acquisition needs to be performed on the shape of the material first, and then corresponding proposal is formulated through the control terminal, so that the control terminal controls corresponding parts and structures to grab in a coordinated manner, in this embodiment, the image acquisition device comprises a vertical accommodating groove 43 formed in the middle of the bottom surface of the circular plate 3, a second electric telescopic rod 44 with a downward movable end is fixedly installed in the accommodating groove 43, a camera 45 is fixedly installed at the movable end of the second electric telescopic rod 44, the second electric telescopic rod 44 and the camera 45 are respectively connected with a power supply, and the second electric telescopic rod 44 and the camera 45 are respectively connected with the control terminal. During initial state, camera 45, second electric telescopic handle 44 all accomodate in accomodating inside groove 43, and when using, second electric telescopic handle 44 extension for camera 45 is located the plectane 3 outside, and then camera 45 shoots again, carries out image information collection to the material.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (6)

1. The utility model provides a pay-off machinery hand based on automation line which characterized in that: comprises a shell (1) with a circular cross section and an opening at the bottom, a vertical rod (2) coaxial with the shell is fixedly arranged on the inner top surface of the shell (1), a circular plate (3) coaxial with the vertical rod (2) is fixedly arranged at the lower end of the vertical rod (2), an annular first guide rail (50) is fixedly arranged at the periphery of the circular plate (3), the bottom surface of the circular plate (3) is positioned below the shell (1), a second guide rail (4) is sleeved at the periphery of the first guide rail (50), the periphery of the second guide rail (4) is fixedly connected with the inner side of the opening at the bottom surface of the shell (1), at least four circular-distributed loop frames (5) are arranged between the first guide rail (50) and the second guide rail (4), C-shaped first electric sliders (6) are respectively and fixedly arranged at two sides of each loop frame (5), and the two first electric sliders (6) of the same loop frame (5) are respectively wrapped at the outer sides of the first guide rail (50) and the second guide rail (4) and are in sliding fit with the same, it is trapezoidal standpipe (7) to all sell epaxial installation in type frame (5), the lower extreme of standpipe (7) is the hook-type, casing (1) top surface middle part fixed connection arm, be located and be equipped with on first electric slider (6) of first guide rail (50) periphery and the slant ascending hydraulic stem (9) of standpipe (7) articulated installation that corresponds, plectane (3) bottom surface still is equipped with image acquisition device, first electric slider (6), the arm is equallyd divide and is do not connected with the power, image acquisition device, first electric slider (6), the arm is equallyd divide and is do not connected with control terminal.

2. The feeding manipulator based on the automatic production line of claim 1, wherein: the top of a first electric slider (6) positioned at the periphery of the first guide rail (50) is fixedly provided with a third guide rail (8), the third guide rail (8) is distributed along the radial direction of the circular plate (3) towards the center, a hydraulic rod (9) is hinged between the top surface of one side of the top surface of the third guide rail (8), which is far away from the middle part of the circular plate (3), and a corresponding vertical pipe (7), the top surface of the third guide rail (8) is fixedly provided with a second electric slider (10) towards one side of the middle part of the circular plate (3), one side of the second electric slider (10) is provided with a horizontal first rotating shaft (11), one end of the first rotating shaft (11), which faces towards the middle part of the circular plate (3), penetrates through the corresponding second electric slider (10) and is rotatably connected with the second electric slider, the other end of the first rotating shaft (11) is connected with a telescopic shaft (12) on the movable end through a first universal coupling, the movable end of the inclined telescopic shaft (12) is fixedly connected with a horizontal second rotating shaft (13) through a second universal coupling, a square shaft (14) coaxial with the vertical pipe (7) is rotatably installed in the vertical pipe (7), a torsional spring is installed at the rotating connection position of the square shaft (14) and the vertical pipe (7), a plurality of wire rollers (15) distributed up and down are sleeved on the periphery of the square shaft (14), limiting rings (34) coaxial with the wire rollers are arranged on the upper side and the lower side of each wire roller (15), the limiting rings (34) are fixedly installed on the periphery of the square shaft (14), springs (36) are fixedly installed between the limiting rings (34) and the corresponding wire rollers (15), the inner side of each wire pipe (15) is square, a first horizontal through hole (16) is formed in one side, close to the circular plate (3), of the upper portion of the vertical pipe (7), the other end of the second rotating shaft (13) penetrates through the corresponding first through hole (16) and is rotatably connected with the first through hole, a first bevel gear (17) is fixedly installed at the other end of the second rotating shaft (13), a second bevel gear (18) is fixedly installed on the upper portion of the square shaft (14), the second bevel gears (18) are engaged with the corresponding first bevel gears (17), the bevel edge on one side of the vertical pipe (7) is provided with second through holes (19) which are in one-to-one correspondence with the wire rollers (15), the inside of each second through hole (19) is provided with a horizontal insert block (20), the periphery of each wire roller (15) is wound with a plurality of circles of first connecting ropes (21), the free ends of the first connecting ropes (21) are fixedly connected with the inner ends of the corresponding insert blocks (20), the outer ends of the insert blocks (20) penetrate through the corresponding second through holes (19), the other bevel edge of the vertical pipe (7) is fixedly provided with connecting blocks (28) which are in one-to-one correspondence with the second through holes (19), one side of each connecting block (28) far away from the vertical pipe (7) is provided with a horizontal jack (29), the insert blocks (20) can be respectively engaged with the jacks (29) corresponding to the adjacent vertical pipes (7) in an inserting manner, and annular slots (30) are formed in the inner side walls of the jacks (29), insert piece (20) simultaneously and all be equipped with slot (30) that can correspond with adjacent standpipe (7) and peg graft the complex locking structure, first pivot (11) are towards equal fixed mounting third bevel gear (31) of one end at plectane (3) middle part, the periphery cover of montant (2) is equipped with sleeve pipe (32) of being connected with it rotation, the lower extreme fixed mounting annular bevel gear (33) of sleeve pipe (32), third bevel gear (31) homoenergetic and annular bevel gear (33) meshing cooperation, be equipped with drive sleeve pipe (32) pivoted power device in casing (1), two stopper (38) that are upper and lower distribution are all fixed mounting in the inner outside of second through-hole (29), power device respectively with the power, control terminal is connected.

