CN115446865A

CN115446865A - Clamping and overturning robot for material displacement for industrial production

Info

Publication number: CN115446865A
Application number: CN202211148057.7A
Authority: CN
Inventors: 吴迪
Original assignee: Zhongzhi Machinery Linyi Co ltd
Current assignee: Zhongzhi Machinery Linyi Co ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2022-12-09

Abstract

The invention discloses a clamping and overturning robot for material displacement in industrial production, which comprises a grabbing mechanism, a control mechanism III, a clamping jaw warehouse, a changing mechanism, an oil station, a control panel and a bottom plate, wherein the grabbing mechanism is arranged on the bottom plate; the bottom plate bears the weight of and snatchs the organization, control mechanism III, clamping jaw storehouse, changing over the outfit to construct, oil station, control panel; the grabbing mechanism is arranged on the control mechanism III, the clamping jaw warehouse is arranged on one side of the control mechanism III, the replacing mechanism is arranged on the clamping jaw warehouse, and the control panel and the oil station are arranged on one side of the clamping jaw warehouse; the grabbing mechanism comprises a mounting seat, an adjusting arm I, an adjusting arm II, an adjusting arm III, a control mechanism V, a clamping jaw, a control mechanism I and a control mechanism II. The grabbing mechanism is used for grabbing the hollow box bodies integrally storing the cylinder pieces, the hollow box bodies are placed in the cleaning pool for unified and integral cleaning, the box bodies can swing and rotate, the cleaning efficiency is improved, and workers are further protected.

Description

Clamping and overturning robot for material displacement for industrial production

Technical Field

The invention belongs to the technical field of material moving and transferring application, and particularly relates to a material shifting clamping and overturning robot for industrial production.

Background

Cleaning liquid and cleaning equipment are usually applied to the parts after machining or before assembly in the machining or mechanical assembly, and the residual cleaning liquid or oil stains on the surface are removed, so that the parts reach the specified cleanliness and are stored in a warehouse or assembled; common cleaning methods include immersion cleaning, spray cleaning, gas phase cleaning, ultrasonic cleaning, and the like. Wherein, the immersion cleaning is to immerse the parts in cleaning solution to shake and clean;

for example, in a gasoline engine used by a small-sized single-person back-carrying mower, the inner diameter of a cylinder body of the gasoline engine needs to be cleaned by cleaning liquid on the cylinder body after being processed by a boring machine, and because the size is small, many manufacturers at present carry the processed cylinder body to a box body filled with clear water or cleaning liquid by an operator for swinging cleaning, and then regularly put the cylinder body into other hollow-out boxes to send the cylinder body to the next procedure for honing and the like; however, the operation process is greatly influenced by the environment, and the following defects exist;

1) Environmental factors have great influence, for example, in winter, water in a water tank is cooler, an operator can easily freeze hands when washing the cylinder part with hands, industrial accidents occur, and the working efficiency is seriously influenced;

2) The cleaning speed that the cylinder body work piece needs one can be very slow, influences the processing of follow-up process to the cylinder body spare relatively easily, and is inefficient, and remaining overlap when having the casting blank on the cylinder body simultaneously very easily cuts operating personnel.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a clamping and overturning robot for material displacement in industrial production.

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

a clamping and overturning robot for material displacement for industrial production comprises a grabbing mechanism, a control mechanism III, a clamping jaw warehouse, a changing mechanism, an oil station, a control panel and a bottom plate; the bottom plate bears the grabbing mechanism, the control mechanism III, the clamping jaw warehouse, the changing mechanism, the oil station and the control panel; the grabbing mechanism is arranged on the control mechanism III, the clamping jaw warehouse is arranged on one side of the control mechanism III, the replacing mechanism is arranged on the clamping jaw warehouse, and the control panel and the oil station are arranged on one side of the clamping jaw warehouse.

Snatch the mechanism and include mount pad, regulating arm I, regulating arm II, regulating arm III, control mechanism V, clamping jaw, control mechanism I, control mechanism II, mount pad swing joint control mechanism III, I swing joint mount pad of regulating arm, II both ends of regulating arm are swing joint regulating arm I and III one end of regulating arm respectively, and control mechanism V locates III one ends of regulating arm, clamping jaw connection control mechanism V, and control mechanism I and control mechanism II locate on the clamping jaw.

The bottom surface of the mounting seat is provided with a fixed block and is movably connected with a control mechanism III, the top surface of the mounting seat is provided with a hydraulic motor I, a mounting hole and a chute, and an output shaft of the hydraulic motor I is provided with a bevel gear; one end of the adjusting arm I is provided with a plug-in column and a circular ring which are respectively arranged in the mounting hole and the sliding groove, and the end part of the adjusting arm I is provided with bevel gears which are meshed with bevel gears on the shaft I of the hydraulic motor; the other end of the adjusting arm I is provided with a fixed shaft I which is fixedly connected, and a gear I which is fixedly connected is arranged on the fixed shaft I; the fixed shaft I is rotatably connected with one end of the adjusting arm II.

A hydraulic motor II and a hydraulic motor III are respectively arranged at two ends of the adjusting arm II, and a gear II and a gear III which are fixedly connected are respectively arranged on output shafts of the hydraulic motor II and the hydraulic motor III; gear iii engages gear i.

III one end of regulating arm is equipped with fixed connection's fixed axle II, is equipped with fixed connection's gear V on the fixed axle II, and fixed axle II rotates and connects regulating arm II, gear V meshing gear II, the III other ends of regulating arm are equipped with jack I, jack II.

The control mechanism V comprises an air cylinder, a fixing frame I and a bolt I; fixed frame I is fixed at III tip on the regulating arm, and the cylinder is fixed on fixed frame I, I fixed connection cylinder apical axis tip of bolt.

