CN115626453A - Automatic feeding and discharging production system based on industrial robot - Google Patents
Automatic feeding and discharging production system based on industrial robot Download PDFInfo
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- CN115626453A CN115626453A CN202211006435.8A CN202211006435A CN115626453A CN 115626453 A CN115626453 A CN 115626453A CN 202211006435 A CN202211006435 A CN 202211006435A CN 115626453 A CN115626453 A CN 115626453A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 27
- 238000007599 discharging Methods 0.000 title claims abstract description 14
- 230000007306 turnover Effects 0.000 claims description 30
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001788 irregular Effects 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 16
- 230000009286 beneficial effect Effects 0.000 description 11
- 230000000694 effects Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000003381 stabilizer Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an automatic feeding and discharging production system based on an industrial robot, which comprises: the bottom plate, first main shaft, second main shaft and third main shaft, the vertical setting of first main shaft is on the bottom plate, still be provided with on the bottom plate and be used for driving first main shaft pivoted first motor, second main shaft level set up in first main shaft upper end and with first main shaft sliding connection, still be provided with on the second main shaft and be used for driving its endwise slip's second electric jar, the vertical setting of third main shaft is at second main shaft tip and with second main shaft sliding connection, still be provided with on the third main shaft and be used for driving its endwise slip's third electric jar, third main shaft lower extreme is provided with the centre gripping subassembly. The invention aims to provide an automatic loading and unloading production system based on an industrial robot, which can stably clamp workpieces with irregular shapes so as to avoid sliding and falling.
Description
Technical Field
The invention relates to the technical field of loading and unloading devices, in particular to an automatic loading and unloading production system based on an industrial robot.
Background
In the production and processing process, the work piece and the material and the like are required to be loaded and unloaded frequently, the loading and unloading are realized by generally using modes such as hoisting in the traditional processing process, and in recent years, along with the continuous popularization of intelligent mechanical equipment, devices such as mechanical arms are also applied to the loading and unloading field gradually, the automation and intelligent level in the processing process are improved, however, the mechanical arms generally adopt the clamping mode when loading and unloading the work piece, therefore, the problem of unstable clamping exists for the work piece with irregular shape, the safety problem caused by falling is easy to occur during loading and unloading, therefore, an automatic loading and unloading production system based on an industrial robot needs to be designed, the work piece with irregular shape can be stably clamped, and the sliding and falling are avoided.
Disclosure of Invention
The invention provides an automatic feeding and discharging production system based on an industrial robot, which can stably clamp workpieces with irregular shapes so as to avoid sliding and falling.
Therefore, the technical scheme is that the automatic loading and unloading production system based on the industrial robot comprises: the bottom plate, first main shaft, second main shaft and third main shaft, the vertical setting of first main shaft is on the bottom plate, still be provided with on the bottom plate and be used for driving first main shaft pivoted first motor, second main shaft level set up in first main shaft upper end and with first main shaft sliding connection, still be provided with on the second main shaft and be used for driving its endwise slip's second electric jar, the vertical setting of third main shaft is at second main shaft tip and with second main shaft sliding connection, still be provided with on the third main shaft and be used for driving its endwise slip's third electric jar, the third main shaft lower extreme is provided with the centre gripping subassembly.
