CN116079756A - Industrial robot is with transport structure and industrial robot - Google Patents
Industrial robot is with transport structure and industrial robot Download PDFInfo
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- CN116079756A CN116079756A CN202310161537.5A CN202310161537A CN116079756A CN 116079756 A CN116079756 A CN 116079756A CN 202310161537 A CN202310161537 A CN 202310161537A CN 116079756 A CN116079756 A CN 116079756A
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- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 238000001125 extrusion Methods 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 20
- 230000003068 static effect Effects 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
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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
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- 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]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a carrying structure for an industrial robot and the industrial robot in the technical field of workpiece carrying, which comprises a bottom plate and two conveyor belts, wherein the two conveyor belts are distributed at the front side and the rear side of the upper side surface of the bottom plate, the upper side surface of the conveyor belt is uniformly and fixedly connected with a plurality of positioning frames, and workpieces are arranged in the positioning frames; the surface of the bottom plate is provided with a rotating mechanism, and the rotating mechanism is used for driving the rotating disc to rotate ninety degrees after the workpiece is clamped up from the positioning frame by the clamping mechanism; the surface of the bottom plate is provided with a detection mechanism, and the detection mechanism is used for automatically driving the clamping mechanism and the rotating mechanism to operate when the positioning frame is transmitted to the clamping position of the clamping mechanism; the device simple structure, convenient to use does not need extra power drive nor need accurate check out test set to detect the work piece position, use cost is low, simultaneously through four fixture alternate operation, can accomplish the transport of work piece under the circumstances of not stopping the conveyer belt transmission, can effectually promote the efficiency of work piece transport.
Description
Technical Field
The invention relates to the technical field of workpiece conveying, in particular to a conveying structure for an industrial robot and the industrial robot.
Background
The transfer robot is an industrial robot capable of performing automated transfer work, which refers to holding a workpiece with one type of equipment and moving from one processing position to another processing position; the transfer robot can be provided with different devicesEnd effector Device for preventing and treating cancerSo as to finish the work piece carrying work of various shapes and states, thereby greatly reducing the heavy manual labor of human beings.
The transfer robot generally acts on the production line to transfer the products processed on one production line to the other production line for processing; when a workpiece to be positioned is processed, a positioning frame is fixed on a production line, and then the workpiece can be accurately processed when the workpiece is placed in the positioning frame; when the carrying robot carries such workpieces, the workpieces need to be carried vertically upwards from the inside of the positioning frame, so that the workpieces are separated from the positioning frame firstly, then the workpieces are carried to the position above the positioning frame on the other production line, and then the workpieces are vertically put down, so that the workpieces enter the positioning frame on the other production line, and the carrying of the workpieces is completed once; the carrying structure of the carrying robot is usually an intelligent mechanical arm, and can be used only by matching with various infrared sensors through a set program, so that the carrying robot is high in manufacturing cost and use cost; in addition, the mechanical arm is required to stop the production line when carrying the workpiece so that the workpiece can be kept in a static state, then the workpiece can be carried, and the other production line is required to be stopped when the workpiece is placed again, so that the positioning frame on the other production line is static, a large amount of time is wasted, and the efficiency of carrying the workpiece is low.
Disclosure of Invention
The present invention is directed to a handling structure for an industrial robot and an industrial robot, which solve the problems set forth in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the carrying structure for the industrial robot comprises a bottom plate and two conveyor belts, wherein the two conveyor belts are distributed on the front side and the rear side of the upper side surface of the bottom plate, a plurality of positioning frames are uniformly and fixedly connected to the upper side surface of each conveyor belt, and workpieces are arranged in the positioning frames; the middle part of the upper surface of the bottom plate is rotationally connected with a rotating rod, the upper end of the rotating rod is rotationally connected with a rotating disc, the upper surface of the rotating disc is fixedly connected with a connecting frame, the front, back, left and right sides of the surface of the connecting frame are fixedly connected with a fixing frame, the surface of the fixing frame is provided with a clamping mechanism, and the clamping mechanism is used for clamping a workpiece which is transmitted to a clamping position by the surface of a conveyor belt from the inside of a positioning frame or placing the workpiece into the positioning frame under the condition that the conveyor belt is not stopped; the surface of the bottom plate is provided with a rotating mechanism, and the rotating mechanism is used for driving the rotating disc to rotate ninety degrees after the workpiece is clamped up from the positioning frame by the clamping mechanism; the surface of the bottom plate is provided with a detection mechanism, and the detection mechanism is used for automatically driving the clamping mechanism and the rotating mechanism to operate when the positioning frame is transmitted to the clamping position of the clamping mechanism.
The clamping mechanism comprises a first sliding frame, the first sliding frame is fixedly connected with the fixing frame, a first sliding block is connected in a sliding manner in the first sliding frame, a first sliding rod is connected on the surface of the first sliding block in a sliding manner, a first spring is sleeved on the surface of the first sliding rod, the upper end of the first spring is fixedly connected with the first sliding rod, and the bottom end of the first spring is fixedly connected with the first sliding block; the bottom end of the first sliding rod is fixedly connected with a fixed frame, and clamping plates are symmetrically and rotatably connected to the positions of two sides in the fixed frame; the surface of the fixing frame is provided with a driving mechanism which is used for driving the two clamping plates to move downwards and simultaneously rotate to an inner side position to a position for clamping a workpiece.
