WO2022077670A1

WO2022077670A1 - Industrial robot for workpiece flip

Info

Publication number: WO2022077670A1
Application number: PCT/CN2020/127956
Authority: WO
Inventors: 彭晓芳
Original assignee: 苏州鸿渺智能科技有限公司
Priority date: 2020-10-16
Filing date: 2020-11-11
Publication date: 2022-04-21
Also published as: CN112264972A; CN112264972B

Abstract

The present invention relates to the field of intelligent machining devices. Specifically disclosed is an industrial robot for workpiece flip, comprising a base. A position adjustment apparatus is provided on the side edge of the base, the position adjustment apparatus comprises a position adjustment bolt, the position adjustment bolt is provided with a first sliding seat, a flip apparatus is provided above the first sliding seat, the flip apparatus comprises a first support, a power apparatus is provided on the opposite side of the first support, a convenient fixing apparatus is provided under the base, and a support apparatus is provided behind the power apparatus. According to the present invention, the distance between the first support and a third support is adjusted by the position adjustment apparatus, so as to adapt to plates having different widths; the cooperation between the power apparatus and the flip apparatus enables the flip of plate workpieces; a support force is applied to the plates by the manually adjusted support apparatus, so that the plates are fixed more stably; and the apparatus is simple in structure and extremely high in flexibility.

Description

An industrial robot for workpiece turning

technical field

The invention relates to the field of intelligent processing equipment, in particular to an industrial robot for turning workpieces.

Background technique

An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans or run according to pre-arranged programs. Modern industrial robots can also act according to the principles and programs formulated by artificial intelligence technology.

technical problem

In the existing industrial assembly line, the flipping operation is a very common operation. The flipping operation is a repetitive, mechanical, and simple operation, and must be the first operation to be replaced by an industrial robot; therefore, some workpiece flipping has occurred. With industrial robots, the most common workpiece is a plate, but the traditional turning device facing the plate is often bulky and has poor flexibility due to the volume of the plate.

technical solutions

The purpose of the present invention is to provide an industrial robot for turning workpieces, so as to solve the problems raised in the above-mentioned background art.

To achieve the above object, the present invention provides the following technical solutions:

An industrial robot for turning a workpiece includes a base, a position adjustment device is arranged on the side of the base, the position adjustment device includes a side seat, a motor frame is arranged above the side seat, and a first motor frame is arranged above the motor frame. Motor, a first gear is detachably connected to the output shaft of the first motor, a second gear is arranged above the first gear, and a position adjustment bolt is arranged on the side of the second gear away from the first motor, so A first sliding seat is arranged on the adjusting bolt, a turning device is arranged above the first sliding seat, the turning device includes a first bearing, and a power device is arranged on the opposite side of the first bearing; the base A convenient fixing device is provided below, and a support device is provided behind the power unit.

As a further solution of the present invention: the side seat and the base are of an integrated structure, the motor frame and the side seat are fixedly connected, and the first motor and the motor frame are detachably connected; The first gear is meshed with the second gear; the adjusting bolt is provided with a shaft groove, and a limit pin is embedded at a position corresponding to the shaft groove above the side seat, and the limit pin is connected to the Removable connection between side seats.

As a further solution of the present invention: the first sliding seat and the adjusting bolt are threadedly connected, and the first support and the first sliding seat are fixedly connected; the upper end of the first sliding seat is And the lower end is provided with a position adjustment frame, and the position adjustment frame and the first support are detachably connected; the first support is slidably connected with a second sliding seat, and the left side of the second sliding seat is provided There is a first clamping plate, and the first clamping plate is provided with fixing bolts.

As a further solution of the present invention: a third gear is arranged on the right side of the second sliding seat, a first connecting shaft is arranged on the side of the first clamping plate close to the third gear, and the third gear is close to a side of the first clamping plate. The side is provided with a second connecting shaft, the first connecting shaft is embedded in the second connecting shaft; the first connecting shaft is provided with a first shoulder, and a transmission pin is arranged between the first shoulders, The second sliding seat is provided with a first limit groove, and the transmission pin is matched with the first limit groove; the first support is provided with a guide plate, and the guide plate is provided with a rack , the third gear meshes with the rack, and the length of the rack is equal to half of the circumference of the third gear; the transmission pin is matched with the positioning frame.