The clamping jaw comprises a fixed shaft VI, a fixed plate II, a fixed plate III, a fixed plate V, an adjusting plate I, a fixed plate IV and an installation frame; the top end of the fixed shaft VI is provided with an insertion block and an insertion jack I, and the bottom end of the fixed shaft VI is provided with a fixed plate I; a clamping groove is formed in the middle of the fixed shaft VI; II one sides of fixed plate are equipped with connecting plate I and motor I, and I fixed connection fixed plate I of connecting plate, I axle head of motor pass fixed plate II and are equipped with gear IV.

A fixing shaft X is fixedly arranged on the fixing plate III, the end portion of the fixing shaft X is fixedly provided with a fixing sleeve I and a gear VI, the fixing sleeve I is rotatably connected with a fixing plate II, the gear VI is meshed with a gear IV, and two ends of the fixing sleeve I are provided with limiting flanges.

And one side of the fixed plate V is provided with a connecting shaft and is fixedly connected with a fixed plate IV, the other side of the fixed plate V is provided with a connecting plate II and a motor II, and the connecting plate II is fixedly connected with a fixed plate III.

An arc-shaped guide groove I and a fixing shaft III are arranged on the adjusting plate I, a gear VIII and a fixing sleeve III are fixedly arranged on the fixing shaft III, and the gear VIII is meshed with the gear VII; the fixed sleeve III is rotationally connected with the fixed plate V;

and the fixing plate IV is arranged below the adjusting plate I and is fixedly connected with the connecting shaft, and a plurality of square guide grooves II are formed in the fixing plate IV.

The mounting frame is characterized in that fixing clamps are arranged on two sides of the mounting frame, a fixing frame II is arranged at the top of the mounting frame, a fixing shaft V is arranged on the fixing frame II, a fixing sleeve II and a guide block which are fixedly connected are arranged on the fixing shaft V, the fixing sleeve II is arranged in the guide groove I, and the guide block is arranged in the guide groove II; the structure and the function of the fixing sleeve II, the fixing sleeve III and the fixing sleeve I are the same; an adjusting plate is arranged in the mounting frame, fixing shafts IV are arranged at two ends of the adjusting plate and are rotatably connected with the mounting frame, and a fixing shaft IV at the top of the adjusting plate penetrates through one end of the mounting frame and is provided with a gear X; two sides of the adjusting plate are respectively provided with a transverse rack and a vertical rack; and a supporting frame is arranged in the fixing frame II.

The control mechanism I comprises an electric push rod I, a rack and a rotating block; the rotating block is hollow, rotating shafts I are arranged on the upper side and the lower side of the rotating block and are respectively and rotatably connected with the mounting frame and the fixing frame II, and telescopic rods are respectively arranged at two ends of the rotating block and are in sliding connection with the rotating block; one end of the telescopic rod is hinged with a rack, the rack is provided with a pair of gears X which are meshed with the two sides of the gear X, and the two ends of the rack respectively penetrate through the supporting frame and the fixing frame II and are mutually connected in a sliding manner; the electric push rod I is fixed on the mounting frame, and the top shaft of the electric push rod I is hinged to the end portion of the rack on one side.

The control mechanism II comprises an electric push rod II, a connecting rod I, an adjusting rod, a connecting rod II, a top block, a hook plate and a limiting plate; the electric push rod II is fixed on the side edge of the mounting frame and is locked firmly through a fixed hoop; collude the board and locate the installation frame bottom and rotate the connection through the round pin axle, the limiting plate is equipped with a pair ofly and fixes respectively in the installation frame both sides, is equipped with the spacing groove on the limiting plate, the kicking block is equipped with a pair ofly and locates respectively colluding the board both sides, and kicking block one side is equipped with the slider and locates the spacing inslot of limiting plate, adjust the pole and rotate through the pivot and connect the installation frame, adjust the pole both ends and be equipped with the connecting rod II of hinge joint, II other end hinge joint kicking blocks of connecting rod, I one end hinge joint of connecting rod adjusts pole one end, and other end hinge joint II apical axes of electric putter.

The control mechanism III comprises a screw rod, a guide shaft, a fixed seat and a motor III; the fixed seat is arranged on the bottom plate, two ends of the lead screw and the guide shaft are movably connected with the fixed seat, the lead screw is connected with the fixed block at the bottom of the mounting seat through threads, and the guide shaft is connected with the fixed block in a sliding manner; the motor III is fixed on one side of the fixed seat and the shaft end of the motor III is connected with the screw rod.

The clamping jaw library comprises an annular frame, a mounting frame, a control mechanism X and a mounting column; the mounting column is fixed on the bottom plate, the annular frame is rotationally connected with the mounting column, and the annular frame is provided with teeth; the mounting frame is fixedly mounted at the top of the mounting column, a support arm I and a support arm II are arranged on the mounting frame, a motor V is arranged on the support arm II, a plurality of control mechanisms X are arranged on the annular frame, and the control mechanisms X and the control mechanisms V are identical in structure and application mode; the control mechanism X comprises an installation block, an air cylinder I and a bolt II, and the installation block is provided with a jack III; the V-axis end of the motor is provided with a gear which is engaged with teeth on the annular frame.