The driving mechanism comprises a guide rail which is fixedly connected with the fixing frame; the two ends of the guide rail are inclined upwards and outwards, and the middle part of the guide rail is in a horizontal linear shape; the guide rail is connected with a sliding rod in a sliding way, and the front end part of the sliding rod is fixedly connected with a first sliding rod; the bottom part of the surface of the first sliding block is fixedly connected with a second sliding frame, and the sliding rod is in sliding connection with the second sliding frame; the fixed frame is rotationally connected with two worms, the two worms are coaxially and fixedly connected, worm wheels are meshed on the surfaces of the worms, and the two worm wheels are fixedly connected with the two clamping plates respectively; the horizontal position of the bottom surface of the guide rail is fixedly connected with a first rack, the surface of the first rack is meshed with a first gear, and the first gear is coaxially and fixedly connected with two worms.
The detection mechanism comprises a second sliding block, and the second sliding block is in sliding connection with the second sliding frame; the front side surface of the positioning frame and the front side surface of the rear positioning frame are fixedly connected with inclined plates, and the inclined plates on the front side and the rear side are in a shape with left low and right high; the left side surface of the inclined plate is attached to the second sliding block, the left end part of the inclined plate is positioned at the bottom side of the second sliding block, and the right end part of the inclined plate is positioned at the upper side of the second sliding block; compression bars are symmetrically and fixedly connected to the front side and the rear side of the surface of the bottom plate, and the compression bars on the front side and the rear side are respectively attached to the upper side surfaces of the second sliding blocks on the front side and the rear side; the left end part of the compression bar is positioned at the right side of the left end part of the guide rail, and the right end part of the compression bar is positioned at the right side of the right end part of the guide rail.
The rotating mechanism comprises a second slide bar which is in sliding connection with the bottom plate, a second spring is sleeved on the surface of the second slide bar, one end of the second spring is fixedly connected with the second slide bar, and the other end of the second spring is fixedly connected with the bottom plate; the left end of the second sliding rod is positioned on the moving track of the second sliding block, the right end of the second sliding rod is fixedly connected with a connecting rod, the surface of the connecting rod is connected with a third sliding block in a sliding manner, and the right end of the third sliding block is fixedly connected with a second rack; the surface of the rotating rod is fixedly connected with a second gear, the second gear is meshed with a second rack, the upper end of the second gear is fixedly connected with a torsion spring, and the upper end of the torsion spring is fixedly connected with the rotating disc; the surface of the rotating rod is fixedly connected with a ratchet wheel, a pawl is meshed with the surface of the ratchet wheel, and the pawl is fixedly connected with the bottom plate.
The rear end of the third sliding block is fixedly connected with a third spring, and the rear end of the third spring is fixedly connected with the connecting rod; the surface of the bottom side of the third sliding block is connected with a clamping block in a sliding manner, a fourth spring is sleeved on the surface of the clamping block, and the upper end and the lower end of the fourth spring are respectively fixedly connected with the third sliding block and the clamping block; a clamping groove is formed in the front side of the third sliding block on the surface of the connecting rod, and the clamping block is in clamping fit with the clamping groove; the clamping block rear side position and the front side position are respectively provided with a first inclined rod and a second inclined rod, and the first inclined rod and the second inclined rod can be attached to the clamping block.
The surface of the rotating rod is provided with a lifting frame, the lifting frame is in sliding connection with the bottom plate, a fifth spring is fixedly connected to the position of the surface of the lifting frame, which is connected with the bottom plate, and the bottom end of the fifth spring is fixedly connected with the bottom plate; four first stop rods are uniformly and fixedly connected to the surface of the rotating disc; four second stop rods are fixedly connected to the upper side surface of the lifting frame, and the four second stop rods are respectively attached to the four first stop rods; the four first stop rods and the four second stop rods are distributed on the surface of the rotating disc in a circumferential array; the lifting frame upper side surface fixedly connected with extrusion piece, the extrusion piece is located the connecting rod left side position and equals with the distance of connecting rod and first diagonal rod with the distance of connecting rod.
The lifting mechanism comprises supporting feet, wherein the supporting feet are positioned at the bottom of the bottom plate; the four corners of the upper surface of the supporting leg are respectively and rotatably connected with a first connecting rod, and the four corners of the bottom surface of the bottom plate are respectively and rotatably connected with a second connecting rod; the four first connecting rods are respectively and rotatably connected with the four second connecting rods; the position between bottom plate and the supporting legs is equipped with the cylinder, the both ends symmetry fixedly connected with push rod about the cylinder, left and right sides the push rod rotates with the first connecting rod and the second connecting rod of left and right sides respectively and is connected.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention starts the conveyor belts at the front side and the rear side to drive to the left side at the same time and at the same speed; when the detection mechanism detects that the conveyor belt at the front side drives the positioning frame and the workpiece in the positioning frame to be transmitted to the clamping position of the clamping mechanism, the detection mechanism drives the clamping mechanism and the rotating mechanism to operate, and the workpiece in the positioning frame can be clamped and driven to move upwards to be separated from the positioning frame under the condition that the transmission of the conveyor belt at the front side is not stopped by the clamping mechanism; when a workpiece is clamped by the clamping mechanism, the rotating mechanism immediately drives the rotating disc to rotate ninety degrees, the rotating disc drives the connecting frame on the surface of the rotating disc to rotate ninety degrees, the connecting frame drives the clamping mechanism on the front side to rotate to the left side position and the clamping mechanism on the right side to rotate to the front side position through the four connecting frames on the surface of the connecting frame, and at the moment, the conveyor belt on the front side drives the other positioning frame and the workpiece inside the positioning frame to convey the workpiece to the clamping position; when the rotating mechanism drives the clamping mechanism for clamping the workpiece to rotate to the rear side position, the rear side conveyor belt just drives the empty positioning frame to drive to the bottom position of the workpiece, and the detecting mechanism drives the clamping mechanism to operate, so that the rear side clamping mechanism can put the workpiece into the rear side positioning frame under the condition that the rear side conveyor belt does not stop driving, and the workpiece is carried once; the device simple structure, convenient to use does not need extra power drive nor need accurate check out test set to detect the work piece position, use cost is low, simultaneously through four fixture alternate operation, can accomplish the transport of work piece under the circumstances of not stopping the conveyer belt transmission, can effectually promote the efficiency of work piece transport.
