CN115626453B - Automatic feeding and discharging production system based on industrial robot - Google Patents

Automatic feeding and discharging production system based on industrial robot Download PDF

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Publication number
CN115626453B
CN115626453B CN202211006435.8A CN202211006435A CN115626453B CN 115626453 B CN115626453 B CN 115626453B CN 202211006435 A CN202211006435 A CN 202211006435A CN 115626453 B CN115626453 B CN 115626453B
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China
Prior art keywords
main shaft
clamping
production system
industrial robot
system based
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CN202211006435.8A
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Chinese (zh)
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CN115626453A (en
Inventor
白雪飞
蔡慧
刘丹丹
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Zhuhai Zhuoyue Automation Technology Co.,Ltd.
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Yancheng Institute of Technology
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Publication of CN115626453A publication Critical patent/CN115626453A/en
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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 following components: the device comprises a bottom plate, a first main shaft, a second main shaft and a third main shaft, wherein the first main shaft is vertically arranged on the bottom plate, a first motor for driving the first main shaft to rotate is further arranged on the bottom plate, the second main shaft is horizontally arranged at the upper end of the first main shaft and is in sliding connection with the first main shaft, a second electric cylinder for driving the second main shaft to axially slide is further arranged on the second main shaft, the third main shaft is vertically arranged at the end part of the second main shaft and is in sliding connection with the second main shaft, a third electric cylinder for driving the third main shaft to axially slide is further arranged on the third main shaft, and a clamping assembly is arranged at the lower end of the third main shaft. The invention aims to provide 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 falling.

Description

Automatic feeding and discharging production system based on industrial robot
Technical Field
The invention relates to the technical field of feeding and discharging devices, in particular to an automatic feeding and discharging production system based on an industrial robot.
Background
In the production and processing process, workpieces, materials and the like are required to be fed and discharged frequently, lifting and other modes are generally used in the traditional processing process to realize feeding and discharging, in recent years, along with continuous popularization of intelligent mechanical equipment, devices such as a mechanical arm and the like are gradually applied to the feeding and discharging field, automation and intelligent level in the processing process are improved, but the mechanical arm generally adopts a clamping mode when feeding and discharging the workpieces, so that the problem of unstable clamping exists on the workpieces with irregular shapes, the safety problem is easily caused by falling during feeding and discharging, and an automatic feeding and discharging production system based on an industrial robot is required to be designed, and the workpieces with irregular shapes can be stably clamped so as to avoid sliding falling.
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 falling.
Therefore, the technical scheme is that the automatic feeding and discharging production system based on the industrial robot comprises the following components: the device comprises a bottom plate, a first main shaft, a second main shaft and a third main shaft, wherein the first main shaft is vertically arranged on the bottom plate, a first motor for driving the first main shaft to rotate is further arranged on the bottom plate, the second main shaft is horizontally arranged at the upper end of the first main shaft and is in sliding connection with the first main shaft, a second electric cylinder for driving the second main shaft to axially slide is further arranged on the second main shaft, the third main shaft is vertically arranged at the end part of the second main shaft and is in sliding connection with the second main shaft, a third electric cylinder for driving the third main shaft to axially slide is further arranged on the third main shaft, and a clamping assembly is arranged at the lower end of the third main shaft.