The replacing mechanism comprises a fixing frame, a rotating shaft II, a supporting shaft, an electric push rod III, a mounting plate II, a motor IV, a motor VI and a clamping jaw; the fixing frame is fixed on the supporting arm I, and the rotating shaft II is inserted into the fixing frame and the supporting arm I and is mutually and rotatably connected with the fixing frame and the supporting arm I; the rotating shaft II is provided with a mounting plate I and a fluted disc I, the supporting shaft is inserted into the rotating shaft II and is mutually connected in a sliding manner, and the supporting shaft is provided with a key block; the electric push rod III is fixed on the mounting plate I, a supporting plate is arranged on a top shaft of the electric push rod III, and the supporting plate is fixedly connected with the top of the supporting shaft; the motor IV is fixed at the bottom of the support arm I, and a fluted disc II is arranged at the shaft end of the motor IV and is meshed with the fluted disc I; one end of the mounting plate II is fixedly connected with the bottom end of the support shaft, the motor VI is fixed on the mounting plate II, and a chain wheel is arranged at the shaft end of the motor VI; the clamping jaws are provided with a pair of clamping jaws and symmetrically arranged at one end of the mounting plate II; the clamping jaws are provided with fixed shafts and are connected with a mounting plate II in a rotating mode, the fixed shafts on the clamping jaws are provided with fluted discs III which are meshed with each other, and the fixed shafts on one group of clamping jaws are provided with chain wheels and are connected with a chain wheel at the shaft end of a motor VI through a chain.

Compared with the prior art, the invention has the beneficial effects that:

1) The grabbing mechanism is arranged, the angle among the adjusting arm I, the adjusting arm II and the adjusting arm III can be adjusted through the control of the hydraulic motor II and the hydraulic motor III, and meanwhile, the grabbing mechanism is controlled to integrally rotate through the hydraulic motor I, so that the object to be grabbed can be moved; the clamping jaw is provided with a fixed shaft VI, a fixed plate II, a fixed plate III, a fixed plate V, an adjusting plate I and an installation frame; the motor I on the fixing plate II provides power to drive the fixing plate III to rotate by taking the fixing shaft X as an axis, and further drive other structures of the clamping jaw to integrally rotate, so that the grabbed hollow box body provided with the cylinder body can swing and turn in the cleaning pool, the cylinder body mentioned in the background technology can be better cleaned, the cleaning efficiency is greatly improved, and safety accidents are reduced;

the motor II arranged on the fixing plate V provides power to drive the adjusting plate to rotate, and the fixed shaft V is controlled to slide in the guide groove II through the rotation of the guide groove I, so that the mounting frame and the adjusting plate slide along the guide groove II, and the hollow box body is grabbed or loosened; meanwhile, the two sides of the adjusting and connecting plate are respectively provided with a vertical rack and a horizontal rack which can be selected for use according to the external texture of the grabbing box body, thereby avoiding the situation that the direction of the vertical rack is consistent with the direction of the external texture to reduce the friction force and ensure that the grabbing force is insufficient,

2) A control mechanism II is arranged on the side edge of the mounting frame, the adjusting rod is pushed by an electric push rod II to rotate by taking the rotating shaft as an axis, and then the ejector block is pushed to slide along the limiting groove and push the hook plate to rotate to one side, so that the hook plate lifts the bottom of the clamping box body; the hook plates at two sides are alternately pushed out by the alternate rotation of the adjusting rod so as to adapt to various environments; furthermore, if the cylindrical object is clamped, the inner wall of the cylindrical object can be clamped, and meanwhile, the hook plate is pushed outwards to lift the bottom of the cylindrical object to avoid sliding downwards, so that the cylindrical object can be clamped and moved;

3) When the clamping jaws on the grabbing mechanism break down and need to be replaced, program control is carried out through a control panel, oil is supplied to an oil station, the grabbing mechanism is controlled to a proper position by a control mechanism III and a hydraulic motor I, then the clamping jaws are controlled by a motor VI to clamp the clamping grooves, the whole clamping jaws are clamped, and the clamping jaws are unlocked through a control mechanism V; the rotating shaft II is controlled to rotate through the motor IV, so that the clamping direction of the supporting shaft and the clamping jaws is changed; the supporting shaft is pushed to slide up and down through the electric push rod III, the clamping jaw clamped by the clamping jaw is driven to be inserted into the control mechanism X and then locked, then the motor V is used for rotating the annular frame to adjust the position of the control mechanism X, then the intact clamping jaw on the control mechanism X is taken down and assembled on the grabbing mechanism, then the control mechanism V is used for locking to complete the replacement of the clamping jaw, the time is saved, and the working efficiency is guaranteed.

Drawings

FIG. 1 is a schematic structural view of a clamping and overturning robot for material displacement in industrial production, which is disclosed by the invention;

FIG. 2 is a schematic structural view of the grasping mechanism of FIG. 1;

FIG. 3 is a schematic view of the structure of the adjusting arm III in FIG. 2;

FIG. 4 is a schematic view of the control mechanism V shown in FIG. 3;

FIG. 5 is a schematic view of the connection structure of the adjusting arm II and the adjusting arm III in FIG. 2;

FIG. 6 is a schematic view of a connecting structure of an adjusting arm II and an adjusting arm I in FIG. 2;

FIG. 7 is a schematic structural view of the mount of FIG. 2;

FIG. 8 is a schematic view of the jaw of FIG. 2;

FIG. 9 is a first schematic exploded view of the jaw of FIG. 2;

FIG. 10 is a second schematic exploded view of the jaw of FIG. 2;

FIG. 11 is a first schematic structural view of the mounting frame of FIG. 2;

FIG. 12 is a second schematic structural view of the mounting frame of FIG. 2;

FIG. 13 is a schematic structural view of the control mechanism I of FIG. 11;

FIG. 14 is a schematic structural view of a control mechanism II shown in FIG. 11;

FIG. 15 is a schematic view of the regulating plate of FIG. 13;