2. When the first gear moves leftwards through the first rack, the first rack drives the first gear to rotate, the first gear applies acting force to the rotating disc through the torsion spring, and at the moment, the four first stop rods on the surface of the rotating disc are blocked by the first stop rods, so that the rotating disc cannot rotate; when the connecting rod drives the second rack to move to the leftmost position, the connecting rod is just contacted with the extrusion block and presses the lifting frame downwards through the extrusion block, the lifting frame can drive the four second stop rods to move downwards when moving downwards, and the rotating disc starts to rotate when the second stop rods move to the bottom position of the first stop rods; when the connecting rod is attached to the extrusion block, the second sliding block just starts to move upwards to separate from the second sliding rod, the second sliding rod starts to reset, the connecting rod immediately moves rightwards, the lifting frame which just moves downwards is reset immediately under the action of the fifth spring, so that the four second stop rods move upwards to the position for blocking the four first stop rods again, when the rotating disc rotates ninety degrees under the action of the torsion spring, the four first stop rods are attached to the four second stop rods again, and the rotating disc is kept still at the moment, so that the rotating disc rotates ninety degrees each time.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic rear view of the present invention;
FIG. 3 is a schematic view of a split structure of the present invention;
FIG. 4 is a schematic view of a structure of a connecting frame according to the present invention;
FIG. 5 is a schematic view of a clamping mechanism according to the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 5A;
FIG. 7 is a schematic view of a rotating mechanism according to the present invention;
FIG. 8 is an enlarged schematic view of the structure of B in FIG. 7;
fig. 9 is a schematic structural view of a lifting mechanism in the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a bottom plate; 2. a conveyor belt; 3. a positioning frame; 4. a workpiece; 5. a rotating lever; 6. a rotating disc; 7. a connecting frame; 8. a fixing frame; 9. a first carriage; 10. a first slider; 11. a first slide bar; 12. a first spring; 13. a fixed frame; 14. a clamping plate; 15. a guide rail; 16. a slide bar; 17. a second carriage; 18. a worm; 19. a worm wheel; 20. a first rack; 21. a first gear; 22. a second slider; 23. a sloping plate; 24. a compression bar; 25. a second slide bar; 26. a second spring; 27. a connecting rod; 28. a third slider; 29. a second rack; 30. a second gear; 31. a torsion spring; 32. a ratchet wheel; 33. a pawl; 34. a third spring; 35. a clamping block; 36. a fourth spring; 37. a clamping groove; 38. a first diagonal bar; 39. a second diagonal bar; 40. a lifting frame; 41. a fifth spring; 42. a first stop lever; 43. a second stop lever; 44. extruding a block; 45. supporting feet; 46. a first link; 47. a second link; 48. a cylinder; 49. a push rod.
Detailed Description
Referring to fig. 1-9, the present invention provides a technical solution: the carrying structure for the industrial robot comprises a bottom plate 1 and two conveyor belts 2, wherein the two conveyor belts 2 are distributed on the front side and the rear side of the upper side surface of the bottom plate 1, the upper side surface of each conveyor belt 2 is uniformly and fixedly connected with a plurality of positioning frames 3, and workpieces 4 are arranged in the positioning frames 3; the middle part of the upper surface of the bottom plate 1 is rotationally connected with a rotating rod 5, the upper end of the rotating rod 5 is rotationally connected with a rotating disc 6, the upper surface of the rotating disc 6 is fixedly connected with a connecting frame 7, the front, back, left and right sides of the surface of the connecting frame 7 are fixedly connected with a fixing frame 8, the surface of the fixing frame 8 is provided with a clamping mechanism, and the clamping mechanism is used for clamping a workpiece 4 which is transmitted to a clamping position by the surface of the conveyor belt 2 from the inside of the positioning frame 3 or placing the workpiece 4 into the positioning frame 3 under the condition that the conveyor belt 2 is not stopped; the surface of the bottom plate 1 is provided with a rotating mechanism, and the rotating mechanism is used for driving the rotating disc 6 to rotate ninety degrees after the workpiece 4 is clamped up from the positioning frame 3 by the clamping mechanism; the surface of the bottom plate 1 is provided with a detection mechanism, and the detection mechanism is used for automatically driving the clamping mechanism and the rotating mechanism to operate when the positioning frame 3 is transmitted to the clamping position of the clamping mechanism;
when the robot is in operation, the robot is an industrial robot capable of carrying out automatic carrying operation, the carrying operation refers to holding a workpiece by one device and refers to moving from one processing position to another processing position; the carrying robot can be provided with different end effectors to finish the work piece carrying work of different shapes and states, thereby greatly reducing the heavy manual labor of human beings; the transfer robot generally acts on the production line to transfer the products processed on one production line to the other production line for processing; when a workpiece to be positioned is processed, a positioning frame is fixed on a production line, and then the workpiece can be accurately processed when the workpiece is placed in the positioning frame; when the carrying robot carries such workpieces, the workpieces need to be carried vertically upwards from the inside of the positioning frame, so that the workpieces are separated from the positioning frame firstly, then the workpieces are carried to the position above the positioning frame on the other production line, and then the workpieces are vertically put down, so that the workpieces enter the positioning frame on the other production line, and the carrying of the workpieces is completed once; the carrying structure of the carrying robot is usually an intelligent mechanical arm, and can be used only by matching with various infrared sensors through a set program, so that the carrying robot is high in manufacturing cost and use cost; in addition, when the mechanical arm conveys the workpiece, the production line is required to be stopped to enable the workpiece to be kept in a static state, then the workpiece can be conveyed, and when the workpiece is placed again, the other production line is required to be stopped to enable the positioning frame on the other production line to be static, so that a large