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 vertically downwards arranged, and the top wall of the clamping frame is fixedly connected with the lower end of the third main shaft;
the clamping device comprises a clamping frame, a connecting sleeve is fixedly arranged in the top of the clamping frame, the axis of the connecting sleeve is vertically downwards arranged, a clamping wheel disc is fixedly arranged at the lower end of the connecting sleeve, the clamping wheel disc is horizontally arranged and coaxially arranged with the connecting sleeve, a plurality of clamping sliding grooves are formed in the clamping wheel disc in a circumferential array manner, the clamping sliding grooves are radially arranged along the clamping wheel disc, and the clamping sliding grooves are positioned on the periphery of the connecting sleeve;
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 reset spring is arranged between the clamping sliding block and the inner wall of the clamping sliding groove, the reset 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 reset spring is horizontally arranged;
the clamping rod is fixedly arranged at the lower end of the clamping sliding block, the clamping rod is vertically arranged, the 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 downwards arranged, a fourth main shaft is coaxially and fixedly arranged on the output shaft of the second motor, and a first sprocket 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 vertically downwards arranged, the fifth main shaft and the fourth main shaft are respectively arranged at two sides of the connecting sleeve, the fifth main shaft is fixedly provided with a second chain wheel, and the second chain wheel and the first chain wheel are connected and driven through a chain;
the wire take-up wheel is fixedly arranged on the fourth main shaft and the fifth main shaft in a coaxial line mode, a circle of linkage rope is wound on the periphery of the clamping sliding block above the clamping wheel disc, two ends of the linkage rope are fixedly connected with the two wire take-up wheels respectively and wound on the wire take-up wheels, and two ends of the linkage rope are wound in the same direction.
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 wheels respectively and wound on the take-up wheels, and two ends of the linkage rope are wound in the same direction.
Preferably, the side wall of the clamping slide block far away from the axis of the clamping wheel disc 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, and the linkage rope is clamped in the clamping grooves and is in sliding connection with the clamping slide block.
Preferably, the clamping rod lower extreme cover is equipped with anti-skidding cover, anti-skidding cover sets up at 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 rotationally 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 device further comprises a turnover assembly, wherein the turnover assembly is arranged on the side part of the bottom plate, and the turnover assembly is provided with:
the support plates are vertically and symmetrically arranged, a support plate is arranged between the support plates, and the support plate is horizontally arranged and fixedly connected with the support plates;
the two sides of the supporting plate are symmetrically provided with two first turnover rods, the first turnover rods are obliquely downwards arranged, the lower ends of the first turnover rods are fixedly provided with second turnover rods, and the second turnover rods are perpendicular to the first turnover rods;
the first fixing blocks are fixedly arranged on the side parts, close to each other, of the two supporting plates, the first fixing blocks are positioned obliquely below the supporting plates, first convex columns perpendicular to the supporting plates are fixedly arranged on the first fixing blocks, first cranks are rotatably arranged on the first convex columns, the first cranks are perpendicular to the first convex columns, and one ends, far away from the first convex columns, of the first cranks are hinged with the first overturning rods;
the second fixing block is arranged obliquely above the first fixing block, the second fixing 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 fixing 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 with the second overturning rod;
the third fixed block is arranged between the first fixed block and the second fixed block, the third fixed block is 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 rotationally arranged on the third convex column, an output shaft of the driving electric cylinder is hinged to the middle of the second crank, and the output shaft of the driving electric cylinder is parallel to the supporting plate.
Preferably, the two first overturning rods are fixedly connected through a stabilizer rod, and the stabilizer rod is horizontally arranged.
Preferably, a layer of protection pad is laid on the upper surface of the bearing plate, and the protection pad is made of flexible materials.
Preferably, the periphery of the first main shaft is also sleeved with a limit sleeve, the first main shaft is rotationally connected with the limit sleeve, and the limit sleeve is fixedly connected with the first motor.
The working principle and the beneficial technical effects of the utility model are 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 triaxial mechanical arm, the first main shaft is driven by the first motor to rotate and the second main shaft is driven by the second electric cylinder to horizontally slide, so that the material in a horizontal plane is grabbed, then the third main shaft is driven by the third electric cylinder to move along the vertical direction, the feeding and discharging process is realized, the material is clamped through the clamping assembly in the process, and the problem of unstable clamping of redundant irregular workpieces 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 may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of an automatic feeding and discharging production system based on an industrial robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a clamping assembly in an automatic feeding and discharging production system based on an industrial robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of the cross-section in the direction A-A of FIG. 2;
FIG. 4 is a schematic diagram of a second clamping assembly structure in an automatic feeding and discharging production system based on an industrial robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a turnover assembly mechanism in an automatic feeding and discharging production system based on an industrial robot according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a turnover assembly mechanism in an automatic feeding and discharging production system based on an industrial robot according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a structure of a turnover assembly mechanism in an automatic feeding and discharging production system based on an industrial robot according to an embodiment of the invention.