FIG. 16 is a schematic view of the change-over mechanism and jaw magazine of FIG. 1;

FIG. 17 is a schematic structural view of the mounting bracket of FIG. 16;

FIG. 18 is a schematic structural view of the reloading mechanism of FIG. 16;

FIG. 19 is a schematic structural view of the mounting plate II of FIG. 18;

FIG. 20 is a schematic view of the control mechanism X of FIG. 16

In the figure: 1. a grabbing mechanism; 11. a mounting base; 111. a fixed block; 112. a hydraulic motor I; 113. mounting holes; 114. a chute; 12. an adjusting arm I; 121. a fixed shaft I; 122. a gear I; 123. umbrella teeth; 13. an adjusting arm II; 131. a hydraulic motor II; 1311. a gear II; 132. a hydraulic motor III; 1321. a gear III; 14. an adjusting arm III; 141. fixing a shaft II; 142. a gear V; 143. a jack I; 144. a jack II; 15. a control mechanism V; 151. a cylinder; 152. fixing a frame I; 153. a bolt I; 16. a clamping jaw; 161. a fixed shaft VI; 1611. a clamping groove; 1612. a fixing plate I; 1613. inserting a block; 162. fixing a plate II; 1621. a connecting plate I; 1622. a motor I; 16221. a gear IV; 163. a fixing plate III; 1631. a fixed shaft X; 1632. fixing a sleeve I; 1633. a gear VI; 164. a fixing plate V; 1641. a connecting shaft; 1642. a connecting plate II; 1643. a motor II; 16431. a gear VII; 165. an adjusting plate I; 1651. a gear VIII; 1652. a fixed shaft III; 1653. fixing a sleeve III; 1654. a guide groove I; 166. a fixing plate IV; 1661. a guide groove II; 167. installing a frame; 1671. fixing a clamp; 1672. a fixed shaft V; 16721. fixing a sleeve II; 16722. a guide block; 1673. fixing a frame II; 16731. a support frame; 1675. an adjusting plate; 16751. a fixed shaft IV; 16752. gear X; 17. a control mechanism I; 171. an electric push rod I; 172. a rack; 173. rotating the block; 1731. a rotating shaft I; 1732. a telescopic rod; 18. a control mechanism II; 181. an electric push rod II; 182. a connecting rod I; 183. adjusting a rod; 184. a connecting rod II; 185. a top block; 1851. a slider; 186. hooking the plate; 187. a limiting plate; 2. a control mechanism III; 21. a lead screw; 22. a guide shaft; 23. a fixed seat; 24. a motor III; 3. a jaw magazine; 31. an annular frame; 311. teeth; 32. a mounting frame; 321. a support arm I; 322. a support arm II; 323. a motor V; 33. control means X; 331. mounting a block; 3311. a jack III; 332. a cylinder I; 333. a bolt II; 34. mounting a column; 4. a reloading mechanism; 41. a fixed mount; 42. a rotating shaft II; 421. a mounting plate I; 422. a fluted disc I; 43. a support shaft; 44. an electric push rod III; 441. a support plate; 45. mounting a plate II; 46. a motor IV; 462. a fluted disc II; 47. a motor VI; 48. a claw; 481. a fluted disc III; 5. an oil station; 6. a control panel; 7. a base plate.

Detailed Description

For the understanding of those skilled in the art, the technical solution of the present invention is further described in detail with reference to the accompanying drawings 1-20.

A clamping and overturning robot for material displacement for industrial production comprises a grabbing mechanism 1, a control mechanism III 2, a clamping jaw warehouse 3, a reloading mechanism 4, an oil station 5, a control panel 6 and a bottom plate 7; the bottom plate 7 bears the grabbing mechanism 1, the control mechanism III 2, the clamping jaw warehouse 3, the replacing mechanism 4, the oil station 5 and the control panel 6; snatch mechanism 1 and locate on control mechanism III 2, clamping jaw storehouse 3 locates control mechanism III 2 one side, and on clamping jaw storehouse 3 was located to retooling mechanism 4, control panel 6 and oil station 5 located clamping jaw storehouse 3 one side.

Snatch mechanism 1 and include mount pad 11, regulating arm I12, regulating arm II 13, regulating arm III 14, control mechanism V15, clamping jaw 16, control mechanism I17, control mechanism II 18, 11 swing joint control mechanism III 2 of mount pad, I12 swing joint mount pad 11 of regulating arm, II 13 both ends of regulating arm swing joint regulating arm I12 and III 14 one ends of regulating arm respectively, and control mechanism V15 locates regulating arm III 14 one end, and clamping jaw 16 connection control mechanism V15, control mechanism I17 and control mechanism II 18 locate on clamping jaw 16.

A fixing block 111 is arranged on the bottom surface of the mounting seat 11 and is movably connected with a control mechanism III 2, a hydraulic motor I112, a mounting hole 113 and a sliding groove 114 are arranged on the top surface of the mounting seat 11, and a bevel gear is arranged on an output shaft of the hydraulic motor I112; one end of the adjusting arm I12 is provided with a plug-in column and a circular ring which are respectively arranged in the mounting hole 113 and the sliding groove 114, and the end part of the adjusting arm I12 is provided with bevel gears 123 which are meshed with bevel gears on a shaft of the hydraulic motor I112; the hydraulic motor I112 drives the adjusting arm I12 to rotate by taking the inserting column as an axis; the other end of the adjusting arm I12 is provided with a fixed shaft I121 which is fixedly connected, and a gear I122 which is fixedly connected is arranged on the fixed shaft I121; the fixed shaft I121 is rotatably connected with one end of the adjusting arm II 13.