Preferably, the clamping assembly comprises:
the clamping frame is of a cylindrical structure, the upper end of the clamping frame is closed, the axis of the clamping frame is arranged vertically downwards, and the top wall of the clamping frame is fixedly connected with the lower end of the third spindle;
the clamping device comprises a connecting sleeve, a clamping frame and a clamping wheel disc, wherein the connecting sleeve is fixedly arranged on the inner part of the top of the clamping frame, the axis of the connecting sleeve is vertically arranged downwards, the lower end of the connecting sleeve is fixedly provided with the clamping wheel disc, the clamping wheel disc is horizontally arranged and coaxially arranged with the connecting sleeve, a plurality of clamping chutes are arranged on the clamping wheel disc in a circumferential array manner, the clamping chutes are radially arranged along the clamping wheel disc, and the clamping chutes are positioned on the periphery of the connecting sleeve;
the clamping device comprises a clamping sliding block, a clamping wheel disc and a clamping sliding groove, wherein the clamping sliding block is arranged in the clamping sliding groove in a sliding manner, the upper surface of the clamping sliding block is higher than the upper surface of the clamping wheel disc, the lower surface of the clamping sliding block is lower than the lower surface of the clamping wheel disc, a return spring is arranged between the clamping sliding block and the inner wall of the clamping sliding groove, the return spring is arranged on one side, close to the axis of the clamping wheel disc, of the clamping sliding block, and the axis of the return spring is horizontally arranged;
the clamping rod is fixedly arranged at the lower end of the clamping slide block, the clamping rod is vertically arranged, a pressure sensor is fixedly arranged at the lower end of the clamping rod, and the pressure sensor is wound on the outer wall of the clamping rod;
the second motor is fixedly arranged on the inner wall of the top of the clamping frame, an output shaft of the second motor is vertically and downwards arranged, a fourth main shaft is coaxially and fixedly arranged on the output shaft of the second motor, and a first chain wheel is fixedly arranged on the fourth main shaft;
the inner wall of the top of the clamping frame is also rotatably provided with a fifth main shaft, the fifth main shaft is arranged vertically downwards, the fifth main shaft and the fourth main shaft are respectively arranged on two sides of the connecting sleeve, a second chain wheel is fixedly arranged on the fifth main shaft, and the second chain wheel is connected with the first chain wheel through a chain for transmission;
the take-up reel, the take-up reel is fixedly provided with to fourth main shaft and the equal coaxial line of fifth main shaft, centre gripping rim plate top centre gripping slider periphery is around being equipped with the round linkage rope, the linkage rope both ends respectively with two take-up reel fixed connection and around establishing on the take-up reel, the linkage rope both ends are around establishing the direction the same.
Preferably, a circle of linkage rope is wound on the periphery of the clamping sliding block below the clamping wheel disc, two ends of the linkage rope are fixedly connected with the two take-up pulleys respectively and wound on the take-up pulleys, and two ends of the linkage pulley are wound in the same direction.
Preferably, the side wall of the clamping wheel disc, far away from the axis of the clamping wheel disc, of the clamping slide block is set to be an arc surface, the upper end and the lower end of the arc surface structure are respectively provided with a clamping groove, and the linkage rope is clamped in the clamping grooves and is in sliding connection with the clamping slide block.
Preferably, the lower end of the clamping rod is sleeved with an anti-slip sleeve, and the anti-slip sleeve is arranged on the rubber material.
Preferably, the lower ends of the fourth main shaft and the fifth main shaft are respectively sleeved with a reinforcing sleeve, the reinforcing sleeves are rotatably connected with the fourth main shaft and the fifth main shaft, and the reinforcing sleeves are fixedly connected with the inner wall of the clamping frame.
Preferably, the turnover device further comprises a turnover assembly, the turnover assembly is arranged on the side portion of the bottom plate, and the turnover assembly:
the two support plates are vertically and symmetrically arranged, a bearing plate is arranged between the two support plates, and the bearing plate is horizontally arranged and fixedly connected with the two support plates;
two first turnover rods are symmetrically arranged on two sides of the supporting plate, the first turnover rods are obliquely arranged downwards, and second turnover rods are fixedly arranged at the lower ends of the first turnover rods and are perpendicular to the first turnover rods;
the first fixing block is fixedly arranged on the side parts, close to each other, of the two supporting plates, the first fixing block is positioned below the supporting plate in an inclined mode, a first convex column perpendicular to the supporting plates is fixedly arranged on the first fixing block, a first crank is rotatably arranged on the first convex column, the first crank is perpendicular to the first convex column, and one end, far away from the first convex column, of the first crank is hinged to a first turnover rod;
a second fixed block is arranged obliquely above the first fixed block, the second fixed block is fixedly arranged on the side wall of the supporting plate, a second convex column perpendicular to the supporting plate is fixedly arranged on the second fixed block, a second crank is rotatably arranged on the second convex column, and one end, far away from the second convex column, of the second crank is hinged to a second turnover rod;
the third fixed block is arranged between the first fixed block and the second fixed block and fixedly connected with the supporting plate, a third convex column perpendicular to the supporting plate is fixedly arranged on the third fixed block, a driving electric cylinder is rotatably arranged on the third convex column, an output shaft of the driving electric cylinder is hinged to the middle of the second crank, and an output shaft of the driving electric cylinder is parallel to the supporting plate.
Preferably, the two first turnover rods are fixedly connected through a stabilizing rod, and the stabilizing rod is horizontally arranged.