amount of time is wasted, and the workpiece conveying efficiency is low; the device drives to the left side position at the same time and at the same speed by starting the conveyor belts at the front side and the rear side; when the detection mechanism detects that the conveyor belt 2 at the front side position drives the positioning frame 3 and the workpiece 4 in the positioning frame to be driven to the clamping position of the clamping mechanism, the detection mechanism drives the clamping mechanism and the rotating mechanism to operate, and the workpiece 4 in the positioning frame 3 can be clamped and the workpiece 4 is driven to move upwards to be separated from the positioning frame 3 under the condition that the conveyor belt 2 at the front side does not stop driving; when the workpiece 4 is clamped by the clamping mechanism, the rotating mechanism immediately drives the rotating disc 6 to rotate ninety degrees, the rotating disc 6 drives the connecting frame 7 on the surface of the rotating disc to rotate ninety degrees, the connecting frame 7 drives the clamping mechanism on the front side to rotate to the left side position and the clamping mechanism on the right side to rotate to the front side position through the four connecting frames 7 on the surface of the connecting frame, and at the moment, the front side conveyor belt 2 just drives the other positioning frame 3 and the workpiece 4 inside the positioning frame to convey to the clamping position; when the rotating mechanism drives the clamping mechanism for clamping the workpiece 4 to rotate to the rear side position, the rear side conveyor belt 2 just drives the empty positioning frame 3 to drive to the bottom position of the workpiece 4, and the detecting mechanism drives the clamping mechanism to operate, so that the rear side clamping mechanism can put the workpiece 4 into the rear side positioning frame 3 under the condition that the rear side conveyor belt 2 does not stop driving, and the workpiece 4 is carried once; the device simple structure, convenient to use does not need extra power drive nor need accurate check out test set to detect work piece 4 position, and use cost is low, simultaneously through four fixture alternate movement, can accomplish the transport of work piece 4 under the circumstances that does not stop conveyor belt 2 transmission, can effectually promote the efficiency of work piece 4 transport.
As a further scheme of the invention, the clamping mechanism comprises a first sliding frame 9, wherein the first sliding frame 9 is fixedly connected with a fixed frame 8, a first sliding block 10 is slidably connected with the first sliding frame 9, a first sliding rod 11 is slidably connected with the surface of the first sliding block 10, a first spring 12 is sleeved on the surface of the first sliding rod 11, the upper end of the first spring 12 is fixedly connected with the first sliding rod 11, and the bottom end of the first spring 12 is fixedly connected with the first sliding block 10; the bottom end of the first slide bar 11 is fixedly connected with a fixed frame 13, and clamping plates 14 are symmetrically and rotatably connected at two sides in the fixed frame 13; the surface of the fixing frame 8 is provided with a driving mechanism which is used for driving the two clamping plates 14 to move downwards and simultaneously rotate to an inner side position to a position for clamping the workpiece 4; when the clamping plate 14 moves to a position capable of clamping the clamping plate 14, a driving mechanism is started at the moment, and the two clamping plates 14 can be driven to clamp the workpiece 4 through the driving mechanism.
As a further scheme of the invention, the driving mechanism comprises a guide rail 15, and the guide rail 15 is fixedly connected with the fixing frame 8; the two ends of the guide rail 15 are inclined upwards and outwards, and the middle part of the guide rail 15 is in a horizontal linear shape; a sliding rod 16 is connected in a sliding manner in the guide rail 15, and the front end part of the sliding rod 16 is fixedly connected with the first sliding rod 11; the bottom part of the surface of the first sliding block 10 is fixedly connected with a second sliding frame 17, and a sliding rod 16 is in sliding connection with the second sliding frame 17; the fixed frame 13 is rotationally connected with two worms 18, the two worms 18 are coaxially and fixedly connected, worm wheels 19 are meshed on the surfaces of the worms 18, and the two worm wheels 19 are fixedly connected with the two clamping plates 14 respectively; the horizontal position of the bottom surface of the guide rail 15 is fixedly connected with a first rack 20, the surface of the first rack 20 is meshed with a first gear 21, and the first gear 21 is coaxially and fixedly connected with two worms 18; when the device works, when the sliding rod 16 is driven to move to the left side, the sliding rod 16 moves downwards under the action of the guide rail 15 while moving to the left side, the sliding rod 16 drives the first sliding rod 11 to move to the left side and the lower side, the first sliding rod 11 drives the fixed frame 13 and two clamping plates 14 in the fixed frame 13 and the clamping plates 14 to move, and the speed of the movement of the fixed frame 13 and the clamping plates 14 to the left side is equal to the speed of transmission of a transmission belt, so that the fixed frame 13 and the clamping plates 14 can be relatively static, and the fixed frame 13 and the clamping plates 14 move downwards and are slowly close to a workpiece 4; when the sliding rod 16 slides to the horizontal position at the bottom of the guide rail 15, the fixed frame 13 and the clamping plate 14 move to the bottommost position, meanwhile, the fixed frame 13 drives the first gear 21 to move to a position meshed with the first rack 20, when the fixed frame 13 drives the first gear 21 to move leftwards, under the action of the first rack 20, the first gear 21 starts to rotate and drives the two worms 18 in the fixed frame 13 to rotate, and when the worms 18 rotate, the clamping plate 14 is driven to rotate by the worm wheel 19; when the sliding rod 16 moves to the leftmost position of the horizontal part of the bottom of the guide rail 15, the two clamping plates 14 in the fixed frame 13 just clamp the work price; when the sliding rod 16 continues to move leftwards, under the action of the guide rail 15, the sliding rod 16 starts to drive the fixed frame 13 and the clamping plate 14 to move leftwards and upwards, and the clamping plate 14 can drive the work price to gradually move upwards and separate from the positioning frame 3; similarly, in the process of moving the clamping plate 14 at the rear side from the right side to the left side, the workpiece 4 can be accurately placed into the positioning frame 3 at the rear side under the action of the rear side guide rail 15.