Two ends of the adjusting arm II 13 are respectively provided with a hydraulic motor II 131 and a hydraulic motor III 132, and output shafts of the hydraulic motor II 131 and the hydraulic motor III 132 are respectively provided with a gear II 1311 and a gear III 1321 which are fixedly connected; gear iii 1321 engages gear i 122; the adjusting arm II 13 is driven to rotate by the power supplied by the hydraulic motor III 132 by taking the fixed shaft I121 as the axis.

One end of the adjusting arm III 14 is provided with a fixed shaft II 141 which is fixedly connected, a gear V142 which is fixedly connected is arranged on the fixed shaft II 141, the fixed shaft II 141 is rotatably connected with the adjusting arm II 13, the gear V142 is meshed with the gear II 1311, and the adjusting arm III 14 is driven to rotate by the power provided by the hydraulic motor II 131 by taking the fixed shaft II 141 as an axis; the other end of the adjusting arm III 14 is provided with an inserting hole I143 and an inserting hole II 144.

The control mechanism V15 comprises an air cylinder 151, a fixing frame I152 and a bolt I153; fixed frame I152 is fixed in the end of adjusting arm III 14, and cylinder 151 is fixed on fixed frame I152, and bolt I153 fixed connection cylinder 151 apical axis tip, passes through jack I143 and jack II 144 through cylinder 151 control bolt I153.

The clamping jaw 16 comprises a fixed shaft VI 161, a fixed plate II 162, a fixed plate III 163, a fixed plate V164, an adjusting plate I165, a fixed plate IV 166 and a mounting frame 167; the top end of the fixed shaft VI 161 is provided with an inserting block 1613 and an inserting jack I143, and the bottom end of the fixed shaft VI 161 is provided with a fixed plate I1612; a clamping groove 1611 is formed in the middle of the fixed shaft VI 161; fixed plate II 162 one side is equipped with connecting plate I1621 and I1622 of motor, and connecting plate I1621 fixed connection fixed plate I1612, and I1622 axle head of motor passes fixed plate II 162 and is equipped with gear IV 16221.

A fixing shaft X1631 is fixedly arranged on the fixing plate III 163, a fixing sleeve I1632 and a gear VI 1633 are fixedly arranged at the end part of the fixing shaft X1631, the fixing sleeve I1632 is rotatably connected with the fixing plate II 162, the gear VI 1633 is meshed with the gear IV 16221, and limiting flanges are arranged at two ends of the fixing sleeve I1632 to prevent the fixing shaft X1631 from moving up and down; the fixing plate III 163 is driven to rotate by taking the fixing shaft X1631 as an axis by the power provided by the motor I1622.

A connecting shaft 1641 is arranged on one side of the fixing plate V164 and is fixedly connected with a fixing plate IV 166, a connecting plate II 1642 and a motor II 1643 are arranged on the other side of the fixing plate V164, and the connecting plate II 1642 is fixedly connected with a fixing plate III 163; the shaft end of the motor II 1643 penetrates through the fixing plate V164 and is provided with a gear VII 16431;

an arc-shaped guide groove I1654 and a fixing shaft III 1652 are formed in the adjusting plate I165, a gear VIII 1651 and a fixing sleeve III 1653 are fixedly arranged on the fixing shaft III 1652, and the gear VIII 1651 is meshed with a gear VII 16431; the fixing sleeve III is rotationally connected with the fixing plate V.

The fixing plate IV 166 is arranged below the adjusting plate I165 and is fixedly connected with the connecting shaft 1641, and a plurality of square guide grooves II 1661 are formed in the fixing plate IV 166.

Two sides of the mounting frame 167 are provided with fixing clamps 1671, the top of the mounting frame 167 is provided with a fixing frame II 1673, the fixing frame II 1673 is provided with a fixing shaft V1672, the fixing shaft V1672 is provided with a fixing sleeve II 16721 and a guide block 16722 which are fixedly connected, the fixing sleeve II 16721 is arranged in the guide groove I1654, and the guide block 16722 is arranged in the guide groove II 1661; the structure and the function of the fixing sleeve II 16721, the fixing sleeve III 1653 and the fixing sleeve I1632 are the same; an adjusting plate 1675 is arranged in the mounting frame 167, two ends of the adjusting plate 1675 are provided with fixing shafts IV 16751 and are rotatably connected with the mounting frame 167, and the fixing shaft IV 16751 at the top of the adjusting plate 1675 penetrates through one end of the mounting frame 167 and is provided with a gear X16752; two sides of the adjusting plate 1675 are respectively provided with a transverse rack and a vertical rack which are used for increasing clamping friction force under the clamping of different objects; a supporting frame 16731 is arranged in the fixing frame II 1673 and used for supporting the stabilizing rack 172.

The control mechanism I17 comprises an electric push rod I171, a rack 172 and a rotating block 173; the rotating block 173 is hollow, the upper side and the lower side of the rotating block 173 are provided with a rotating shaft I1731 which is respectively and rotatably connected with the mounting frame 167 and the fixing frame II 1673, and two ends of the rotating block 173 are respectively provided with a telescopic rod 1732 which is slidably connected with the rotating block 173; one end of the expansion link 1732 is hinged with a rack 172, the rack 172 is provided with a pair of gears X16752, the two sides of the gear X16752 are engaged, and the two ends of the rack 172 respectively penetrate through the supporting frame 16731 and the fixing frame II 1673 and are mutually connected in a sliding manner; the electric push rod I171 is fixed on the mounting frame 167, and the top shaft of the electric push rod I171 is hinged with the end part of the rack 172 on one side; provide power through electric putter I171 and drive reciprocal pulling of rack 172, use axis of rotation I1731 to rotate as the axle center through turning block 173, and then drive the mutual reverse slip of both sides rack 172, and then drive regulating plate 1675 reciprocating rotation to realize the alternate use of regulating plate 1675 both sides face.