Preferably, a layer of protective pad is laid on the upper surface of the bearing plate, and the protective pad is made of flexible materials.
Preferably, the periphery of the first spindle is further sleeved with a limiting sleeve, the first spindle is rotatably connected with the limiting sleeve, and the limiting sleeve is fixedly connected with the first motor.
This practical theory of operation and beneficial technological effect as follows: when the feeding and discharging device is used, the first main shaft, the second main shaft and the third main shaft jointly form a three-shaft mechanical arm, the first main shaft rotates under the driving of the first motor and the second main shaft horizontally slides under the driving of the second electric cylinder, so that the material in a horizontal plane is grabbed, and then the third electric cylinder is matched to drive the third main shaft to move along the vertical direction, so that the feeding and discharging process is realized, in the process, the material is clamped through the clamping assembly, and the problem that the clamping of redundant irregular workpieces is unstable is avoided through the arrangement of the clamping assembly.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an automatic loading and unloading production system based on an industrial robot according to an embodiment of the present invention;
FIG. 2 is a first schematic structural diagram of a clamping assembly in an industrial robot-based automatic loading and unloading production system according to an embodiment of the present invention;
FIG. 3 isbase:Sub>A schematic cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic structural diagram of a second clamping assembly in an industrial robot-based automatic loading and unloading production system according to an embodiment of the present invention;
FIG. 5 is a first structural schematic diagram of a turnover assembly mechanism in an automatic loading and unloading production system based on an industrial robot according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a second turnover assembly mechanism in the automatic loading and unloading production system based on the industrial robot according to the embodiment of the invention;
fig. 7 is a third structural schematic diagram of a turnover component mechanism in an automatic loading and unloading production system based on an industrial robot according to an embodiment of the present invention.
The reference numbers in the drawings are as follows: 1. a base plate; 2. a first main shaft; 21. a first motor; 22. a limiting sleeve; 3. a second main shaft; 31. a second electric cylinder; 4. a third main shaft; 41. a third electric cylinder; 5. a clamping assembly; 501. a clamping frame; 502. a connecting sleeve; 503. clamping the wheel disc; 504. a clamping chute; 505. clamping the sliding block; 506. a return spring; 507. a clamping rod; 508. a pressure sensor; 509. a second motor; 510. a fourth main shaft; 511. a first sprocket; 512. a fifth main shaft; 513. a second sprocket; 514. a chain; 515. a take-up pulley; 516. a linkage rope; 517. a clamping groove; 518. an anti-slip sleeve; 519. reinforcing the sleeve; 6. a turnover assembly; 601. a support plate; 602. a support plate; 603. a first turning lever; 604. a second turning bar; 605. a first fixed block; 606. a first convex column; 607. a first crank; 608. a second fixed block; 609. a second convex column; 610. a second crank; 611. a third fixed block; 612. a third convex column; 613. driving an electric cylinder; 614. a stabilizer bar; 615. and (6) a protective pad.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The embodiment of the invention provides an automatic loading and unloading production system based on an industrial robot, which comprises the following components as shown in figure 1: the bottom plate 1, first main shaft 2, second main shaft 3 and third main shaft 4, the vertical setting of first main shaft 2 is on bottom plate 1, still be provided with on bottom plate 1 and be used for driving first main shaft 2 pivoted first motor 21, 3 levels of second main shaft set up on first main shaft 2 and with first main shaft 2 sliding connection, still be provided with on second main shaft 3 and be used for driving its endwise slip's second electric jar 31, the vertical setting of third main shaft 4 is at 3 tip of second main shaft and with second main shaft 3 sliding connection, still be provided with on third main shaft 4 and be used for driving its endwise slip's third electric jar 41, the 4 lower extremes of third main shaft is provided with centre gripping subassembly 5.
The working principle and the beneficial technical effects of the technical scheme are as follows: when the loading and unloading device uses, first main shaft 2, second main shaft 3 and third main shaft 4 constitute a triaxial arm jointly, first main shaft 2 rotates and second main shaft 3 horizontal slip under second electric jar 31 drives under first motor 21 drives, thereby realize snatching to the material in the horizontal plane, cooperate third electric jar 41 to drive third main shaft 4 and follow vertical direction motion afterwards, realize unloading process on realizing, at this in-process, press from both sides the material through centre gripping subassembly 5 and get, avoid unnecessary irregular work piece centre gripping unstable problem through the setting of centre gripping subassembly 5.