As a further aspect of the present invention, the detection mechanism includes a second slider 22, and the second slider 22 is slidably connected to the second carriage 17; the front side surface of the front side positioning frame 3 and the front side surface of the rear side positioning frame 3 are fixedly connected with sloping plates 23, and the sloping plates 23 on the front side and the rear side are in a shape with low left and high right; the left side surface of the sloping plate 23 is attached to the second slide block 22, the left end part of the sloping plate 23 is positioned at the bottom side of the second slide block 22, and the right end part of the sloping plate is positioned at the upper side of the second slide block 22; the front and back sides of the surface of the bottom plate 1 are symmetrically and fixedly connected with compression bars 24, and the compression bars 24 on the front and back sides are respectively attached to the upper side surfaces of the second sliding blocks 22 on the front and back sides; the left end portion of the pressing lever 24 is located at a right side position of the left end portion of the guide rail 15 and the right end portion of the pressing lever 24 is located at a right side position of the right end portion of the guide rail 15; when the movable clamping plate works, the conveyor belts 2 on the front side and the rear side drive the positioning frames 3 on the surface of the movable clamping plate to move leftwards, the fixed frame 13 drives the inclined plate 23 on the surface of the movable clamping plate to move, and when the inclined plate 23 moves to a position attached to the second sliding block 22, the inclined plate 23 cannot push the second sliding block 22 to slide upwards because the upper side position of the second sliding block 22 is attached to the pressing rod 24, and the second sliding block 22 drives the second sliding frame 17 to move leftwards along with the pushing of the inclined plate 23, and the second sliding frame 17 drives the second sliding block 22 and the sliding rod 16 to move leftwards, so that the movable clamping plate 14 can be driven to move; when the sliding rod 16 slides in the guide rail 15 from the horizontal position to the inclined position on the upper left, the second sliding block 22 just moves to the left position of the pressing rod 24, the second sliding block 22 is no longer attached to the pressing rod 24, and the inclined plate 23 directly pushes the second sliding block 22 upwards so as to directly cross the second sliding block 22; at this time, the first sliding rod 11 is driven to move upwards under the action of the first spring 12, the first sliding rod 11 drives the sliding rod 16 to move upwards, and the sliding rod 16 can slide to the left upper side position in the guide rail 15 along the track of the guide rail 15, so that the workpiece 4 is completely separated from the positioning frame 3.
As a further scheme of the invention, the rotating mechanism comprises a second slide bar 25, the second slide bar 25 is in sliding connection with the bottom plate 1, a second spring 26 is sleeved on the surface of the second slide bar 25, one end of the second spring 26 is fixedly connected with the second slide bar 25, and the other end of the second spring 26 is fixedly connected with the bottom plate 1; the left end of the second slide bar 25 is positioned on the moving track of the second slide block 22, the right end of the second slide bar 25 is fixedly connected with a connecting rod 27, the surface of the connecting rod 27 is slidably connected with a third slide block 28, and the right end of the third slide block 28 is fixedly connected with a second rack 29; the surface of the rotating rod 5 is fixedly connected with a second gear 30, the second gear 30 is meshed with a second rack 29, the upper end of the second gear 30 is fixedly connected with a torsion spring 31, and the upper end of the torsion spring 31 is fixedly connected with the rotating disc 6; the surface of the rotating rod 5 is fixedly connected with a ratchet wheel 32, a pawl 33 is meshed with the surface of the ratchet wheel 32, and the pawl 33 is fixedly connected with the bottom plate 1; when the inclined plate 23 pushes the second sliding block 22 to move leftwards, the second sliding block 22 is attached to the second sliding rod 25 after a certain distance is moved, so that the second sliding rod 25 is pushed to slide leftwards, the second sliding rod 25 drives the connecting rod 27 connected with the second sliding rod to move leftwards, the connecting rod 27 drives the second rack 29 to move leftwards through the third sliding block 28 on the surface of the connecting rod 27, and the second rack 29 drives the second gear 30 to start rotating clockwise when moving leftwards; when the second slider 22 slides to the left side of the compression bar 24, the second rack 29 just drives the second gear 30 to rotate ninety degrees; at the same time, the second slider 22 starts to move upwards after being separated from the compression bar 24 and simultaneously also can be separated from the second slide bar 25, and the second slide bar 25 is directly reset under the action of the second spring 26 after the second slider 22 is separated from the second slide bar 25.
