CN217572960U

CN217572960U - Automatic glue pouring device of industrial robot

Info

Publication number: CN217572960U
Application number: CN202221836390.2U
Authority: CN
Inventors: 杨飞; 黄国珍; 黄小爱
Original assignee: Shanghai Cheng Thick Automation Equipment Co ltd
Current assignee: Shanghai Cheng Thick Automation Equipment Co ltd
Priority date: 2022-07-18
Filing date: 2022-07-18
Publication date: 2022-10-14
Anticipated expiration: 2032-07-18

Abstract

The utility model discloses an automatic mucilage binding that falls of industrial robot is put, including the rubber cracking machine, robot main part and corrosion resistant plate positioning mechanism, one side of rubber cracking machine is fixed with the removal slip table, telescopic cylinder articulates in the bottom of grabbing the material subassembly, telescopic cylinder's top articulates there is the turning block, and one side of turning block is fixed with the bull stick, the top of grabbing the material subassembly is fixed with fixed knot and constructs, the both sides of grabbing the material subassembly all are provided with the tong, the bottom of grabbing the material subassembly is provided with wooden tray, the top of corrosion resistant plate positioning mechanism is provided with empty plank and deposits the position, one side of corrosion resistant plate positioning mechanism is fixed with automatic pile pushing hands mechanism that divides. The utility model discloses a be provided with and grab material mechanism and can drive tong output power, the tong can need power to drive when using, and telescopic cylinder promotes the turning block and rotates this moment, and the turning block rotates and to drive the bull stick and rotate, and the bull stick rotates and to drive the tong and overturn, can be to pressing from both sides portable power supply, has realized tong output power.

Description

Automatic glue pouring device of industrial robot

Technical Field

The utility model relates to an industrial robot technical field, in particular to automatic adhesive pouring device of industrial robot.

Background

After the semi-finished product is transported to the next process section by a forklift in the chewing gum production process, a forklift is needed to manually pick and place the stainless steel plate fork with the material on a 1.7M platform, and then staff pour 5 pieces of material on the wooden tray into the next process equipment

However, the prior art has the following disadvantages:

1. the labor intensity of workers is high;

2. the danger and the collapse performance of the manual fork taking and placing platform with the length of 1.7 meters are high;

3. the working efficiency is low;

4. the labor consumption is large.

Disclosure of Invention

Technical problem to be solved

The utility model aims at providing an automatic mucilage binding that falls of industrial robot is put for solve the automatic mucilage binding of industrial robot that current artifical intensity of labour is high, artifical fork get put on 1.7 meters platform dangerous high and the nature of collapsing high, work efficiency is low, the defect that artifical quantity is big.

(II) contents of the utility model

In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides an automatic mucilage binding that falls of industrial robot, includes split rubber machine, robot main part and corrosion resistant plate positioning mechanism, one side of split rubber machine is fixed with removes the slip table, and removes one side of slip table and be fixed with corrosion resistant plate positioning mechanism, the one end of removing the slip table is provided with the robot main part, the material subassembly is grabbed to the bottom of robot main part is installed, grab the bottom of material subassembly and install and grab material mechanism, grab material mechanism and include turning block, telescopic cylinder and bull stick, telescopic cylinder articulates in the bottom of grabbing the material subassembly, telescopic cylinder's top articulates there is the turning block, and one side of turning block is fixed with the bull stick, the top of grabbing the material subassembly is fixed with fixed knot and constructs, the both sides of grabbing the material subassembly all are provided with the tong, the bottom of grabbing the material subassembly is provided with wooden tray, the top of corrosion resistant plate positioning mechanism is provided with empty plank and deposits the position, one side of corrosion resistant plate positioning mechanism is fixed with automatic pile-up pushing hands mechanism that divides.

Preferably, the number of the rotating blocks is two, and the rotating blocks are symmetrically distributed about a vertical center line of the material grabbing component.

Preferably, the number of the rotating rods is two, and the rotating rods are symmetrically distributed about the vertical center line of the material grabbing component.

Preferably, the fixed knot constructs including fixed disk, fixed orifices and draw-in groove, the fixed disk is fixed in the top of grabbing the material subassembly, the inside of fixed disk is provided with the fixed orifices, the top of fixed orifices is provided with the draw-in groove, and the fixed disk can be fixed with between the robot main part.

Preferably, the fixing holes are provided with a plurality of fixing holes which are distributed in the fixing disc at equal intervals.