The control mechanism II 18 comprises an electric push rod II 181, a connecting rod I182, an adjusting rod 183, a connecting rod II 184, a top block 185, a hook plate 186 and a limit plate 187; the electric push rod II 181 is fixed on the side edge of the mounting frame 167 and is locked firmly through a fixing clamp 1671; the hook plate 186 is arranged at the bottom of the mounting frame 167 and is rotatably connected through a pin shaft, a pair of limiting plates 187 is arranged and is respectively fixed at two sides of the mounting frame 167, a limiting groove is arranged on the limiting plate 187, a pair of ejecting blocks 185 is arranged and is respectively arranged at two sides of the hook plate 186, a sliding block 1851 is arranged at one side of the ejecting block 185 and is arranged in the limiting groove of the limiting plate 187, the adjusting rod 183 is rotatably connected with the mounting frame 167 through a rotating shaft, two ends of the adjusting rod 183 are provided with a hinged connecting rod II 184, the other end of the connecting rod II 184 is hinged with the ejecting block 185, one end of the connecting rod I182 is hinged with one end of the adjusting rod 183, and the other end of the connecting rod I is hinged with a top shaft of the electric push rod II 181; the adjusting rod 183 is pushed by the electric push rod II 181 to rotate by taking the rotating shaft as an axis, so that the top block 185 is pushed to slide along the limiting groove and the hook plate 186 is pushed to rotate towards one side, and the hook plate 186 lifts the bottom of the clamping box body; the hook plates 186 on two sides are alternately pushed out by the alternate rotation of the adjusting rod 183 to adapt to various environments, for example, when a cylindrical object is clamped, the inner wall of the cylindrical object can be clamped, the hook plates 186 are pushed out outwards to lift the bottom of the cylindrical object to avoid sliding down, and the cylindrical object can be clamped and moved.

The control mechanism III 2 comprises a lead screw 21, a guide shaft 22, a fixed seat 23 and a motor III 24; the fixed seat 23 is arranged on the bottom plate 7, two ends of the lead screw 21 and the guide shaft 22 are movably connected with the fixed seat 23, the lead screw 21 is connected with the fixed block 111 at the bottom of the mounting seat 11 through threads, and the guide shaft 22 is connected with the fixed block 111 in a sliding manner; the motor III 24 is fixed on one side of the fixed seat 23, and the shaft end of the motor III 24 is connected with the screw rod 21; the motor III 24 provides power to drive the mounting seat 11 to slide left and right along the guide shaft 22.

The clamping jaw library 3 comprises an annular frame 31, a mounting frame 32, a control mechanism X33 and a mounting column 34; the mounting column 34 is fixed on the bottom plate 7, the annular frame 31 is rotationally connected with the mounting column 34, and the annular frame 31 is provided with teeth 311; the mounting frame 32 is fixedly mounted at the top of the mounting column 34, a support arm I321 and a support arm II 322 are arranged on the mounting frame 32, a motor V323 is arranged on the support arm II 322, a plurality of control mechanisms X33 are arranged on the annular frame 31, the control mechanisms X33 and the control mechanisms V15 are used for hanging and mounting the clamping jaws 16 in the same structure and application mode, each control mechanism X33 comprises a mounting block 331, an air cylinder I332 and a bolt II 333, and a jack III 3311 is arranged on the mounting block 331; a gear is arranged at the shaft end of the motor V323 and is meshed with the teeth 311 on the annular frame 31; the ring frame 31 is driven to rotate by the power of the motor V323.

The replacing mechanism 4 comprises a fixed frame 41, a rotating shaft II 42, a supporting shaft 43, an electric push rod III 44, a mounting plate II 45, a motor IV 46, a motor VI 47 and a clamping jaw 48; the fixing frame 41 is fixed on the supporting arm I321, and the rotating shaft II 42 is inserted in the fixing frame 41 and the supporting arm I321 and is mutually rotatably connected; the rotating shaft II 42 is provided with a mounting plate I421 and a fluted disc I422, the supporting shaft 43 is inserted into the rotating shaft II 42 and is mutually connected in a sliding manner, and the supporting shaft 43 is provided with a key block; the electric push rod III 44 is fixed on the mounting plate I421, a supporting plate 441 is arranged on the top shaft of the electric push rod III 44, and the supporting plate 441 is fixedly connected with the top of the supporting shaft 43; the supporting shaft 43 is pushed by the electric push rod III 44 to slide up and down; the motor IV 46 is fixed at the bottom of the support arm I321, and a fluted disc II 462 is arranged at the shaft end of the motor IV 46 and is meshed with the fluted disc I422; the motor IV 46 provides power to drive the rotating shaft II 42 to rotate; one end of the mounting plate II 45 is fixedly connected with the bottom end of the support shaft 43, the motor VI 47 is fixed on the mounting plate II 45, and a chain wheel is arranged at the shaft end of the motor VI 47; the clamping jaws 48 are provided with a pair and symmetrically arranged at one end of the mounting plate II 45; the claws 48 are provided with fixed shafts which are rotatably connected with the mounting plate II 45, the fixed shafts on the claws 48 are provided with fluted discs III 481 which are meshed with each other, and the fixed shafts on one group of claws 48 are provided with chain wheels which are connected with a shaft end chain wheel of a motor VI 47 through a chain; the clamping jaw 48 is driven to open or close by the power provided by the motor VI 47, so that the clamping groove 1611 on the fixed shaft VI 161 can be clamped or loosened.