As a further scheme of the invention, the rear end of the third sliding block 28 is fixedly connected with a third spring 34, and the rear end of the third spring 34 is fixedly connected with the connecting rod 27; the surface of the bottom side of the third sliding block 28 is slidably connected with a clamping block 35, a fourth spring 36 is sleeved on the surface of the clamping block 35, and the upper end and the lower end of the fourth spring 36 are fixedly connected with the third sliding block 28 and the clamping block 35 respectively; the surface of the connecting rod 27 is provided with a clamping groove 37 at the front side of the third sliding block 28, and the clamping block 35 is matched with the clamping groove 37 in a clamping way; the rear side position and the front side position of the clamping block 35 are respectively provided with a first inclined rod 38 and a second inclined rod 39, and the first inclined rod 38 and the second inclined rod 39 can be attached to the clamping block 35; during operation, the third spring 34 can enable the third sliding block 28 to drive the second rack 29 to keep a state of being meshed with the second gear 30; when the second slide bar 25 drives the third slide block 28 to move to the leftmost position, the clamping block 35 at the bottom of the third slide block 28 is engaged with the first inclined bar 38 and starts to slide forward under the extrusion of the first inclined bar 38, and the second rack 29 is separated from the second gear 30 when the third slide block 28 slides forward; when the third sliding block 28 slides to the forefront position, the fourth spring 36 on the surface of the third sliding block 28 drives the clamping block 35 to be directly clamped into the clamping groove 37, at the moment, the third clamping block 35 keeps still, and when the second sliding rod 25 starts to reset, the second rack 29 can be ensured not to drive the second gear 30 to reset; when the third slider 28 moves to the rightmost position along with the second slide bar 25, at this time, the clamping block 35 on the surface of the third slider 28 is directly pressed downward by the second diagonal bar 39, the clamping block 35 is separated from the clamping groove 37 when moving downward, at this time, the third slider 28 moves backward to reset under the action of the third spring 34, and the third slider 28 drives the second rack 29 to move to the position meshed with the second gear 30 again.
As a further scheme of the invention, the surface of the rotating rod 5 is provided with a lifting frame 40, the lifting frame 40 is in sliding connection with the bottom plate 1, a fifth spring 41 is fixedly connected to the surface of the lifting frame 40 at the position of the connection part with the bottom plate 1, and the bottom end of the fifth spring 41 is fixedly connected with the bottom plate 1; four first stop rods 42 are uniformly and fixedly connected to the surface of the rotating disc 6; four second stop rods 43 are fixedly connected to the upper side surface of the lifting frame 40, and the four second stop rods 43 are respectively attached to the four first stop rods 42; the four first stop rods 42 and the four second stop rods 43 are distributed on the surface of the rotating disc 6 in a circumferential array; the upper surface of the lifting frame 40 is fixedly connected with a squeezing block 44, and the squeezing block 44 is positioned at the left side of the connecting rod 27 and has the same distance with the connecting rod 27 as the first diagonal rod 38; when the second rack 29 moves leftwards during operation, the second rack 29 drives the second gear 30 to rotate, the second gear 30 applies acting force to the rotating disc 6 through the torsion spring 31, and at the moment, the four first stop rods 42 on the surface of the rotating disc 6 are blocked by the second stop rods 43, so that the rotating disc 6 cannot rotate; when the connecting rod 27 drives the second rack 29 to move to the leftmost position, the connecting rod 27 just contacts with the extrusion block 44 and presses the lifting frame 40 downwards through the extrusion block 44, when the lifting frame 40 moves downwards, the four second stop rods 43 are driven to move downwards, and when the second stop rods 43 move to the bottom position of the first stop rods 42, the rotating disc 6 starts to rotate; when the connecting rod 27 is jointed with the extrusion block 44, the second sliding block 22 just starts to move upwards to separate from the second sliding rod 25, the second sliding rod 25 starts to reset, the connecting rod 27 immediately moves rightwards, the lifting frame 40 just moving downwards is reset immediately under the action of the fifth spring 41, so that the four second stop rods 43 move upwards to the position of blocking the four first stop rods 42 again, and when the rotating disc 6 rotates ninety degrees under the action of the torsion spring 31, the four first stop rods 42 are jointed with the four second stop rods 43 again, and the rotating disc 6 keeps still at the moment.
As a further scheme of the invention, the lifting mechanism comprises a lifting mechanism and an industrial robot, wherein the lifting mechanism comprises supporting feet 45, and the supporting feet 45 are positioned at the bottom of the bottom plate 1; the four corners of the upper surface of the supporting leg 45 are respectively and rotatably connected with a first connecting rod 46, and the four corners of the bottom surface of the bottom plate 1 are respectively and rotatably connected with a second connecting rod 47; the four first connecting rods 46 are respectively and rotatably connected with the four second connecting rods 47; an air cylinder 48 is arranged between the bottom plate 1 and the supporting legs 45, push rods 49 are symmetrically and fixedly connected to the left end and the right end of the air cylinder 48, and the push rods 49 on the left side and the right side are respectively and rotatably connected with a first connecting rod 46 and a second connecting rod 47 on the left side and the right side; when the device is used, the push rods 49 on the left side and the right side can be driven to move towards the positions close to each other or away from each other simultaneously by starting the air cylinders 48, and when the push rods 49 on the left side and the right side move towards the positions close to each other, the bottom plate 1 moves downwards under the action of the first connecting rods 46 and the second connecting rods 47 on the left side and the right side, so that the device can be used for the conveyor belt 2 with lower height; when the push rods 49 on the left and right sides are moved to positions away from each other, the base plate 1 is moved upward by the first link 46 and the second link 47 on the left and right sides, so that the apparatus can be used for the use of the conveyor belt 2 having a high height.