In one embodiment, as shown in fig. 2-4, the clamping assembly 5 comprises:
the clamping frame 501 is of a cylindrical structure, the upper end of the clamping frame 501 is closed, the axis of the clamping frame 501 is vertically arranged downwards, and the top wall of the clamping frame 501 is fixedly connected with the lower end of the third spindle 4;
the clamping device comprises a connecting sleeve 502, a connecting sleeve 502 is fixedly arranged on the inner portion of the top of the clamping frame 501, the axis of the connecting sleeve 502 is vertically arranged downwards, a clamping wheel disc 503 is fixedly arranged at the lower end of the connecting sleeve 502, the clamping wheel disc 503 is horizontally arranged and is coaxially arranged with the connecting sleeve 502, a plurality of clamping sliding grooves 504 are formed in the clamping wheel disc 503 in a circumferential array mode, the clamping sliding grooves 504 are radially arranged along the clamping wheel disc 503, and the clamping sliding grooves 504 are located on the periphery of the connecting sleeve 502;
a clamping slide block 505, a clamping slide block 505 is slidably arranged in the clamping slide groove 504, the upper surface of the clamping slide block 505 is higher than the upper surface of the clamping wheel disc 503, the lower surface of the clamping slide block 505 is lower than the lower surface of the clamping wheel disc 503, a return spring 506 is arranged between the clamping slide block 505 and the inner wall of the clamping slide groove 504, the return spring 506 is arranged on one side of the clamping slide block 505 close to the axis of the clamping wheel disc 503, and the axis of the return spring 506 is horizontally arranged;
a clamping rod 507, wherein a clamping rod 507 is fixedly arranged at the lower end of the clamping slider 505, the clamping rod 507 is vertically arranged, a pressure sensor 508 is fixedly arranged at the lower end of the clamping rod 507, and the pressure sensor 508 is wound on the outer wall of the clamping rod 507;
a second motor 509, the second motor 509 is fixedly arranged on the inner wall of the top of the holding frame 501, an output shaft of the second motor 509 is arranged vertically and downwards, a fourth spindle 510 is coaxially and fixedly arranged on the output shaft of the second motor 509, and a first chain wheel 511 is fixedly arranged on the fourth spindle 510;
a fifth main shaft 512 is further rotatably arranged on the inner wall of the top of the clamping frame 501, the fifth main shaft 512 is arranged vertically and downwards, the fifth main shaft 512 and the fourth main shaft 510 are respectively arranged on two sides of the connecting sleeve 502, a second chain wheel 513 is fixedly arranged on the fifth main shaft 512, and the second chain wheel 513 and the first chain wheel 511 are in connection transmission through a chain 514;
the take-up pulleys 515 are coaxially and fixedly arranged on the fourth main shaft 510 and the fifth main shaft 512, a circle of linkage rope 516 is wound on the periphery of the clamping slider 505 above the clamping wheel disc 503, two ends of the linkage rope 516 are respectively and fixedly connected with the two take-up pulleys 515 and wound on the take-up pulleys 515, and two ends of the linkage rope 516 are wound in the same direction.
The working principle and the beneficial technical effects of the technical scheme are as follows: when the clamping assembly 5 is used, firstly, the third electric cylinder 41 drives the third spindle 4 to slide downwards to enable the lower end of the clamping rod 507 to surround the periphery of a workpiece, then the second motor 509 is started to drive the fourth spindle 510 and the take-up pulley 515 fixed on the fourth spindle 510 to rotate, meanwhile, the fifth spindle 512 is driven to rotate through the transmission of the first chain wheel 511, the second chain wheel 513 and the chain 514, and further, the take-up pulley 515 on the fifth spindle 512 is driven to rotate, so that the linkage rope 516 is wound on the take-up pulley 515 to tighten the linkage rope 516, when the linkage rope 516 is tightened, the clamping sliding blocks 505 are driven to move along the clamping sliding grooves 504 towards the direction close to the axis of the clamping wheel disc 503, so that the lower end of the clamping rod 507 is driven to clamp the workpiece, in the process, because the linkage rope 516 is flexible, when the irregular workpiece is clamped, the clamping rods can be stressed to be approximately the same, and simultaneously, the advancing strokes of each clamping rod 507 are different, so that the stable clamping of the irregular workpiece is realized, and the stable clamping of the irregular workpiece is not tightened, the clamping rod 507 is detected by the pressure sensor 508 arranged at the lower end of the clamping rod 507, and the clamping rod 515 is stopped, so that the clamping problem that the clamping of the irregular workpiece is not unstable workpiece is solved; through setting up two take-up pulley 515 on fifth main shaft 512 and the fourth main shaft 510, compare in single take-up pulley 515, two take-up pulley 515 can make linkage rope 516 tighten up the process more even, and single take-up pulley 515 can have linkage rope 516 to tighten up the too little problem of department's atress, and the setting up of two take-up pulley 515 makes the centre gripping application of force process more even and stable.