The labels in the figures are as follows: 1. a bottom plate; 2. a first spindle; 21. a first motor; 22. a limit sleeve; 3. a second spindle; 31. a second electric cylinder; 4. a third spindle; 41. a third electric cylinder; 5. a clamping assembly; 501. a clamping frame; 502. a connecting sleeve; 503. clamping the wheel disc; 504. clamping the sliding groove; 505. clamping the sliding block; 506. a return spring; 507. a clamping rod; 508. a pressure sensor; 509. a second motor; 510. a fourth spindle; 511. a first sprocket; 512. a fifth spindle; 513. a second sprocket; 514. a chain; 515. a wire winding wheel; 516. a linkage rope; 517. a clamping groove; 518. an anti-skid sleeve; 519. reinforcing the sleeve; 6. a flip assembly; 601. a support plate; 602. a bearing plate; 603. a first flip lever; 604. a second flip lever; 605. a first fixed block; 606. a first post; 607. a first crank; 608. a second fixed block; 609. a second post; 610. a second crank; 611. a third fixed block; 612. a third post; 613. driving the electric cylinder; 614. a stabilizer bar; 615. and a protective pad.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides an automatic feeding and discharging production system based on an industrial robot, which is shown in fig. 1 and comprises the following steps: the bottom plate 1, first main shaft 2, second main shaft 3 and third main shaft 4, first main shaft 2 vertical setting is on bottom plate 1, still be provided with on the bottom plate 1 and be used for driving first main shaft 2 pivoted first motor 21, second main shaft 3 level sets up in first main shaft 2 upper end and with first main shaft 2 sliding connection, still be provided with on the second main shaft 3 and be used for driving its axially sliding's second electric jar 31, third main shaft 4 vertical setting is at second main shaft 3 tip and with second main shaft 3 sliding connection, still be provided with on the third main shaft 4 and be used for driving its axially sliding's third electric jar 41, third main shaft 4 lower extreme is provided with clamping assembly 5.
The technical scheme has the working principle and beneficial technical effects that: when the feeding and discharging device is used, the first main shaft 2, the second main shaft 3 and the third main shaft 4 jointly form a triaxial mechanical arm, the first main shaft 2 rotates under the drive of the first motor 21 and the second main shaft 3 horizontally slides under the drive of the second electric cylinder 31, so that the material in a horizontal plane is grabbed, then the third main shaft 4 is driven by the third electric cylinder 41 to move along the vertical direction, the feeding and discharging process is realized, the material is clamped through the clamping assembly 5 in the feeding and discharging process, and the problem of unstable clamping of redundant irregular workpieces is avoided through the arrangement of the clamping assembly 5.