Claims (8)
1. The utility model provides a handling structure for industrial robot, includes bottom plate (1) and two conveyer belts (2), its characterized in that: the two conveyor belts (2) are distributed at the front side and the rear side of the upper side surface of the bottom plate (1), the upper side surface of the conveyor belts (2) is uniformly and fixedly connected with a plurality of positioning frames (3), and workpieces (4) are arranged in the positioning frames (3); the device is characterized in that a rotating rod (5) is rotationally connected to the middle part of the upper surface of the bottom plate (1), a rotating disc (6) is rotationally connected to the upper end of the rotating rod (5), a connecting frame (7) is fixedly connected to the upper surface of the rotating disc (6), a fixing frame (8) is fixedly connected to the front, back, left and right sides of the surface of the connecting frame (7), a clamping mechanism is arranged on the surface of the fixing frame (8), and the clamping mechanism is used for clamping a workpiece (4) which is transmitted to a clamping position on the surface of the conveyor belt (2) from a positioning frame (3) or placing the workpiece (4) into the positioning frame (3) under the condition that the conveyor belt (2) is not stopped; the surface of the bottom plate (1) is provided with a rotating mechanism, and the rotating mechanism is used for driving the rotating disc (6) to rotate ninety degrees after the workpiece (4) is clamped up from the positioning frame (3) by the clamping mechanism; the surface of the bottom plate (1) is provided with a detection mechanism, and the detection mechanism is used for automatically driving the clamping mechanism and the rotating mechanism to operate when the positioning frame (3) is transmitted to the clamping position of the clamping mechanism.
2. The handling structure for an industrial robot according to claim 1, wherein: the clamping mechanism comprises a first sliding frame (9), the first sliding frame (9) is fixedly connected with a fixed frame (8), a first sliding block (10) is connected in the first sliding frame (9) in a sliding mode, a first sliding rod (11) is connected to the surface of the first sliding block (10) in a sliding mode, a first spring (12) is sleeved on the surface of the first sliding rod (11), the upper end of the first spring (12) is fixedly connected with the first sliding rod (11), and the bottom end of the first spring (12) is fixedly connected with the first sliding block (10); the bottom end of the first sliding rod (11) is fixedly connected with a fixed frame (13), and clamping plates (14) are symmetrically and rotatably connected to the positions of two sides in the fixed frame (13); the surface of the fixing frame (8) is provided with a driving mechanism which is used for driving the two clamping plates (14) to move downwards and simultaneously rotate to an inner side position to a position for clamping the workpiece (4).
3. The handling structure for an industrial robot according to claim 2, wherein: the driving mechanism comprises a guide rail (15), and the guide rail (15) is fixedly connected with the fixing frame (8); the two ends of the guide rail (15) are inclined upwards and outwards, and the middle part of the guide rail (15) is in a horizontal linear shape; a sliding rod (16) is connected in a sliding manner in the guide rail (15), and the front end part of the sliding rod (16) is fixedly connected with the first sliding rod (11); the bottom part of the surface of the first sliding block (10) is fixedly connected with a second sliding frame (17), and the sliding rod (16) is in sliding connection with the second sliding frame (17); the fixed frame (13) is rotationally connected with two worms (18) and the two worms (18) are coaxially and fixedly connected, worm gears (19) are meshed on the surfaces of the worms (18), and the two worm gears (19) are respectively and fixedly connected with the two clamping plates (14); the horizontal position of the bottom side surface of the guide rail (15) is fixedly connected with a first rack (20), a first gear (21) is meshed with the surface of the first rack (20), and the first gear (21) is coaxially and fixedly connected with two worms (18).
4. A handling structure for an industrial robot according to claim 3, wherein: the detection mechanism comprises a second sliding block (22), and the second sliding block (22) is in sliding connection with the second sliding frame (17); the front side positioning frame (3) is fixedly connected with a sloping plate (23) on the rear side surface and the front side surface of the rear positioning frame (3), and the sloping plates (23) on the front side and the rear side are in a shape with left low and right high; the left side surface of the sloping plate (23) is attached to the second sliding block (22), the left end part of the sloping plate (23) is positioned at the bottom side of the second sliding block (22), and the right end part of the sloping plate is positioned at the upper side of the second sliding block (22); compression bars (24) are symmetrically and fixedly connected to the front side and the rear side of the surface of the bottom plate (1), and the compression bars (24) at the front side and the rear side are respectively attached to the upper side surfaces of the second sliding blocks (22) at the front side and the rear side; the left end part of the pressing rod (24) is positioned at the right side of the left end part of the guide rail (15), and the right end part of the pressing rod (24) is positioned at the right side of the right end part of the guide rail (15).
5. The handling structure for an industrial robot according to claim 4, wherein: the rotating mechanism comprises a second slide bar (25), the second slide bar (25) is in sliding connection with the bottom plate (1), a second spring (26) is sleeved on the surface of the second slide bar (25), one end of the second spring (26) is fixedly connected with the second slide bar (25), and the other end of the second spring is fixedly connected with the bottom plate (1); the left end of the second sliding rod (25) is positioned on the moving track of the second sliding block (22), the right end of the second sliding rod (25) is fixedly connected with a connecting rod (27), the surface of the connecting rod (27) is slidably connected with a third sliding block (28), and the right end of the third sliding block (28) is fixedly connected with a second rack (29); the surface of the rotating rod (5) is fixedly connected with a second gear (30), the second gear (30) is meshed with a second rack (29), the upper end of the second gear (30) is fixedly connected with a torsion spring (31), and the upper end of the torsion spring (31) is fixedly connected with the rotating disc (6); the surface of the rotating rod (5) is fixedly connected with a ratchet wheel (32), a pawl (33) is meshed with the surface of the ratchet wheel (32), and the pawl (33) is fixedly connected with the bottom plate (1).