In one embodiment, a circle of linkage rope 516 is also wound around the periphery of the clamping slider 505 below the clamping wheel 503, two ends of the linkage rope 516 are respectively fixedly connected with the two take-up pulleys 515 and wound on the take-up pulleys 515, and two ends of the linkage rope are wound in the same direction.
The working principle and the beneficial technical effects of the technical scheme are as follows: through setting up two sets of linkage ropes 516 from top to bottom, two sets of linkage ropes 516 are simultaneously around establishing on corresponding take-up pulley 515, from top to bottom simultaneously to centre gripping slider 505 application of force when tightening up for centre gripping slider 505's slip process is more steady, also can make the supporting rod 507 keep vertical simultaneously, makes the clamping-force more stable, thereby has promoted the stability and the practicality of device.
In one embodiment, the side wall of the clamping slider 505 away from the axis of the clamping wheel 503 is provided with an arc surface, the upper end and the lower end of the arc surface structure are respectively provided with a clamping groove 517, and the linkage rope 516 is clamped in the clamping groove 517 and is connected with the clamping slider 505 in a sliding manner.
The working principle and the beneficial technical effects of the technical scheme are as follows: through setting up the lateral wall with centre gripping slider 505 to the cambered surface, can make linkage rope 516 and centre gripping slider 505 laminate better, be convenient for carry out the application of force to it, secondly, through set up joint groove 517 on centre gripping slider 505, avoid linkage rope 516 to slide and break away from with centre gripping slider 505 to make the centre gripping process more stable.
In one embodiment, the lower end of the clamping rod 507 is sleeved with an anti-slip cover 518, and the anti-slip cover 518 is made of rubber.
The working principle and the beneficial technical effects of the technical scheme are as follows: through setting up the antiskid cover 518 at the clamping rod 507 lower extreme, can strengthen the frictional force between clamping rod 507 lower extreme and the work piece to be convenient for carry out the centre gripping, avoid taking place the landing, thereby hoisting device's security.
In one embodiment, the lower ends of the fourth main shaft 510 and the fifth main shaft 512 are respectively sleeved with a reinforcing sleeve 519, the reinforcing sleeve 519 is rotatably connected with the fourth main shaft 510 and the fifth main shaft 512, and the reinforcing sleeve 519 is fixedly connected with the inner wall of the clamping frame 501.
The working principle and the beneficial technical effects of the technical scheme are as follows: the positions of the fourth main shaft 510 and the fifth main shaft 512 are limited by the reinforcing sleeve 519 fixedly connected with the inner wall of the clamping frame 501, so that the fourth main shaft 510 and the fifth main shaft 512 can be kept vertical, and the wire winding process is kept stable.