In one embodiment, as shown in fig. 2-4, the clamping assembly 5 comprises:
the clamping frame 501 is in a cylindrical structure, the upper end of the clamping frame 501 is closed, the axis of the clamping frame 501 is vertically downward, and the top wall of the clamping frame 501 is fixedly connected with the lower end of the third main shaft 4;
the connecting sleeve 502 is fixedly arranged on the inside of the top of the clamping frame 501, the axis of the connecting sleeve 502 is vertically downwards arranged, the lower end of the connecting sleeve 502 is fixedly provided with the clamping wheel disc 503, the clamping wheel disc 503 is horizontally arranged and coaxially arranged with the connecting sleeve 502, a plurality of clamping sliding grooves 504 are circumferentially arranged on the clamping wheel disc 503 in an array manner, the clamping sliding grooves 504 are radially arranged along the clamping wheel disc 503, and the clamping sliding grooves 504 are positioned on the periphery of the connecting sleeve 502;
the clamping sliding block 505 is slidably arranged in the clamping sliding groove 504, the upper surface of the clamping sliding block 505 is higher than the upper surface of the 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 rod 507 is fixedly arranged at the lower end of the clamping slider 505, the clamping rod 507 is vertically arranged, the 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;
the second motor 509 is fixedly arranged on the inner wall of the top of the clamping frame 501, the output shaft of the second motor 509 is vertically arranged downwards, a fourth main shaft 510 is coaxially and fixedly arranged on the output shaft of the second motor 509, and a first sprocket 511 is fixedly arranged on the fourth main shaft 510;
a fifth main shaft 512 is further rotatably disposed on the inner wall of the top of the clamping frame 501, the fifth main shaft 512 is vertically disposed downward, the fifth main shaft 512 and the fourth main shaft 510 are respectively disposed on two sides of the connecting sleeve 502, a second sprocket 513 is fixedly disposed on the fifth main shaft 512, and the second sprocket 513 is connected with the first sprocket 511 through a chain 514 for transmission;
the take-up pulley 515 is fixedly arranged on the fourth main shaft 510 and the fifth main shaft 512 in a coaxial line, a circle of linkage rope 516 is wound around the periphery of the clamping slider 505 above the clamping wheel disc 503, two ends of the linkage rope 516 are fixedly connected with the two take-up pulleys 515 and wound on the take-up pulley 515, and two ends of the linkage rope 516 are wound in the same direction.
The technical scheme has the working principle and beneficial technical effects that: when the clamping assembly 5 is used, firstly, the third electric cylinder 41 drives the third main shaft 4 to slide downwards so that the lower end of the clamping rod 507 surrounds the periphery of a workpiece, then the second electric motor 509 starts to drive the fourth main shaft 510 and the take-up pulley 515 fixed on the fourth main shaft 510 to rotate, meanwhile, the transmission of the first chain wheel 511, the second chain wheel 513 and the chain 514 drives the fifth main shaft 512 to rotate so as to drive the take-up pulley 515 on the fifth main shaft 512 to rotate, thereby winding the linkage rope 516 on the take-up pulley 515 to tighten the linkage rope 516, and the linkage rope 516 drives the clamping slider 505 to move along the clamping chute 504 towards the direction close to the axis of the clamping wheel 503 when being tightened so as to drive the lower end of the clamping rod 507 to clamp the workpiece; by arranging the two take-up pulleys 515 on the fifth spindle 512 and the fourth spindle 510, compared with the single take-up pulley 515, the two take-up pulleys 515 can enable the tightening process of the linkage rope 516 to be more uniform, the problem that the stress of the tightening position of the linkage rope 516 is too small exists in the single take-up pulley 515, and the clamping and force applying process is more uniform and stable due to the arrangement of the double take-up pulleys 515.
In one embodiment, a circle of linkage rope 516 is wound around the periphery of the clamping slider 505 under the clamping wheel 503, two ends of the linkage rope 516 are fixedly connected with the two take-up wheels 515 and wound on the take-up wheels 515, and two ends of the linkage rope are wound in the same direction.
The technical scheme has the working principle and beneficial technical effects that: through setting up two sets of linkage ropes 516 from top to bottom, two sets of linkage ropes 516 are wound simultaneously on corresponding take-up pulley 515, from top to bottom simultaneously to the clamping slider 505 application of force when tightening up for the slip process of clamping slider 505 is more steady, also can make the clamping lever 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 configured as an arc surface, and the upper and lower ends 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 slidably connected with the clamping slider 505.
The technical scheme has the working principle and beneficial technical effects that: through setting the lateral wall of the clamping slider 505 to the cambered surface, can make the linkage rope 516 laminate with the clamping slider 505 better, be convenient for carry out the application of force to it, secondly, through setting up joint groove 517 on the clamping slider 505, avoid the linkage rope 516 to slide and break away from with the clamping slider 505 to make the clamping process more stable.
In one embodiment, the lower end of the clamping rod 507 is sleeved with an anti-slip sleeve 518, and the anti-slip sleeve 518 is made of rubber.