As a further solution of the present invention: the power device includes a third support, the third support is fixedly connected to the base, the third support is a detachable structure, and the third support is internally provided There is an optical axis and a second screw rod, the top end of the optical axis is pinned to the top end of the third support, and the bottom end of the optical axis and the third support are threadedly connected; the second screw rod The top end is provided with a second motor, and the bottom end of the second screw rod is rotatably connected with the third support; the second screw rod is provided with a third sliding seat, and the third sliding seat is connected to the The second screw rods are threadedly connected, the third sliding seat is provided with a third clamping plate, and the third clamping plate and the third sliding seat are rotatably connected.

As a further solution of the present invention: the convenient fixing device includes a universal wheel and a hydraulic telescopic rod, and both the universal wheel and the hydraulic telescopic rod are fixedly connected to the base.

As a further solution of the present invention: the support device includes a swivel base, the swivel base and the base are rotatably connected, a key shaft is arranged above the swivel base, and the key shaft and the swivel base are fixed The middle part of the key shaft is provided with a second shoulder, the first limit groove is provided with a folding handle, the folding handle includes a transmission disc, and a cross bar is arranged on one side of the transmission disc, and the transverse bar It is fixedly connected with the transmission disc, the horizontal rod is provided with a vertical rod, and the vertical rod and the horizontal rod are connected by a pin shaft in rotation.

As a further solution of the present invention: the base is provided with a second support, the second support is a detachable structure, and a first screw rod is arranged in the second support; the base corresponds to the first screw A second limit slot is opened at the position of the rod, and the first screw rod cooperates with the second limit slot; the first screw rod is provided with a second clamp, and the second clamp is connected to the second clamp. The first screw rod is connected with the screw; the second clamping plate is slidably connected with the second support, and a first transmission frame and a second transmission frame are arranged behind the second support, and the first A transmission frame and a second transmission frame are fixedly connected with the second support; the ends of the first transmission frame and the second transmission frame away from the second support are matched with the key shaft.

beneficial effect

Compared with the prior art, the beneficial effects of the present invention are: the present invention adjusts the distance between the first support and the third support through the position adjustment device, is suitable for plates of different widths, and realizes the plate through the power device and the turning device. When the workpiece is turned over, the supporting force is applied to the plate through the manually adjusted support device, so that the plate is fixed more stably; the device has a simple structure and high flexibility.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. some examples.

FIG. 1 is a schematic structural diagram of a power device and a turning device in an industrial robot for turning a workpiece.

FIG. 2 is a schematic structural diagram of a support device and a turning device in an industrial robot for turning workpieces.

FIG. 3 is a schematic top-view structural diagram of an industrial robot for turning workpieces.

FIG. 4 is a schematic structural diagram of a second sliding seat in an industrial robot for turning workpieces.

FIG. 5 is a schematic structural diagram of a first support in an industrial robot for turning workpieces.

In the picture: 1-base, 2-side seat, 3-motor frame, 4-first motor, 5-first gear, 6-second gear, 7-adjustment bolt, 8-shaft slot, 9-limit pin, 10-first sliding seat, 11-universal wheel, 12-hydraulic telescopic rod, 13-first support, 14-positioning frame, 15-rack, 16-guide plate, 17-second sliding seat, 18-Third gear, 19-First limit groove, 20-Transmission pin, 21-First shoulder, 22-First splint, 23-Set bolt, 24-Second support, 25-First wire Rod, 26-Second splint, 27-Rotary seat, 28-Key shaft, 29-Second shaft shoulder, 30-First transmission frame, 31-Second transmission frame, 32-Transmission disc, 33-Vertical rod, 34 -Second limit slot, 35-cross bar, 36-pin shaft, 37-third support, 38-optical shaft, 39-second screw rod, 40-second motor, 41-third slide seat, 42 -Third splint.