In one embodiment, a turnover assembly 6 is further included, as shown in fig. 5-7, the turnover assembly 6 is disposed at a side of the base plate 1, and the turnover assembly 6:
the two support plates 601 are vertically and symmetrically arranged, a bearing plate 602 is arranged between the two support plates 601, and the bearing plate 602 is horizontally arranged and fixedly connected with the two support plates 601;
two first turning rods 603 are symmetrically arranged on two sides of the supporting plate 601, the first turning rods 603 are obliquely arranged downwards, a second turning rod 604 is fixedly arranged at the lower end of each first turning rod 603, and each second turning rod 604 is perpendicular to the corresponding first turning rod 603;
the two supporting plates 601 are fixedly provided with a first fixing block 605 on the side parts close to each other, the first fixing block 605 is positioned below the supporting plate 602 in an inclined manner, the first fixing block 605 is fixedly provided with a first convex column 606 vertical to the supporting plates 601, the first convex column 606 is rotatably provided with a first crank 607, the first crank 607 is vertical to the first convex column 606, and one end of the first crank 607 far away from the first convex column 606 is hinged with the first turning rod 603;
a second fixed block 608 is arranged obliquely above the first fixed block 605, the second fixed block 608 is fixedly arranged on the side wall of the supporting plate 601, a second convex column 609 perpendicular to the supporting plate 601 is fixedly arranged on the second fixed block 608, a second crank 610 is rotatably arranged on the second convex column 609, and one end, far away from the second convex column 609, of the second crank 610 is hinged to the second turnover rod 604;
a third fixing block 611 is arranged between the first fixing block 605 and the second fixing block 608, the third fixing block 611 is fixedly connected with the support plate 601, a third convex column 612 perpendicular to the support plate 601 is fixedly arranged on the third fixing block 611, a driving electric cylinder 613 is rotatably arranged on the third convex column 612, an output shaft of the driving electric cylinder 613 is hinged to the middle of the second crank 610, and an output shaft of the driving electric cylinder 613 is parallel to the support plate 601.
The working principle and the beneficial technical effects of the technical scheme are as follows: when a workpiece is produced, multiple processes are generally needed to be processed, each process needs to be conveyed to the next process through a production line, workers are needed to check the processing quality in the middle of the process, the workpiece may be placed at will after the worker is checked, the workpiece can be placed vertically in part, unstable clamping is caused during feeding and discharging when the workpiece is placed vertically, by arranging the overturning assembly 6, when the workpiece is conveyed through a conveying belt, the conveying belt at the tail end is narrowed, at the moment, the two second overturning rods 604 are positioned at two sides of the conveying belt and below the conveying belt, then the electric cylinder 613 is driven to extend to push the second crank 610 to rotate clockwise, so that the second overturning rod 604 is driven to lift the workpiece, along with the continuous extension of the electric cylinder 613, the second crank 610 continuously rotates clockwise around the second convex column 609 and gradually tends to be vertical, the first crank 607 rotates clockwise around the first convex column 606 and gradually tends to be horizontal, and therefore the L-shaped overturning structure formed by the first rod 604 and the second rod 603 can be rotated around the second convex column, the workpiece can be automatically overturned to the workpiece to the supporting plate 602, and the workpiece can be prevented from being clamped when the workpiece is automatically.
In one embodiment, two first turning rods 603 are fixedly connected through a stabilizing rod 614, and the stabilizing rod 614 is horizontally arranged.
The working principle and the beneficial technical effects of the technical scheme are as follows: connect between two first upset poles 603 through setting up stabilizer bar 614 to make two first upset poles 603 keep synchronous, avoid leading to the work piece to take place to turn on one's side because of asynchronous and drop, thereby promoted the stability and the security of device.
In one embodiment, a layer of protective pad 615 is laid on the upper surface of the supporting plate 602, and the protective pad 615 is made of a flexible material.
The working principle and the beneficial technical effects of the technical scheme are as follows: through set up flexible protection pad 615 on bearing plate 602, can avoid the work piece upset to take place to collide with when dropping on bearing plate 602 and cause the damage to the work piece.
In one embodiment, the first spindle 2 is further sleeved with a limiting sleeve 22, the first spindle 2 is rotatably connected with the limiting sleeve 22, and the limiting sleeve 22 is fixedly connected with the first motor 21.
The working principle and the beneficial technical effects of the technical scheme are as follows: through setting up limit sleeve 22, consolidate being connected between first main shaft 2 and first motor 21, can make first main shaft 2 remain throughout vertical, also avoid when the centre gripping to cause the damage to first main shaft 2 and first motor 21 because of the work piece overweight to the practicality and the security of device have been promoted.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a go up unloading production system in automation based on industrial robot which characterized in that includes: the novel clamping device comprises a base plate (1), a first main shaft (2), a second main shaft (3) and a third main shaft (4), wherein the first main shaft (2) is vertically arranged on the base plate (1), the base plate (1) is further provided with a first motor (21) used for driving the first main shaft (2) to rotate, the second main shaft (3) is horizontally arranged at the upper end of the first main shaft (2) and is in sliding connection with the first main shaft (2), the second main shaft (3) is further provided with a second electric cylinder (31) used for driving the second main shaft to axially slide, the third main shaft (4) is vertically arranged at the end part of the second main shaft (3) and is in sliding connection with the second main shaft (3), the third main shaft (4) is further provided with a third electric cylinder (41) used for driving the third main shaft to axially slide, and the lower end of the third main shaft (4) is provided with a clamping assembly (5).