The technical scheme has the working principle and beneficial technical effects that: through the anti-slip sleeve 518 arranged at the lower end of the clamping rod 507, the friction force between the lower end of the clamping rod 507 and a workpiece can be enhanced, so that the clamping is convenient, the slipping is avoided, and the safety of the device is improved.
In one embodiment, the lower ends of the fourth spindle 510 and the fifth spindle 512 are respectively sleeved with a reinforcing sleeve 519, the reinforcing sleeves 519 are rotatably connected with the fourth spindle 510 and the fifth spindle 512, and the reinforcing sleeves 519 are fixedly connected with the inner wall of the clamping frame 501.
The technical scheme has the working principle and beneficial technical effects that: the positions of the fourth main shaft 510 and the fifth main shaft 512 are defined by arranging 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, the device further comprises a turnover assembly 6, as shown in fig. 5-7, the turnover assembly 6 is disposed at the side of the bottom plate 1, and the turnover assembly 6:
the support plates 601 are vertically and symmetrically arranged, a support plate 602 is arranged between the support plates 601, and the support plate 602 is horizontally arranged and fixedly connected with the support plates 601;
the first turnover rods 603 are symmetrically arranged on two sides of the supporting plate 601, the first turnover rods 603 are obliquely arranged downwards, second turnover rods 604 are fixedly arranged at the lower ends of the first turnover rods 603, and the second turnover rods 604 are perpendicular to the first turnover rods 603;
the first fixing blocks 605 are fixedly arranged on the side parts, close to each other, of the two supporting plates 601, of the first fixing blocks 605, the first fixing blocks 605 are positioned obliquely below the supporting plates 602, first protruding columns 606 perpendicular to the supporting plates 601 are fixedly arranged on the first fixing blocks 605, first cranks 607 are rotatably arranged on the first protruding columns 606, the first cranks 607 are perpendicular to the first protruding columns 606, and one ends, far away from the first protruding columns 606, of the first cranks 607 are hinged with the first turning rods 603;
the second fixing block 608 is arranged obliquely above the first fixing block 605, the second fixing block 608 is fixedly arranged on the side wall of the supporting plate 601, a second protruding column 609 perpendicular to the supporting plate 601 is fixedly arranged on the second fixing block 608, a second crank 610 is rotatably arranged on the second protruding column 609, and one end of the second crank 610, far away from the second protruding column 609, is hinged with the second turning rod 604;
the third fixed block 611, a third fixed block 611 is disposed between the first fixed block 605 and the second fixed block 608, the third fixed block 611 is fixedly connected with the support plate 601, a third boss 612 perpendicular to the support plate 601 is fixedly disposed on the third fixed block 611, a driving cylinder 613 is rotatably disposed on the third boss 612, an output shaft of the driving cylinder 613 is hinged to the middle of the second crank 610, and an output shaft of the driving cylinder 613 is parallel to the support plate 601.
The technical scheme has the working principle and beneficial technical effects that: when the workpiece is produced, the workpiece is generally required to be processed through a plurality of working procedures, each working procedure is required to be conveyed to the next working procedure through a production line, and the processing quality is required to be checked by workers in part between, at the moment, the workers can place the workpiece randomly after checking, the workpieces can be placed vertically in part, when the workpiece is placed vertically, the situation that the clamping instability exists during feeding and discharging is caused, through the arrangement of the overturning assembly 6, when the workpiece is conveyed through the conveying belt, the conveying belt at the tail end is narrowed, at the moment, two second overturning rods 604 are positioned at two sides of the conveying belt and below the conveying belt, then the driving cylinders 613 extend to push the second cranks 610 to rotate clockwise, so that the second overturning rods 604 are driven to lift the workpiece, the second cranks 610 continue to rotate clockwise by taking the second protruding columns 609 as the center, the first cranks 607 gradually tend to be vertical, the first cranks rotate clockwise by taking the first protruding columns 606 as the center and gradually tend to be horizontal, the first overturning rods 603 and the L-shaped structure formed by the second overturning rods are overturned, and the workpiece is prevented from being placed vertically, so that the workpiece is not stable to be placed vertically, and the problem of overturning of the workpiece is avoided when the workpiece is placed vertically and stable.