The utility model provides a centre gripping upset robot that material shifted for industrial production, the working process as follows:

when the clamping jaw 16 on the grabbing mechanism 1 breaks down and needs to be replaced, program control is carried out through the control panel 6, oil is supplied to the oil station 5, the control mechanism III 2 and the hydraulic motor I112 control the grabbing mechanism 1 to a proper position, then the clamping jaw 48 is controlled by the motor VI 47 to clamp the clamping groove 1611, the whole clamping jaw 16 is further clamped, and the clamping jaw 16 is unlocked through the control mechanism V15; the rotating shaft II 42 is controlled to rotate through the motor IV 46, so that the clamping direction of the supporting shaft 43 and the clamping jaws 48 is changed; the supporting shaft 43 is pushed by the electric push rod III 44 to slide up and down, so that the clamping jaw 16 clamped by the clamping jaw 48 is driven to be inserted into the control mechanism X33 to be locked, then the motor V323 rotates the annular frame 31 to adjust the position of the control mechanism X33, then the clamping jaw 16 intact on the control mechanism X33 is taken down and assembled on the grabbing mechanism 1, and then the control mechanism V15 is locked to complete the replacement of the clamping jaw 16.

The foregoing is merely illustrative and explanatory of the present invention and various modifications, additions or substitutions may be made to the specific embodiments described by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. A clamping and overturning robot for material displacement for industrial production comprises a grabbing mechanism, a control mechanism III, a clamping jaw warehouse, a changing mechanism, an oil station, a control panel and a bottom plate; the device is characterized in that the bottom plate bears a grabbing mechanism, a control mechanism III, a clamping jaw library, a changing mechanism, an oil station and a control panel; the grabbing mechanism is arranged on the control mechanism III, the clamping jaw warehouse is arranged on one side of the control mechanism III, the replacing mechanism is arranged on the clamping jaw warehouse, and the control panel and the oil station are arranged on one side of the clamping jaw warehouse;

snatch the mechanism and include mount pad, regulating arm I, regulating arm II, regulating arm III, control mechanism V, clamping jaw, control mechanism I, control mechanism II, mount pad swing joint control mechanism III, I swing joint mount pad of regulating arm, II both ends of regulating arm swing joint regulating arm I and III one end of regulating arm respectively, and control mechanism V locates III one ends of regulating arm, and clamping jaw connection control mechanism V, control mechanism I and control mechanism II locate on the clamping jaw.

2. The material-shifting clamping and overturning robot for industrial production as claimed in claim 1, wherein the bottom surface of the mounting seat is provided with a fixed block movably connected with a control mechanism III, the top surface of the mounting seat is provided with a hydraulic motor I, a mounting hole and a chute, and an output shaft of the hydraulic motor I is provided with a bevel gear; one end of the adjusting arm I is provided with an inserting column and a circular ring which are respectively arranged in the mounting hole and the sliding groove, and the end part of the adjusting arm I is provided with bevel gears which are meshed with bevel gears on the shaft I of the hydraulic motor; the other end of the adjusting arm I is provided with a fixed shaft I which is fixedly connected, and a gear I which is fixedly connected is arranged on the fixed shaft I; the fixed shaft I is rotatably connected with one end of the adjusting arm II;

a hydraulic motor II and a hydraulic motor III are respectively arranged at two ends of the adjusting arm II, and a gear II and a gear III which are fixedly connected are respectively arranged on output shafts of the hydraulic motor II and the hydraulic motor III; the gear III is meshed with the gear I; one end of the adjusting arm III is provided with a fixed shaft II which is fixedly connected, the fixed shaft II is provided with a gear V which is fixedly connected, the fixed shaft II is rotatably connected with the adjusting arm II, the gear V is meshed with the gear II, and the other end of the adjusting arm III is provided with a jack I and a jack II; the control mechanism V comprises an air cylinder, a fixing frame I and a bolt I; fixed frame I is fixed at III tip of regulating arm, and the cylinder is fixed on fixed frame I, I fixed connection cylinder apical axis tip of bolt.

3. The material shifting clamping and overturning robot for industrial production as claimed in claim 1, wherein the clamping jaw comprises a fixed shaft VI, a fixed plate II, a fixed plate III, a fixed plate V, an adjusting plate I, a fixed plate IV and a mounting frame; the top end of the fixed shaft VI is provided with an insertion block and an insertion jack I, and the bottom end of the fixed shaft VI is provided with a fixed plate I; a clamping groove is formed in the middle of the fixed shaft VI; II one sides of fixed plate are equipped with connecting plate I and motor I, and I fixed connection fixed plate I of connecting plate, I axle head of motor pass fixed plate II and are equipped with gear IV.

4. The clamping and overturning robot for material displacement in industrial production as claimed in claim 1, wherein a fixed shaft X is fixedly arranged on a fixed plate III, a fixed sleeve I and a gear VI are fixedly arranged at the end part of the fixed shaft X, the fixed sleeve I is rotatably connected with a fixed plate II, the gear VI is meshed with a gear IV, and two ends of the fixed sleeve I are provided with limiting flanges;

a connecting shaft is arranged on one side of the fixing plate V and is fixedly connected with a fixing plate IV, a connecting plate II and a motor II are arranged on the other side of the fixing plate V, and the connecting plate II is fixedly connected with a fixing plate III; an arc-shaped guide groove I and a fixing shaft III are arranged on the adjusting plate I, a gear VIII and a fixing sleeve III are fixedly arranged on the fixing shaft III, and the gear VIII is meshed with the gear VII; the fixed sleeve III is rotationally connected with the fixed plate V; and the fixing plate IV is arranged below the adjusting plate I and is fixedly connected with the connecting shaft, and a plurality of square guide grooves II are formed in the fixing plate IV.