Preferably, the tong includes fixed arm, fixed block and spacing groove, the fixed block sets up in the both sides of grabbing the material subassembly, the bottom mounting of fixed block has the fixed arm, and the bottom mounting of fixed arm has the spacing groove, and the spacing groove can be strengthened the spacing effect of fixed arm.

Preferably, the number of the limiting grooves is two, and the limiting grooves are symmetrically distributed around the vertical center line of the rubber splitting machine.

(III) advantageous effects

The utility model provides a pair of automatic mucilage binding of industrial robot is put, its advantage lies in: the clamping hand can output power through the material grabbing mechanism, the clamping hand can be driven by power when in use, the telescopic cylinder pushes the rotating block to rotate at the moment, the rotating block rotates to drive the rotating rod to rotate, the rotating rod rotates to drive the clamping hand to turn over, power can be supplied to the clamping hand, and the power output of the clamping hand is realized;

the grabbing component and the robot main body can be fixed through the fixing structure, the grabbing component and the robot main body need to be fixed when the robot is used, the clamping groove is clamped at the mounting port of the robot main body, a bolt needed to be used penetrates through the fixing hole and is screwed into the robot main body, the fixing disc and the robot main body can be fixed, and the grabbing component and the robot main body are fixed;

can carry out the centre gripping to wooden block dish through being provided with the tong, the tong can carry out the centre gripping with wooden block dish when using, and the fixed block is fixed the fixed arm on the bull stick, and the fixed arm overturns along with the rotation of bull stick after that, and the fixed arm upset is lived wooden block dish clamp, and the spacing groove can be strengthened the spacing effect of fixed arm, has realized carrying out the centre gripping to wooden block dish.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic top view of the present invention;

fig. 2 is a schematic diagram of a three-dimensional rear view structure of the material grabbing component of the present invention;

fig. 3 is a schematic diagram of a three-dimensional front view structure of the material grabbing component of the present invention;

fig. 4 is a schematic side view of the material grabbing component of the present invention;

fig. 5 is a front view structural schematic diagram of the material grabbing component of the present invention;

fig. 6 is a schematic top sectional view of the material grabbing assembly of the present invention;

fig. 7 is a schematic view of the top view structure of the material grabbing assembly of the present invention.

The reference numerals in the figures illustrate:

1. a glue splitting machine; 2. moving the sliding table; 3. a robot main body; 4. a material grabbing component; 5. an automatic stacking pusher mechanism; 6. storing empty wood boards; 7. a stainless steel plate positioning mechanism; 8. a material grabbing mechanism; 801. rotating the block; 802. a telescopic cylinder; 803. a rotating rod; 9. a fixed structure; 901. fixing the disc; 902. a fixing hole; 903. a card slot; 10. clamping a hand; 1001. a fixed arm; 1002. a fixed block; 1003. a limiting groove; 11. wooden pallets.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-7, the present invention provides an embodiment: the utility model provides an automatic mucilage binding that falls of industrial robot, including the bale splitter 1, robot main part 3 and corrosion resistant plate positioning mechanism 7, one side of bale splitter 1 is fixed with removes slip table 2, and one side of removing slip table 2 is fixed with corrosion resistant plate positioning mechanism 7, the one end of removing slip table 2 is provided with robot main part 3, material subassembly 4 is grabbed in the bottom of robot main part 3 is installed, material subassembly 8 is grabbed in the bottom of grabbing material subassembly 4 is installed, the top of grabbing material subassembly 4 is fixed with fixed knot and constructs 9, the both sides of grabbing material subassembly 4 all are provided with tong 10, the bottom of grabbing material subassembly 4 is provided with wooden tray 11, the top of corrosion resistant plate positioning mechanism 7 is provided with empty plank and deposits position 6, one side of corrosion resistant plate positioning mechanism 7 is fixed with automatic pile-up pushing hands mechanism 5.

1. The stainless steel plate is manually and directly placed into a stainless steel positioning warehouse (an above-ground positioning warehouse) by a forklift, and the length, the width and the height of the warehouse are matched with the size of the stainless steel plate for positioning (the warehouse is formed by combining 3 surfaces, and one surface close to the outer side is an inlet and an outlet of the stainless steel plate of the forklift).

2. After the stainless steel plate is placed in the warehouse, the sensor detects the stainless steel plate, the automatic stacking mechanism pushes 4 stacks of wooden trays on the stainless steel plate forwards to the wide position of one wooden tray (the stainless steel plate is fixed), and the sensor detects that the pushing handle is retracted automatically after being in place, wherein the automatic stacking pushing handle is formed by combining a speed reduction motor, a gear and a rack. The pushing handle extends out or retracts back by controlling the speed reducing motor to rotate forwards and reversely by the signal of the sensor to drive the gear to drive the rack.