In one embodiment, the two first turning rods 603 are fixedly connected through a stabilizer rod 614, and the stabilizer rod 614 is horizontally arranged.
The technical scheme has the working principle and beneficial technical effects that: connect between two first turndown bars 603 through setting up stabilizer bar 614 to make two first turndown bars 603 keep synchronous, avoid leading to the work piece to take place to turn on one's side to drop because of the dyssynchrony, thereby promoted the stability and the security of device.
In one embodiment, a layer of protection pad 615 is laid on the upper surface of the supporting plate 602, and the protection pad 615 is made of flexible materials.
The technical scheme has the working principle and beneficial technical effects that: by providing the flexible protective pad 615 on the support plate 602, damage to the workpiece due to collision when the workpiece is turned over and falls onto the support plate 602 can be avoided.
In one embodiment, the outer circumference of the first spindle 2 is further sleeved with a limit sleeve 22, the first spindle 2 is rotationally connected with the limit sleeve 22, and the limit sleeve 22 is fixedly connected with the first motor 21.
The technical scheme has the working principle and beneficial technical effects that: through setting up stop sleeve 22, consolidate the connection between first main shaft 2 and the first motor 21, can make first main shaft 2 remain vertical throughout, also avoid causing the damage to first main shaft 2 and first motor 21 because of the work piece is overweight during the centre gripping to the practicality and the security of device have been promoted.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (9)

1. Automatic unloading production system that goes up based on industrial robot, characterized by includes: the device comprises a bottom 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 bottom plate (1), a first motor (21) for driving the first main shaft (2) to rotate is further arranged on the bottom plate (1), 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), a second electric cylinder (31) for driving the second main shaft (3) to axially slide is further arranged on the second main shaft (3), 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), a third electric cylinder (41) for driving the third main shaft (4) to axially slide is further arranged on the third main shaft (4), and a clamping assembly (5) is arranged at the lower end of the third main shaft (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 downwards arranged, and the top wall of the clamping frame (501) is fixedly connected with the lower end of the third main shaft (4);
the clamping device comprises a connecting sleeve (502), wherein the connecting sleeve (502) is fixedly arranged on the inside of the top of a clamping frame (501), the axis of the connecting sleeve (502) is vertically downwards arranged, 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 manner, the clamping sliding grooves (504) are radially arranged along the clamping wheel disc (503), and the clamping sliding grooves (504) are positioned on the periphery of the connecting sleeve (502);
the clamping sliding block (505) is arranged in the clamping sliding groove (504) in a sliding mode, the upper surface of the clamping sliding block (505) is higher than the upper surface of the 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 reset spring (506) is arranged between the clamping sliding block (505) and the inner wall of the clamping sliding groove (504), the reset 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 reset spring (506) is horizontally arranged;
the clamping rod (507), the clamping rod (507) is fixedly arranged at the lower end of the clamping slider (505), the clamping rod (507) is vertically arranged, the 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);
the second motor (509) is fixedly arranged on the inner wall of the top of the clamping frame (501), the output shaft of the second motor (509) is vertically downwards arranged, a fourth main shaft (510) is coaxially and fixedly arranged on the output shaft of the second motor (509), and a first sprocket (511) is fixedly arranged on the fourth main shaft (510);
the fifth main shaft (512), the inner wall of the top of the clamping frame (501) is also rotatably provided with the fifth main shaft (512), the fifth main shaft (512) is vertically downwards arranged, the fifth main shaft (512) and the fourth main shaft (510) are respectively arranged at two sides of the connecting sleeve (502), the fifth main shaft (512) is fixedly provided with a second chain wheel (513), and the second chain wheel (513) is connected with the first chain wheel (511) through a chain (514) for transmission;
take-up pulley (515), fourth main shaft (510) and fifth main shaft (512) all coaxial line fixed take-up pulley (515) that are provided with, 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.