5. The clamping and overturning robot for shifting materials for industrial production as claimed in claim 1, wherein two sides of the mounting frame are provided with fixing clamps, the top of the mounting frame is provided with a fixing frame II, the fixing frame II is provided with a fixing shaft V, the fixing shaft V is provided with a fixing sleeve II and a guide block which are fixedly connected, the fixing sleeve II is arranged in the guide groove I, and the guide block is arranged in the guide groove II; the structure and the function of the fixing sleeve II, the fixing sleeve III and the fixing sleeve I are the same; an adjusting plate is arranged in the mounting frame, fixing shafts IV are arranged at two ends of the adjusting plate and are rotatably connected with the mounting frame, and a fixing shaft IV at the top of the adjusting plate penetrates through one end of the mounting frame and is provided with a gear X; two sides of the adjusting plate are respectively provided with a transverse rack and a vertical rack; and a supporting frame is arranged in the fixing frame II.

6. The material shifting clamping and overturning robot for industrial production as claimed in claim 1, wherein the control mechanism I comprises an electric push rod I, a rack and a rotating block; the rotating block is hollow, the upper side and the lower side of the rotating block are provided with a rotating shaft I which is respectively rotatably connected with the mounting frame and the fixing frame II, and two ends of the rotating block are respectively provided with a telescopic rod which is slidably connected with the rotating block; one end of the telescopic rod is hinged with a rack, the rack is provided with a pair of gears X which are meshed with the two sides of the gear X, and the two ends of the rack respectively penetrate through the supporting frame and the fixing frame II and are mutually connected in a sliding manner; the electric push rod I is fixed on the mounting frame, and the top shaft of the electric push rod I is hinged to the end portion of the rack on one side.

7. The material-shifting clamping and overturning robot for industrial production as claimed in claim 1, wherein the control mechanism II comprises an electric push rod II, a connecting rod I, an adjusting rod, a connecting rod II, a top block, a hook plate and a limiting plate; the electric push rod II is fixed on the side edge of the mounting frame and is locked firmly through a fixed hoop; collude the board and locate the installation frame bottom and rotate the connection through the round pin axle, the limiting plate is equipped with a pair ofly and fixes respectively in the installation frame both sides, is equipped with the spacing groove on the limiting plate, the kicking block is equipped with a pair ofly and locates respectively colluding the board both sides, and kicking block one side is equipped with the slider and locates the spacing inslot of limiting plate, adjust the pole and rotate through the pivot and connect the installation frame, adjust the pole both ends and be equipped with the connecting rod II of hinge joint, II other end hinge joint kicking blocks of connecting rod, I one end hinge joint of connecting rod adjusts pole one end, and other end hinge joint II apical axes of electric putter.

8. The material shifting clamping and overturning robot for industrial production as claimed in claim 1, wherein the control mechanism III comprises a lead screw, a guide shaft, a fixed seat and a motor III; the fixed seat is arranged on the bottom plate, two ends of the lead screw and the guide shaft are movably connected with the fixed seat, the lead screw is connected with the fixed block at the bottom of the mounting seat through threads, and the guide shaft is connected with the fixed block in a sliding manner; the motor III is fixed on one side of the fixed seat and the shaft end of the motor III is connected with the screw rod.

9. The material shifting clamping and overturning robot for industrial production according to claim 1, wherein the clamping jaw library comprises a ring frame, a mounting frame, a control mechanism X and a mounting column; the mounting column is fixed on the bottom plate, the annular frame is rotationally connected with the mounting column, and the annular frame is provided with teeth; the mounting frame is fixedly mounted at the top of the mounting column, a support arm I and a support arm II are arranged on the mounting frame, a motor V is arranged on the support arm II, a plurality of control mechanisms X are arranged on the annular frame, and the control mechanisms X and the control mechanisms V are identical in structure and application mode; the control mechanism X comprises a mounting block, a cylinder I and a bolt II, and the mounting block is provided with a jack III; the V-axis end of the motor is provided with a gear which is engaged with teeth on the annular frame.

10. The material shifting clamping and overturning robot for industrial production as claimed in claim 1, wherein the reloading mechanism comprises a fixed frame, a rotating shaft II, a supporting shaft, an electric push rod III, a mounting plate II, a motor IV, a motor VI and a claw; the fixing frame is fixed on the supporting arm I, and the rotating shaft II is inserted into the fixing frame and the supporting arm I and is mutually and rotatably connected with the fixing frame and the supporting arm I; the mounting plate I and the fluted disc I are arranged on the rotating shaft II, the supporting shaft is inserted into the rotating shaft II and is mutually connected in a sliding manner, and a key block is arranged on the supporting shaft; the electric push rod III is fixed on the mounting plate I, a supporting plate is arranged on a top shaft of the electric push rod III, and the supporting plate is fixedly connected with the top of the supporting shaft; the motor IV is fixed at the bottom of the support arm I, and a fluted disc II is arranged at the shaft end of the motor IV and is meshed with the fluted disc I; one end of the mounting plate II is fixedly connected with the bottom end of the support shaft, the motor VI is fixed on the mounting plate II, and a chain wheel is arranged at the shaft end of the motor VI; the clamping jaws are provided with a pair of clamping jaws which are symmetrically arranged at one end of the mounting plate II; the clamping jaws are provided with fixed shafts which are rotatably connected with a mounting plate II, the fixed shafts on the clamping jaws are provided with fluted discs III which are meshed with each other, and the fixed shafts on one group of clamping jaws are provided with chain wheels which are connected with shaft end chain wheels of a motor VI through chains.