6. The handling structure for an industrial robot according to claim 5, wherein: the rear end of the third sliding block (28) is fixedly connected with a third spring (34), and the rear end of the third spring (34) is fixedly connected with a connecting rod (27); the surface of the bottom side of the third sliding block (28) is connected with a clamping block (35) in a sliding manner, a fourth spring (36) is sleeved on the surface of the clamping block (35), and the upper end and the lower end of the fourth spring (36) are fixedly connected with the third sliding block (28) and the clamping block (35) respectively; a clamping groove (37) is formed in the front side of the third sliding block (28) on the surface of the connecting rod (27), and the clamping block (35) is in clamping fit with the clamping groove (37); the clamping block (35) is provided with a first inclined rod (38) and a second inclined rod (39) at the rear side position and the front side position respectively, and the first inclined rod (38) and the second inclined rod (39) can be attached to the clamping block (35).
7. The handling structure for an industrial robot according to claim 6, wherein: the surface of the rotating rod (5) is provided with a lifting frame (40), the lifting frame (40) is in sliding connection with the bottom plate (1), a fifth spring (41) is fixedly connected to the position, where the surface of the lifting frame (40) is connected with the bottom plate (1), of the bottom end of the fifth spring (41) is fixedly connected with the bottom plate (1); four first stop rods (42) are uniformly and fixedly connected to the surface of the rotating disc (6); four second stop rods (43) are fixedly connected to the upper side surface of the lifting frame (40), and the four second stop rods (43) are respectively attached to the four first stop rods (42); the four first stop rods (42) and the four second stop rods (43) are distributed on the surface of the rotating disc (6) in a circumferential array; the lifting frame (40) is fixedly connected with an extrusion block (44) on the upper side surface, and the extrusion block (44) is located at the left side of the connecting rod (27) and is equal to the connecting rod (27) in distance and the first inclined rod (38) in distance from the connecting rod (27).
8. An industrial robot comprising a handling structure for an industrial robot according to any one of claims 1 to 7, characterized in that: the lifting mechanism comprises supporting feet (45), and the supporting feet (45) are positioned at the bottom of the bottom plate (1); the four corners of the upper surface of the supporting leg (45) are respectively and rotatably connected with a first connecting rod (46), and the four corners of the bottom surface of the bottom plate (1) are respectively and rotatably connected with a second connecting rod (47);
the four first connecting rods (46) are respectively and rotatably connected with the four second connecting rods (47); an air cylinder (48) is arranged between the bottom plate (1) and the supporting legs (45), push rods (49) are symmetrically and fixedly connected to the left end and the right end of the air cylinder (48), and the push rods (49) on the left side and the right side are respectively connected with a first connecting rod (46) and a second connecting rod (47) on the left side and the right side in a rotating mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310161537.5A CN116079756B (en) | 2023-02-23 | 2023-02-23 | Industrial robot is with transport structure and industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310161537.5A CN116079756B (en) | 2023-02-23 | 2023-02-23 | Industrial robot is with transport structure and industrial robot |
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| CN116079756A true CN116079756A (en) | 2023-05-09 |
| CN116079756B CN116079756B (en) | 2024-06-25 |
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| CN215248091U (en) * | 2021-06-02 | 2021-12-21 | 浙江佶福智能科技有限公司 | Square sheet double-station feeding machine capable of operating without stopping machine |
| CN115201659A (en) * | 2022-06-18 | 2022-10-18 | 陈志远 | Integrated circuit packaging test device and test method |
| CN115416318A (en) * | 2022-08-29 | 2022-12-02 | 盐城家安乐自动化科技有限公司 | Full-automatic attaching equipment for condenser sponge and working method of full-automatic attaching equipment |
| CN115508191A (en) * | 2022-09-30 | 2022-12-23 | 江苏裕一智能装备有限公司 | Device and method for detecting tensile strength of vehicle hose |
| CN115541356A (en) * | 2022-09-19 | 2022-12-30 | 江苏裕一智能装备有限公司 | Hardness detection equipment and method for high-strength automobile screw |
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2023
- 2023-02-23 CN CN202310161537.5A patent/CN116079756B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215248091U (en) * | 2021-06-02 | 2021-12-21 | 浙江佶福智能科技有限公司 | Square sheet double-station feeding machine capable of operating without stopping machine |
| CN115201659A (en) * | 2022-06-18 | 2022-10-18 | 陈志远 | Integrated circuit packaging test device and test method |
| CN115416318A (en) * | 2022-08-29 | 2022-12-02 | 盐城家安乐自动化科技有限公司 | Full-automatic attaching equipment for condenser sponge and working method of full-automatic attaching equipment |
| CN115541356A (en) * | 2022-09-19 | 2022-12-30 | 江苏裕一智能装备有限公司 | Hardness detection equipment and method for high-strength automobile screw |
| CN115508191A (en) * | 2022-09-30 | 2022-12-23 | 江苏裕一智能装备有限公司 | Device and method for detecting tensile strength of vehicle hose |
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