2. An industrial robot based automatic loading and unloading production system according to claim 1, characterized in that the gripping assembly (5) comprises:
the clamping frame (501) is of a cylindrical structure, the upper end of the clamping frame (501) is closed, the axis of the clamping frame (501) is vertically arranged downwards, and the top wall of the clamping frame (501) is fixedly connected with the lower end of the third spindle (4);
the clamping device comprises a connecting sleeve (502), the connecting sleeve (502) is fixedly arranged inside the top of a clamping frame (501), the axis of the connecting sleeve (502) is vertically arranged downwards, a clamping wheel disc (503) is fixedly arranged at the lower end of the connecting sleeve (502), the clamping wheel disc (503) is horizontally arranged and coaxially arranged with the connecting sleeve (502), a plurality of clamping sliding grooves (504) are formed in the clamping wheel disc (503) in a circumferential array mode, the clamping sliding grooves (504) are radially arranged along the clamping wheel disc (503), and the clamping sliding grooves (504) are located on the periphery of the connecting sleeve (502);
the clamping device comprises a clamping sliding block (505), a clamping sliding block (505) is arranged in a clamping sliding groove (504) in a sliding mode, the upper surface of the clamping sliding block (505) is higher than the upper surface of a clamping wheel disc (503), the lower surface of the clamping sliding block (505) is lower than the lower surface of the clamping wheel disc (503), a return spring (506) is arranged between the clamping sliding block (505) and the inner wall of the clamping sliding groove (504), the return spring (506) is arranged on one side, close to the axis of the clamping wheel disc (503), of the clamping sliding block (505), and the axis of the return spring (506) is horizontally arranged;
the clamping device comprises a clamping rod (507), wherein the lower end of the clamping slide block (505) is fixedly provided with a clamping rod (507), the clamping rod (507) is vertically arranged, the lower end of the clamping rod (507) is fixedly provided with a pressure sensor (508), and the pressure sensor (508) is wound on the outer wall of the clamping rod (507);
the second motor (509) is fixedly arranged on the inner wall of the top of the clamping frame (501), an output shaft of the second motor (509) is vertically and downwards arranged, a fourth spindle (510) is coaxially and fixedly arranged on the output shaft of the second motor (509), and a first chain wheel (511) is fixedly arranged on the fourth spindle (510);
the clamping frame (501) is provided with a fifth main shaft (512) on the inner wall of the top, the fifth main shaft (512) is arranged vertically and downwards, the fifth main shaft (512) and the fourth main shaft (510) are respectively arranged on two sides of the connecting sleeve (502), a second chain wheel (513) is fixedly arranged on the fifth main shaft (512), and the second chain wheel (513) is connected with the first chain wheel (511) through a chain (514) for transmission;
take-up pulley (515), the equal coaxial line of fourth main shaft (510) and fifth main shaft (512) is fixed and is provided with take-up pulley (515), centre gripping rim plate (503) top centre gripping slider (505) periphery is around being equipped with round linkage rope (516), linkage rope (516) both ends respectively with two take-up pulley (515) fixed connection and around establishing on take-up pulley (515), linkage rope (516) both ends are around establishing the direction the same.
3. The automatic feeding and discharging production system based on the industrial robot as claimed in claim 2 is characterized in that a circle of linkage rope (516) is also wound on the periphery of the clamping slider (505) below the clamping wheel disc (503), two ends of the linkage rope (516) are respectively fixedly connected with the two take-up pulleys (515) and wound on the take-up pulleys (515), and two ends of the linkage pulleys are wound in the same direction.
4. The automatic feeding and discharging production system based on the industrial robot as claimed in claim 3, wherein the side wall of the clamping slide block (505) far away from the axis of the clamping wheel disc (503) is provided with an arc surface, the upper end and the lower end of the arc surface structure are respectively provided with a clamping groove (517), and the linkage rope (516) is clamped in the clamping groove (517) and is in sliding connection with the clamping slide block (505).
5. The automatic feeding and discharging production system based on the industrial robot as claimed in claim 2, wherein an anti-slip sleeve (518) is sleeved on the lower end of the clamping rod (507), and the anti-slip sleeve (518) is made of rubber.