3. After the wooden pallet 11 is pushed to the position, the front two piles (1 #2 #) of wooden pallets 11 are already on the movable sliding table 2, after the pushing hands are retracted, the sensor detects that the signals are sent to the PLC, and the PLC sends out signals to control the sliding table motor to move back and forth, so that the front two piles of 1#2# and the rear two piles of 3#4# are separated by a distance, and the grabbing hands can grab the wooden pallets 11 conveniently. The sliding table is formed by combining a gear motor, a gear, a rack and a stainless steel table surface, and has the advantages of high precision, accurate positioning and stable performance when a gear rack mechanism is used.

4. After the wood pallet 11 is pulled open, a 3D camera is installed at the top of the device to accurately detect the plane position of each wood pallet 11 and the height of each wood pallet 11, after detection is finished, a clamping jaw is installed on a robot to clamp the wood pallet 11 according to the accurate position provided by the 3D camera, the clamping jaw adopts a cylinder connecting rod device, the clamping jaw is opened firstly, a cylinder drives a connecting rod to tighten after the clamping jaw is in place, the wood pallet 11 is clamped tightly, a signal is sent to the robot by a sensor after the clamping jaw is clamped, the robot starts to ascend according to a path edited by a program to a certain position, a pallet mechanism on the gripper is started to hold the wood pallet 11, the pallet mechanism adopts the cylinder to drive the connecting rod to hold the bottom of the wood pallet 11, the wood pallet 11 is mainly prevented from falling off in the operation process of the robot, a signal is sent to a PLC after the completion of pallet holding, an instruction is sent to the robot by the PLC, and the robot starts to pour materials in an inclined angle of 45 degrees according to the programmed program. And after the materials are poured, the empty wood pallet 11 is placed on a stainless steel plate, after the empty wood pallet is in place, the wood pallet 11 is opened, and after the empty wood pallet is placed in place, the clamping jaw is opened. The next wooden pallet 11 is poured and placed.

5. The order of grabbing and emptying the wooden trays:

5-1 the entire stainless steel plate was manually placed in the warehouse location.

5-2 pushing hands move the 1, 2, 3 and 4# stacks forward one station at the same time.

5-3 after the target is in place, the conveyer conveys forwards, 1 and 2# are conveyed forwards, the manipulator starts to grab and pour the 3# by pulling the distance (ensuring that the distance is reserved between 1 and 2 and 3 and 4#, and reserving space for the manipulator to grab)

5-4, after the whole stack of the No. 3 boards is finished, placing the empty wood boards at the original No. 4 position (a little outside), then starting to grab and pour the No. 4 boards, and placing the empty wood boards at the original No. 3 position after pouring.

5-5, grabbing and dumping materials on the conveyor in the No. 1 mode, and placing the empty wood boards in the original No. 2 position. After finishing the 1# stacking, the 2# grabbing is carried out, and the empty wood board is placed at the original 1# position.

And 5-6, the push hand simultaneously draws the No. 3 and the No. 4 to the No. 1 and the No. 2.

5-7, manually taking out the empty pallet by using a forklift.

The first embodiment is as follows:

as shown in fig. 2, 4, 5, 6 and 7, when the structure is used, firstly, the material grabbing mechanism 8 includes two rotating blocks 801, two telescopic cylinders 802 and two rotating rods 803, the telescopic cylinders 802 are hinged to the bottom end of the material grabbing component 4, the top ends of the telescopic cylinders 802 are hinged to the rotating blocks 801, one side of each rotating block 801 is fixed with the rotating rod 803, the two rotating blocks 801 are symmetrically distributed about the vertical center line of the material grabbing component 4, the two rotating rods 803 are arranged, the rotating rods 803 are symmetrically distributed about the vertical center line of the material grabbing component 4, when the structure is used, the gripper 10 needs power to be driven, at the moment, the telescopic cylinders 802 push the rotating blocks 801 to rotate, the rotating blocks 801 rotate to drive the rotating rods 803 to rotate, the rotating rods 803 rotate to drive the gripper 10 to turn over, and power can be provided for the gripper 10.