Embodiments of the present invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Example 1

Referring to FIGS. 1-5 , in an embodiment of the present invention, an industrial robot for turning a workpiece includes a base 1 , a position adjusting device is provided on the side of the base 1 , and the position adjusting device includes a side seat 2 , and the side The seat 2 and the base 1 have an integral structure, a motor frame 3 is arranged above the side seat 2, and the motor frame 3 and the side seat 2 are fixedly connected; Motor 4, the first motor 4 and the motor frame 3 are detachably connected; a first gear 5 is detachably connected to the output shaft of the first motor 4, and a first gear 5 is arranged above the first gear 5. Two gears 6, the first gear 5 meshes with the second gear 6; the second gear 6 is provided with an adjusting bolt 7 on the side away from the first motor 4, and the adjusting bolt 7 opens upward. There is a shaft groove 8, a limit pin 9 is embedded in the position corresponding to the shaft groove 8 above the side seat 2, and the limit pin 9 is detachably connected with the side seat 2;

Further, the adjusting bolt 7 is provided with a first sliding seat 10, the first sliding seat 10 and the adjusting bolt 7 are threadedly connected, and a turning device is provided above the first sliding seat 10, The turning device includes a first support 13, which is fixedly connected with the first sliding seat 10; the upper and lower ends of the first sliding seat 10 are provided with positioning frames 14, so The positioning frame 14 is detachably connected to the first support 13 ; the first support 13 is slidably connected with a second sliding seat 17 , and a first splint is provided on the left of the second sliding seat 17 22. The first clamping plate 22 is provided with a set bolt 23; the right side of the second sliding seat 17 is provided with a third gear 18, and the side of the first clamping plate 22 close to the third gear 18 is provided with a first A connecting shaft, the side of the third gear 18 close to the first clamping plate 22 is provided with a second connecting shaft, the first connecting shaft is embedded in the second connecting shaft; the first connecting shaft is provided with a first connecting shaft A shaft shoulder 21, a transmission pin 20 is arranged between the first shaft shoulder 21, a first limit groove 19 is opened on the second sliding seat 17, and the transmission pin 20 is connected to the first limit groove 19. The first support 13 is provided with a guide plate 16, the guide plate 16 is provided with a rack 15, the third gear 18 is meshed with the rack 15, the rack 15 is The length is equal to half of the circumference of the third gear 18; the transmission pin 20 cooperates with the positioning frame 14;

Specifically, a power device is provided on the opposite side of the first support 13 , and the power device includes a third support 37 , the third support 37 is fixedly connected to the base 1 , and the third support 37 is a detachable structure, the third support 37 is provided with an optical axis 38 and a second screw rod 39, the top of the optical axis 38 is pinned to the top of the third support 37, and the optical axis 38 The bottom end and the third support 37 are threadedly connected; the top end of the second screw rod 39 is provided with a second motor 40 , and the bottom end of the second screw rod 39 rotates with the third support 37 connection; the second screw rod 39 is provided with a third sliding seat 41, the third sliding seat 41 and the second screw rod 39 are threadedly connected, and the third sliding seat 41 is provided with a third sliding seat 41 The clamping plate 42, the third clamping plate 42 and the third sliding seat 41 are rotatably connected.

The working principle of the embodiment of the present invention is as follows: the plate is clamped in the third clamp plate 42 and the first clamp plate 22, and the distance between the first support 13 and the third support 37 is adjusted by the position adjusting device, which is suitable for different widths Plate, the second motor 40 drives the second screw 39 to rotate, the second screw 39 drives the plate to move up and down, the plate drives the second slide 17 to move up and down through the first clamp plate 22, when the third gear 18 passes the rack 15 When the third gear 18 drives the first clamping plate 22 to rotate, the first clamping plate 22 cooperates with the third clamping plate 42 to drive the plate to rotate and turn over. Since the length of the rack 15 is equal to half of the circumference of the third gear 18, the When the third gear 18 passes through the rack 15, the plate is turned over 180 degrees, and when the plate moves to the positioning frame 14 above, the positioning frame 14 above cooperates with the transmission pin 20 to push the third gear 18, so that the third The gear 18 deviates from the track where the rack 15 is located. When the plate moves to the position adjustment frame 14 below, the position adjustment frame 14 below cooperates with the transmission pin 20 to reset the third gear 18. When the plate rises again, repeat the previous steps. movement, so as to realize the turning of the plate.

