Feeding and discharging manipulator for production line

Abstract

The invention discloses a feeding and discharging manipulator for a production line, which relates to the technical field of manipulators and comprises a manipulator body, a clamping mechanism mounted at the end of the manipulator body and a first workpiece arranged in an inner cavity of the clamping mechanism. The positioning clamping plate is installed at the end of the manipulator body and used for being connected with the clamping mechanism, the double-layer pipeline is arranged on the lower surface of the positioning clamping plate and can drive the clamping mechanism and the first workpiece to rotate left and right, and a second workpiece and an object placing table for placing the second workpiece are arranged under the first workpiece. A plurality of hidden limiting mechanisms capable of automatically centering and positioning a second workpiece are arranged on the inner wall of the storage table, the first workpiece is guided through a guide groove to achieve staged recovery and rotate leftwards and rightwards for fine adjustment at the same time, dislocation correction is achieved, and before the first workpiece and the second workpiece are installed and connected in a butt joint mode, the second workpiece can rotate leftwards and rightwards. A plurality of hidden limiting mechanisms can be driven to pop up, so that the centering positioning function of the second workpiece is realized, and the efficiency of the whole production line is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a material handling robotic arm for production lines. Background Technology

[0002] An automated production line is a production system that automatically completes all or part of the manufacturing process of a product. It integrates technologies such as the Internet of Things, big data analysis, automation control, and artificial intelligence (AI). It is generally composed of modules such as loading and unloading robots, transmission mechanisms, and detection mechanisms. It can run pre-programmed programs or act according to the principles and guidelines established by artificial intelligence technology. The robots replace human workers in performing important and high-precision operations.

[0003] Production line loading and unloading robots are specialized automated devices used in automated production lines to automatically load (automatically place the original workpiece onto the processing platform to complete processing or assembly work) and unload (remove the processed or assembled workpiece). They can replace manual operation: in high-load, repetitive or dangerous processes (such as high temperature, high pressure, dusty environments), they avoid human contact, improve safety, ensure consistency, achieve precise positioning, and avoid workpiece damage or clamping errors caused by manual operation.

[0004] In actual operation, grippers are installed at the end of the robot arm to contact the workpiece and perform gripping and releasing actions. The workpiece is fixed by clamping force or suction force to ensure stability during the handling process.

[0005] Cycloidal pinwheel reducers achieve speed reduction through the meshing of cycloidal pin teeth. On the production line for cycloidal pinwheel reducers, the machined base and gear disc must be precisely aligned. Existing bases are usually equipped with multiple shafts to correspond one-to-one with the bushings. Therefore, the precise alignment of the base and gear disc is crucial during installation. Even a slight deviation can lead to an inaccurate fit.

[0006] Currently, existing loading and unloading robots can accurately grip the machine base during loading operations and dock with the gear disk. However, during the downward assembly process, the grippers dock vertically according to a pre-set path. In multi-station continuous processing production, if the machine base being transported on the production line has a slight angular deviation, the machine base and gear disk will not dock accurately, causing jamming and affecting overall production efficiency. Therefore, there is an urgent need for innovative design based on the existing loading and unloading robots used in production lines. Summary of the Invention

[0007] The present invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different solution. Specifically, the present invention aims to provide a loading and unloading robot for production lines, thereby solving the problem mentioned in the background that the grippers of existing loading and unloading robots move along a pre-set path during the loading process, which makes it impossible to achieve precise docking between workpieces if there is any deviation.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a loading and unloading robot for a production line, comprising a robot body, a clamping mechanism installed at the end of the robot body, and a first workpiece disposed in the inner cavity of the clamping mechanism, and further comprising a positioning clamp plate installed at the end of the robot body for connecting the clamping mechanism, and a double-layer pipe disposed on the lower surface of the positioning clamp plate that can drive the clamping mechanism and the first workpiece to rotate left and right. A second workpiece and a platform for placing the second workpiece are provided directly below the first workpiece. The inner wall of the platform is provided with several hidden limiting mechanisms that can automatically center and position the second workpiece.

[0009] Preferably, the positioning clamp includes an upper clamp that is threadedly connected to the robot body and a lower clamp that is parallel to and directly below the upper clamp. The surface of the lower clamp has a plurality of equally spaced grooves, and a limit rod is slidably connected in each groove.