3. The feeding manipulator based on the automatic production line of claim 2, wherein: locking structure including the top surface of inserted block (20) and all seting up vertical third through-hole (22) near one side of standpipe (7), vertical fourth through-hole (23) are all seted up to one side that standpipe (7) were kept away from to the top surface of inserted block (20), horizontal fifth through-hole (24) are all seted up between fourth through-hole (23) and third through-hole (22), the equal fixed mounting line wheel (25) of inside wall of square pipe (7) are kept away from in fourth through-hole (23), equal round pin axle installation two horizontally locking piece (27) in fourth through-hole (23), locking piece (27) are located both sides about corresponding line wheel (25) respectively, locking piece (27) and round pin axle department all install the torsional spring, be close to the equal fixed horizontally second in square pipe (7) one side middle part in third through-hole (22) and connect rope (26), the free end of second connection rope (26) is equallyd divide into two strands, the fifth through-hole (24) that the free end of second connection rope (26) all run through corresponds walks around corresponding line wheel (25) fixed connection position line wheel (25) Locking piece (27) in line wheel (25) both sides, and locking piece (27) can be respectively with slot (30) grafting cooperation that adjacent standpipe (7) corresponds, vertical blind hole (36) are all seted up to the stationary plane in second through-hole (19), equal fixed mounting expansion end first electric telescopic handle (37) down in blind hole (36), the equal fixed mounting ejector pad (38) of lower extreme of first electric telescopic handle (37), the lower extreme homoenergetic of ejector pad (38) is inserted in third through-hole (22) that corresponds and is connected rope (26) ejection with the second, first electric telescopic handle (37) are equallyd divide do not with the power, control terminal is connected.

4. The feeding manipulator based on the automatic production line of claim 3, wherein: the bottom surface of the push block (38) is provided with a horizontal left-right through groove (39), and the through groove (39) is positioned above the corresponding second connecting rope (26).

5. The feeding manipulator based on the automatic production line as claimed in claim 2 or 3, wherein: the power device comprises a motor (40) which is arranged in the housing (1) and has an output shaft facing the inner fixed surface, a first gear (41) is fixedly arranged on the output shaft of the motor (40), a second gear (42) is fixedly arranged on the periphery of the sleeve (32), the first gear (41) is meshed with the second gear (42) in a matching manner, and the motor (40) is respectively connected with a power supply and a control terminal.

6. The feeding manipulator based on automatic production line according to claim 1, 2, 3 or 4, characterized in that: the image acquisition device include vertical groove (43) of accomodating that plectane (3) bottom surface middle part was seted up, accomodate second electric telescopic handle (44) that the fixed mounting expansion end was down in groove (43), the equal fixed mounting camera (45) of expansion end of second electric telescopic handle (44), camera (45) are connected with the power respectively, second electric telescopic handle (44), camera (45) are connected with control terminal respectively.

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