The second embodiment:

as shown in fig. 3, 4, 5 and 7, when the structure is used, firstly, the fixing structure 9 includes a fixing disc 901, fixing holes 902 and clamping grooves 903, the fixing disc 901 is fixed on the top end of the material grabbing component 4, the fixing holes 902 are arranged in the fixing disc 901, the clamping grooves 903 are arranged on the top ends of the fixing holes 902, the fixing holes 902 are provided with a plurality of fixing holes 902, the fixing holes 902 are distributed in the fixing disc 901 at equal intervals, the clamping grooves 903 are clamped in the mounting port of the robot main body 3, then bolts to be used are passed through the fixing holes 902 and screwed into the robot main body 3, and the fixing disc 901 can be fixed with the robot main body 3.

Example three:

as shown in fig. 4, 5, 6 and 7, when the structure is used, firstly, the clamping hand 10 includes a fixing arm 1001, fixing blocks 1002 and limiting grooves 1003, the fixing blocks 1002 are disposed on two sides of the material grabbing component 4, the fixing arm 1001 is fixed at the bottom end of the fixing block 1002, the limiting grooves 1003 are fixed at the bottom end of the fixing arm 1001, the limiting grooves 1003 are disposed in two numbers, the limiting grooves 1003 are symmetrically distributed about the vertical center line of the rubber splitting machine 1, the fixing blocks 1002 fix the fixing arm 1001 on the rotating rod 803, then the fixing arm overturns along with the rotation of the rotating rod 803, the fixing arm 1001 overturns to clamp the wooden tray 11, and the limiting grooves 1003 can reinforce the limiting effect of the fixing arm 1001.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides an automatic device of falling mucilage binding of industrial robot, includes split gum machine (1), robot main part (3) and corrosion resistant plate positioning mechanism (7), its characterized in that: a movable sliding table (2) is fixed on one side of the rubber splitting machine (1), a stainless steel plate positioning mechanism (7) is fixed on one side of the movable sliding table (2), and a robot main body (3) is arranged at one end of the movable sliding table (2);

the material grabbing mechanism is characterized in that a grabbing component (4) is mounted at the bottom end of the robot main body (3), a grabbing mechanism (8) is mounted at the bottom end of the grabbing component (4), the grabbing mechanism (8) comprises a rotating block (801), a telescopic cylinder (802) and a rotating rod (803), the telescopic cylinder (802) is hinged to the bottom end of the grabbing component (4), the top end of the telescopic cylinder (802) is hinged to the rotating block (801), the rotating rod (803) is fixed to one side of the rotating block (801), a fixing structure (9) is fixed to the top end of the grabbing component (4), clamping hands (10) are arranged on two sides of the grabbing component (4), and a wood tray (11) is arranged at the bottom end of the grabbing component (4);

the top end of the stainless steel plate positioning mechanism (7) is provided with a hollow wood plate storage position (6), and one side of the stainless steel plate positioning mechanism (7) is fixed with an automatic stacking pushing hand mechanism (5).

2. The automatic glue pouring device of the industrial robot as claimed in claim 1, wherein: the number of the rotating blocks (801) is two, and the rotating blocks (801) are symmetrically distributed around the vertical center line of the material grabbing component (4).

3. The automatic glue pouring device of the industrial robot according to claim 1, characterized in that: the number of the rotating rods (803) is two, and the rotating rods (803) are symmetrically distributed around the vertical center line of the material grabbing component (4).

4. The automatic glue pouring device of the industrial robot as claimed in claim 1, wherein: the fixing structure (9) comprises a fixing disc (901), a fixing hole (902) and a clamping groove (903), the fixing disc (901) is fixed to the top end of the grabbing component (4), the fixing hole (902) is formed in the fixing disc (901), and the clamping groove (903) is formed in the top end of the fixing hole (902).

5. The automatic glue pouring device of the industrial robot according to claim 4, characterized in that: the fixing holes (902) are provided with a plurality of fixing holes, and the fixing holes (902) are distributed in the fixing disc (901) at equal intervals.

6. The automatic glue pouring device of the industrial robot according to claim 1, characterized in that: the clamping hand (10) comprises a fixing arm (1001), a fixing block (1002) and a limiting groove (1003), the fixing block (1002) is arranged on two sides of the grabbing component (4), the bottom end of the fixing block (1002) is fixed with the fixing arm (1001), and the bottom end of the fixing arm (1001) is fixed with the limiting groove (1003).

7. The automatic glue pouring device of the industrial robot according to claim 6, characterized in that: the number of the limiting grooves (1003) is two, and the limiting grooves (1003) are symmetrically distributed around the vertical center line of the rubber splitting machine (1).