2. The automatic feeding and discharging production system based on the industrial robot according to claim 1, wherein a circle of linkage rope (516) is wound around the periphery of the clamping sliding block (505) below the clamping wheel disc (503), two ends of the linkage rope (516) are fixedly connected with two take-up wheels (515) respectively and wound on the take-up wheels (515), and two ends of the linkage rope (516) are wound in the same direction.
3. The automatic feeding and discharging production system based on the industrial robot according to claim 2, wherein the side wall of the clamping slider (505) far away from the axis of the clamping wheel disc (503) is a cambered surface, clamping grooves (517) are respectively formed in the upper end and the lower end of the cambered surface structure, and the linkage rope (516) is clamped in the clamping grooves (517) and is in sliding connection with the clamping slider (505).
4. The automatic feeding and discharging production system based on the industrial robot according to claim 1, wherein an anti-slip sleeve (518) is sleeved at the lower end of the clamping rod (507), and the anti-slip sleeve (518) is made of rubber.
5. The automatic feeding and discharging production system based on the industrial robot according to claim 1, 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 sleeves (519) are rotationally connected with the fourth main shaft (510) and the fifth main shaft (512), and the reinforcing sleeves (519) are fixedly connected with the inner wall of the clamping frame (501).
6. The automatic feeding and discharging production system based on the industrial robot according to claim 5, further comprising a turnover assembly (6), wherein the turnover assembly (6) is arranged at the side part of the bottom plate (1), and the turnover assembly (6):
the support plates (601), two support plates (601) are vertically and symmetrically arranged, a support plate (602) is arranged between the support plates (601), and the support plate (602) is horizontally arranged and fixedly connected with the support plates (601);
the two sides of the supporting plate (601) are symmetrically provided with two first turnover rods (603), the first turnover rods (603) are obliquely downwards arranged, 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 support plate comprises a support plate (602), a first fixing block (605) and a first crank (607), wherein the side parts of the two support plates (601) close to each other are fixedly provided with the first fixing block (605), the first fixing block (605) is positioned below the support plate (602) in an inclined mode, the first fixing block (605) is fixedly provided with a first protruding column (606) perpendicular to the support plate (601), the first protruding column (606) is rotatably provided with the first crank (607), the first crank (607) is perpendicular to the first protruding column (606), and one end, far away from the first protruding column (606), of the first crank (607) is hinged with a first turning rod (603);
the second fixing block (608), the second fixing block (608) is arranged above the first fixing block (605) in an inclined way, the second fixing 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 fixing 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 with the second turning rod (604);
third fixed block (611), be provided with third fixed block (611) between first fixed block (605) and second fixed block (608), third fixed block (611) with backup pad (601) fixed connection, and fixed third projection (612) that are provided with perpendicular to backup pad (601) on third fixed block (611), it is provided with drive jar (613) to rotate on third projection (612), drive jar (613) output shaft with second crank (610) middle part articulates, and drive jar (613) output shaft is parallel to backup pad (601).
7. The automatic feeding and discharging production system based on the industrial robot according to claim 6, wherein the two first turning rods (603) are fixedly connected through a stabilizing rod (614), and the stabilizing rod (614) is horizontally arranged.
8. The automatic feeding and discharging production system based on the industrial robot, as set forth in claim 6, wherein a layer of protection pad (615) is laid on the upper surface of the supporting plate (602), and the protection pad (615) is made of flexible materials.
9. The automatic feeding and discharging production system based on the industrial robot according to claim 1, wherein a limit sleeve (22) is further sleeved on the periphery of the first main shaft (2), the first main shaft (2) is rotationally connected with the limit sleeve (22), and the limit sleeve (22) is fixedly connected with the first motor (21).
CN202211006435.8A 2022-08-22 2022-08-22 Automatic feeding and discharging production system based on industrial robot Active CN115626453B (en)

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GB1287401A (en) * 1968-05-17 1972-08-31 Wellman Cranes Ltd Handling apparatus
CN109090634A (en) * 2018-07-11 2018-12-28 宁波工程学院 One kind cutting Machine for pineapple
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