[0010] Preferably, each of the limiting rods is fitted with a helical spring. The positioning clamp is driven to move downward by the robot body so that the limiting rod slides upward along the slide groove, accompanied by the compression of the helical spring.

[0011] Preferably, the double-layer pipe includes an outer pipe welded to the lower clamping plate and an inner pipe fixedly connected to the clamping mechanism. The central axis of the inner pipe coincides with that of the outer pipe. The side curved surface of the outer pipe is provided with a number of guide grooves distributed at equal angles, and a protrusion is slidably connected in each guide groove.

[0012] Preferably, the protrusion is welded to the outer surface of the inner pipe, the lower half of the guide groove is straight, and the upper half of the guide groove is a continuously bent Z-shape. The inner pipe is driven to rotate and displace along the outer pipe by sliding the protrusion along the guide groove.

[0013] Preferably, the clamping mechanism includes a mounting frame fixedly connected to the bottom end of the limiting rod. The side of the mounting frame is rotatably connected to a plurality of clamping claws distributed at equal angles. Each clamping claw is rotatably connected to one end of a connecting rod via a shaft near its upper center. The other end of the connecting rod is rotatably connected to a slider.

[0014] Preferably, a lead screw is rotatably connected to the lower surface of the mounting bracket, and the output shaft of a servo motor is mounted on the top end of the lead screw. The slider and the lead screw are connected by a thread.

[0015] Preferably, the limiting mechanism includes two mutually perpendicular telescopic rods, and a flexible hose is connected between the two telescopic rods; The telescopic rod includes a sleeve and a piston rod slidably connected inside the sleeve. One end of the piston rod extends outside the sleeve, and a return spring is fixedly connected to the other end of the piston rod.

[0016] Preferably, several limiting mechanisms are distributed around the second workpiece, and the interior of each telescopic rod is filled with hydraulic oil. The hydraulic oil in two mutually perpendicular telescopic rods flows between them through hoses.

[0017] Preferably, the robotic arm body includes a base, a drive shaft mounted on top of the base, and a connector rotatably connected to the drive shaft.

[0018] Compared with the prior art, the beneficial effects of the present invention are: By installing a gripping component at the end of the robot body that can hold the first workpiece, the robot can automatically grasp and fix the first workpiece and pick it up quickly. A positioning clamp is added between the robot body and the gripping mechanism for connection. At the same time, a double-layer pipe is added to the positioning clamp and the gripping mechanism. The double-layer pipe is in a stretched state in its natural state. Once the first workpiece is misaligned, the gripping mechanism and the first workpiece will start to move upward, driving the helical spring to compress. The compression of the helical spring is automatically adjusted according to the workpiece height deviation to avoid hard collision between the first and second workpieces.

[0019] Meanwhile, a guide groove is added to the outer pipe. The lower half of the guide groove is straight, and the upper half is a continuously bent Z-shape. Guided by the guide groove, the clamping structure moves in stages, allowing the inner pipe to rotate left and right with the central axis of the outer pipe as the center. This enables fine-tuning and timely adjustment of the first workpiece's posture. While moving backward, the angle is corrected to correct misalignment. The elastic energy of the helical spring drives the first workpiece to automatically press down and align with the second workpiece. At the same time, it can assist the double-layer pipe in stretching to the desired state, resetting, and starting the next round of loading and unloading operations.

[0020] Furthermore, through the phased guidance of the guide groove, before the first and second workpieces are installed and docked, several hidden limiting mechanisms can be driven to pop out by the pressure of the first workpiece and the helical spring, so as to achieve the centering positioning function of the second workpiece. After the assembly is completed, the robot body is lifted, the limiting mechanism retracts into the groove and is stored in the groove of the inner wall of the platform. Under the action of the reset spring, the piston rod on the side retracts again, releasing the limiting of the second workpiece, which is convenient for the next robot to transfer work and improve the efficiency of the entire production line. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the structure after the first and second workpieces of the present invention are joined together.

[0023] Figure 3 This is a schematic diagram of the positioning clamp and double-layer pipe structure of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the positioning clamp plate of the present invention after the limiting rod slides up.

[0025] Figure 5 This is a schematic diagram of the structure after the separation of the double-layer pipes of the present invention.

[0026] Figure 6 This is a schematic diagram of the limiting mechanism of the present invention hidden inside the shelf.