Example 2

2-3, in an embodiment of the present invention, in an industrial robot for turning a workpiece, a convenient fixing device is arranged under the base 1, and the convenient fixing device includes a universal wheel 11 and a hydraulic telescopic rod 12. The The universal wheel 11 and the hydraulic telescopic rod 12 are fixedly connected with the base 1;

Further, a support device is provided behind the power device, and the support device includes a swivel base 27, which is rotatably connected to the base 1, and a key shaft 28 is arranged above the swivel base 27, so The key shaft 28 and the swivel base 27 are fixedly connected, the middle of the key shaft 28 is provided with a second shoulder 29, the first limiting groove 19 is provided with a folding handle, and the folding handle includes a transmission disc 32. A cross bar 35 is provided on one side of the transmission plate 32, and the cross bar 35 is fixedly connected with the transmission plate 32. A vertical bar 33 is arranged on the horizontal bar 35, and the vertical bar 33 is connected to the drive plate 32. The cross bars 35 are connected in rotation through the pin shaft 36;

Specifically, the base 1 is provided with a second support 24, the second support 24 is a detachable structure, and the second support 24 is provided with a first screw rod 25; the base 1 corresponds to the first screw rod 25. A second limit slot 34 is opened at the position of the first screw rod 25, and the first screw rod 25 cooperates with the second limit slot 34; the first screw rod 25 is provided with a second clamping plate 26 , the second splint 26 is connected with the first screw rod 25 by a screw; the second splint 26 and the second support 24 are slidably connected, and the second support 24 is provided with a rear The first transmission frame 30 and the second transmission frame 31, the first transmission frame 30 and the second transmission frame 31 are fixedly connected with the second support 24; the first transmission frame 30 and the One end of the two transmission frames 31 away from the second support 24 is matched with the key shaft 28 .

The working principle of the embodiment of the present invention is as follows: the vertical rod 33 drives the transmission disc 32 to rotate, the transmission disc 32 drives the key shaft 28 to rotate, and the key shaft 28 drives the second transmission frame 31 and the first transmission frame 30 to drive the second transmission frame 30 . The support 24 rotates, and the first screw 25 cooperates with the second support 24 to adjust the position of the second clamping plate 26 so that the height of the second clamping plate 26 is the same as that of the plate. When the second clamping plate 26 is rotated to the plate, a supporting force can be applied to the plate. , making the plate more stable.

The electrical components appearing in this article are all connected with the external main controller and 220V mains, and the main controller can be a conventional known device controlled by a computer or the like.

In the description of the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral Connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims

An industrial robot for turning a workpiece is characterized in that it comprises a base (1), a position adjustment device is provided on the side of the base (1), and the position adjustment device comprises a side seat (2), the side seat (2) A motor frame (3) is arranged above the motor frame (3), a first motor (4) is arranged above the motor frame (3), and a first gear (5) is detachably connected to the output shaft of the first motor (4). A second gear (6) is arranged above the first gear (5), and an adjusting bolt (7) is arranged on the side of the second gear (6) away from the first motor (4). (7) A first sliding seat (10) is provided on it, and a turning device is arranged above the first sliding seat (10), and the turning device includes a first support (13), the first support (13) ) is provided with a power device on the opposite side; a convenient fixing device is provided under the base (1), and a support device is provided behind the power device.
The industrial robot for workpiece turning over according to claim 1, characterized in that the side seat (2) and the base (1) are of an integral structure, and the motor frame (3) and the side seat (2) are integrally formed. ) is fixedly connected, the first motor (4) and the motor frame (3) are detachably connected; the first gear (5) is meshed with the second gear (6); the A shaft groove (8) is formed on the adjusting bolt (7), and a limit pin (9) is embedded in the position corresponding to the shaft groove (8) above the side seat (2). The side seats (2) are detachably connected.
The industrial robot for workpiece turning over according to claim 2, characterized in that, the first sliding seat (10) and the adjusting bolt (7) are threadedly connected, and the first support (13) is connected to The first sliding seat (10) is fixedly connected; the upper end and the lower end of the first sliding seat (10) are provided with a positioning frame (14), the positioning frame (14) and the first support The seats (13) are detachably connected; the first support (13) is slidably connected with a second sliding seat (17), and the second sliding seat (17) is provided with a first splint (22) on the left , the first clamping plate (22) is provided with a fixing bolt (23).
The industrial robot for workpiece turning over according to claim 3, characterized in that a third gear (18) is provided on the right side of the second sliding seat (17), and the first clamping plate (22) is close to the third gear (18). 18) is provided with a first connecting shaft on one side, the third gear (18) is provided with a second connecting shaft on the side close to the first clamping plate (22), and the first connecting shaft is embedded in the second connecting shaft middle; the first connecting shaft is provided with a first shoulder (21), a transmission pin (20) is arranged between the first shoulder (21), and the second sliding seat (17) is provided with a a first limiting groove (19), the transmission pin (20) is matched with the first limiting groove (19); the first support (13) is provided with a guide plate (16), the A rack (15) is provided on the guide plate (16), the third gear (18) is engaged with the rack (15), and the length of the rack (15) is equal to the length of the third gear (18) ) half of the perimeter; the transmission pin (20) cooperates with the positioning frame (14).
The industrial robot for workpiece turning over according to claim 3 or 4, characterized in that the power device comprises a third support (37), and the third support (37) is fixedly connected to the base (1) Above, the third support (37) is a detachable structure, and the third support (37) is provided with an optical axis (38) and a second screw (39). The top end is pinned to the top end of the third support (37), the bottom end of the optical axis (38) and the third support (37) are threadedly connected; the top end of the second screw rod (39) is provided with There is a second motor (40), and the bottom end of the second screw rod (39) is rotatably connected with the third support (37); the second screw rod (39) is provided with a third sliding seat (41), the third sliding seat (41) and the second screw rod (39) are threadedly connected, the third sliding seat (41) is provided with a third clamping plate (42), the first The three clamping plates (42) are rotatably connected with the third sliding seat (41).
The industrial robot for turning workpieces according to any one of claims 1-4, characterized in that, the convenient fixing device comprises a universal wheel (11) and a hydraulic telescopic rod (12), and the universal wheel (11) is connected with the universal wheel (11). The hydraulic telescopic rods (12) are fixedly connected with the base (1).
The industrial robot for overturning a workpiece according to claim 4, characterized in that the support device comprises a swivel base (27), the swivel base (27) and the base (1) are rotatably connected, and the swivel base (27) is rotatably connected. A key shaft (28) is arranged above the seat (27), the key shaft (28) is fixedly connected with the swivel base (27), and a second shoulder (29) is arranged in the middle of the key shaft (28). , the first limit groove (19) is provided with a folding handle, the folding handle includes a transmission disc (32), and a cross bar (35) is provided on one side of the transmission disc (32), and the cross bar ( 35) is fixedly connected with the transmission disc (32), a vertical rod (33) is provided on the horizontal rod (35), and a pin is passed between the vertical rod (33) and the horizontal rod (35). The shaft (36) is connected in rotation.
The industrial robot for overturning a workpiece according to claim 7, characterized in that a second support (24) is provided on the base (1), the second support (24) is a detachable structure, and the A first screw rod (25) is arranged in the second support (24); a second limit groove (34) is opened at the position of the base (1) corresponding to the first screw rod (25). The lead screw (25) cooperates with the second limit groove (34); the first lead screw (25) is provided with a second clamp plate (26), and the second clamp plate (26) is connected to the second clamp plate (26). The first lead screw (25) is connected with the lead screw; the second clamp plate (26) is slidably connected with the second support (24), and the second support (24) is provided with a first A transmission frame (30) and a second transmission frame (31), the first transmission frame (30) and the second transmission frame (31) are fixedly connected with the second support (24); A transmission frame (30) and one end of the second transmission frame (31) away from the second support (24) are matched with the key shaft (28).