6. The automatic feeding and discharging production system based on the industrial robot as claimed in claim 2, wherein the lower ends of the fourth main shaft (510) and the fifth main shaft (512) are respectively sleeved with a reinforcing sleeve (519), the reinforcing sleeve (519) is rotatably connected with the fourth main shaft (510) and the fifth main shaft (512), and the reinforcing sleeve (519) is fixedly connected with the inner wall of the clamping frame (501).
7. The automatic feeding and discharging production system based on the industrial robot is characterized in that the system further comprises a turnover assembly (6), the turnover assembly (6) is arranged on the side of the bottom plate (1), and the turnover assembly (6):
the two support plates (601) are vertically and symmetrically arranged, a bearing plate (602) is arranged between the two support plates (601), and the bearing plate (602) is horizontally arranged and fixedly connected with the two support plates (601);
the two first turnover rods (603) are symmetrically arranged on two sides of the supporting plate (601), the first turnover rods (603) are obliquely arranged downwards, the lower ends of the first turnover rods (603) are fixedly provided with second turnover rods (604), and the second turnover rods (604) are perpendicular to the first turnover rods (603);
the two supporting plates (601) are fixedly provided with a first fixing block (605) on the side parts close to each other, the first fixing block (605) is positioned below the supporting plate (602) in an inclined manner, the first fixing block (605) is fixedly provided with a first convex column (606) perpendicular to the supporting plates (601), the first convex column (606) is rotatably provided with a first crank (607), the first crank (607) is perpendicular to the first convex column (606), and one end, far away from the first convex column (606), of the first crank (607) is hinged to a first turning rod (603);
a second fixed block (608) is arranged obliquely above the first fixed block (605), the second fixed block (608) is fixedly arranged on the side wall of the supporting plate (601), a second convex column (609) perpendicular to the supporting plate (601) is fixedly arranged on the second fixed block (608), a second crank (610) is rotatably arranged on the second convex column (609), and one end, far away from the second convex column (609), of the second crank (610) is hinged to a second turnover rod (604);
the third fixing block (611) is arranged between the first fixing block (605) and the second fixing block (608), the third fixing block (611) is fixedly connected with the supporting plate (601), a third convex column (612) perpendicular to the supporting plate (601) is fixedly arranged on the third fixing block (611), a driving electric cylinder (613) is rotatably arranged on the third convex column (612), an output shaft of the driving electric cylinder (613) is hinged to the middle of the second crank (610), and an output shaft of the driving electric cylinder (613) is parallel to the supporting plate (601).
8. The automatic feeding and discharging production system based on the industrial robot as claimed in claim 7, wherein the two first turning rods (603) are fixedly connected through a stabilizing rod (614), and the stabilizing rod (614) is horizontally arranged.
9. The industrial robot-based automatic loading and unloading production system as claimed in claim 7, wherein a layer of protective pads (615) is laid on the upper surface of the supporting plate (602), and the protective pads (615) are made of flexible materials.
10. The automatic feeding and discharging production system based on the industrial robot as claimed in claim 1, wherein a limiting sleeve (22) is further sleeved on the periphery of the first spindle (2), the first spindle (2) is rotatably connected with the limiting sleeve (22), and the limiting sleeve (22) is fixedly connected with the first motor (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211006435.8A CN115626453B (en) | 2022-08-22 | 2022-08-22 | Automatic feeding and discharging production system based on industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211006435.8A CN115626453B (en) | 2022-08-22 | 2022-08-22 | Automatic feeding and discharging production system based on industrial robot |
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| CN115626453A true CN115626453A (en) | 2023-01-20 |
| CN115626453B CN115626453B (en) | 2023-05-23 |
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| CN216470496U (en) * | 2021-11-26 | 2022-05-10 | 安徽汉扬精密机械有限公司 | Core assembly clamping and overturning mechanism |
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| GB1287401A (en) * | 1968-05-17 | 1972-08-31 | Wellman Cranes Ltd | Handling apparatus |
| JPH10165529A (en) * | 1995-09-11 | 1998-06-23 | Mitsuhiro Fujiwara | Disaster preventing tool |
| US20160082601A1 (en) * | 2014-09-19 | 2016-03-24 | Delaware Capital Formation, Inc. | Gripper |
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| CN115626453B (en) | 2023-05-23 |
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