[0027] Figure 7 This is a schematic diagram of the piston rod of the limiting mechanism of the present invention after it extends.

[0028] Figure 8 This is a cross-sectional view of the limiting mechanism of the present invention.

[0029] In the diagram: 1. Robotic arm body; 101. Base; 102. Drive shaft; 103. Connector; 2. Clamping mechanism; 201. Mounting bracket; 202. Gripper; 203. Connecting rod; 204. Slider; 205. Lead screw; 206. Servo motor; 3. First workpiece; 4. Positioning clamping plate; 401. Upper clamping plate; 402. Lower clamping plate; 403. Slide groove; 404. Limiting rod; 405. Helical spring; 5. Double-layer pipe; 501. Outer pipe; 502. Inner pipe; 503. Guide groove; 504. Protrusion; 6. Second workpiece; 7. Table; 8. Limiting mechanism; 801. Flexible hose; 802. Sleeve; 803. Piston rod; 804. Return spring. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figures 1 to 8The present invention provides a technical solution: a loading and unloading robot for a production line, comprising a robot body 1, a clamping mechanism 2 installed at the end of the robot body 1, and a first workpiece 3 disposed in the inner cavity of the clamping mechanism 2, and further comprising a positioning clamping plate 4 installed at the end of the robot body 1 for connecting the clamping mechanism 2, and a double-layer pipe 5 disposed on the lower surface of the positioning clamping plate 4 for driving the clamping mechanism 2 and the first workpiece 3 to rotate left and right. The second workpiece 6 and the platform 7 for placing the second workpiece 6 are located directly below the first workpiece 3. The inner wall of the platform 7 is provided with several hidden limiting mechanisms 8 that can automatically center and position the second workpiece 6.

[0032] By installing a clamping component at the end of the robot body 1 that can hold the first workpiece 3, the robot can automatically grab and fix the first workpiece 3 and pick it up quickly. A positioning clamping plate 4 is added between the robot body 1 and the clamping mechanism 2 for connection. On the one hand, it fixes the clamping mechanism 2 and ensures its rigid connection with the robot body 1. On the other hand, it works with the double-layer pipe 5 to drive the clamping mechanism 2 and the first workpiece 3 to rotate left and right and adjust to the assembly angle that matches the second workpiece 6, so as to achieve fast and accurate docking.

[0033] Meanwhile, several hidden limiting mechanisms 8 are added to the outside of the second workpiece 6, which can automatically detect pressure and pop out automatically. The hidden limiting mechanisms 8 adopt a passive trigger automatic reset mechanism. When the first workpiece 3 is pressed down, the limiting mechanism 8 automatically pops out upon sensing the pressure, realizing the centering positioning function of the second workpiece 6. After assembly, the robot body 1 is lifted, and the limiting mechanism retracts into the groove and is stored in the groove on the inner wall of the platform 7, without affecting the transfer of the second workpiece 6. Together with the double-layer pipe 5 at the top, it realizes simultaneous positioning from top to bottom, realizing the rapid and accurate docking of the first workpiece 3 and the second workpiece 6, and improving the efficiency of the entire production line.

[0034] In this embodiment, as Figure 3 and Figure 4 As shown, the positioning clamp 4 includes an upper clamp 401 that is threadedly connected to the robot body 1 and a lower clamp 402 that is parallel to the lower clamp 401 directly below it. The surface of the lower clamp 402 is provided with a number of equally angled sliding grooves 403, and each sliding groove 403 is slidably connected with a limit rod 404.

[0035] Each limiting rod 404 is fitted with a helical spring 405. The positioning clamp 4 is driven to move downward by the robot body 1 so that the limiting rod 404 slides upward along the slide groove 403, and the helical spring 405 is compressed.

[0036] It should be noted that a column is fixedly connected between the parallel-installed upper clamping plate 401 and lower clamping plate 402. The column controls a certain distance between the upper clamping plate 401 and the lower clamping plate 402. The limiting rod 404 runs along the slide groove 403, and the helical spring 405 is sleeved on the outside of the limiting rod 404. One end abuts against the lower clamping plate 402, and the other end extends to the clamping mechanism 2. Under normal conditions, it is in a natural state. The compression of the helical spring 405 is automatically adjusted according to the workpiece height deviation to avoid hard collision.

[0037] Specifically, when the first workpiece 3 deviates during its downward docking and cannot precisely align with the second workpiece 6, the first workpiece 3 and the clamping mechanism 2 automatically fall above the second workpiece 6. As the robot body 1 drives the positioning clamping plate 4 to continue downward, the reaction force of the first workpiece 3 pushes the limit rod 404 to slide upward along the slide groove 403, and the helical spring 405 is compressed, generating elastic pressure. At this time, the helical spring 405 is always located on the lower surface of the lower clamping plate 402. The helical spring 405 begins to compress, generating downward pressure. Once the first workpiece 3 is adjusted to the angle that matches the second workpiece 6, the elastic force of the helical spring 405 enables the first workpiece 3 to quickly dock with the second workpiece 6.

[0038] In this embodiment, as Figure 4 and Figure 5 As shown, the double-layer pipe 5 includes an outer pipe 501 welded to the lower clamping plate 402 and an inner pipe 502 fixedly connected to the clamping mechanism 2. The central axis of the inner pipe 502 coincides with that of the outer pipe 501. The side curved surface of the outer pipe 501 is provided with several guide grooves 503 distributed at equal angles. A protrusion 504 is slidably connected in each guide groove 503.

[0039] It should be noted that the double-layer pipe 5 serves as the connecting component between the positioning clamping plate 4 and the bottom clamping mechanism 2. In its natural state, the double-layer pipe 5 is in a stretched state. Once the first workpiece 3 is misaligned, the clamping mechanism 2 and the first workpiece 3 will begin to move upward, further driving the inner pipe 502 to retract along the outer pipe 501. The interior of the outer pipe 501 is a hollow structure, which can provide a certain amount of springback space for the clamping mechanism 2 and the first workpiece 3, avoiding a hard docking between the first workpiece 3 and the second workpiece 6.

[0040] In this embodiment, as Figure 4 and Figure 5 As shown, the protrusion 504 is welded to the outer surface of the inner pipe 502. The lower half of the guide groove 503 is straight, and the upper half of the guide groove 503 is a continuously bent Z-shape. The protrusion 504 slides along the guide groove 503 to drive the inner pipe 502 to rotate and move along the outer pipe 501. The slide groove 403 provides sliding space for the limit rod 404.

[0041] It should be noted that, under natural conditions, the double-layer pipe 5 is stretched, with the inner pipe 502 extending out of the outer pipe 501, and the protrusion 504 located at the bottom of the straight section of the guide groove 503. Once the workpiece is misaligned, the clamping mechanism 2 and the first workpiece 3 squeeze and drive the inner pipe 502 to move upward. The inner pipe 502 and the protrusion 504 slide upward along the straight section of the guide groove 503 to achieve initial recovery. In this step, the helical spring 405 is initially compressed, and the clamping mechanism 2 and the first workpiece 3 continue to drive the inner pipe 502 and the protrusion 504 to slide upward along the guide groove 503 to the continuous bending Z-shaped section. When the protrusion 504 reaches the junction of the straight section and the Z-shaped section, it will continue to move upward and be forced to rotate due to the Z-shaped bend, causing the inner pipe 502 to rotate synchronously. This allows the inner pipe 502 to rotate left and right with the central axis of the outer pipe 501 as the center, achieving fine adjustment and adjusting the posture of the first workpiece 3. While moving backward, the angle is corrected to achieve misalignment correction.

[0042] Furthermore, during this docking process, no additional force is required. Guided by the guide groove 503, the clamping mechanism 2 moves in stages. The elastic energy of the helical spring 405 drives the first workpiece 3 to automatically press down and dock with the second workpiece 6. At the same time, it can assist the double-layer pipe 5 to stretch to the state, reset, and carry out the next round of loading and unloading operations.

[0043] In this embodiment, as Figure 1 and Figure 2 As shown, the clamping mechanism 2 includes a mounting frame 201 fixedly connected to the bottom end of the limiting rod 404. Several claws 202 distributed at equal angles are rotatably connected to the side of the mounting frame 201. Each claw 202 is rotatably connected to one end of a connecting rod 203 via a shaft near the upper middle part. The other end of the connecting rod 203 is rotatably connected to a slider 204.

[0044] A lead screw 205 is rotatably connected to the lower surface of the mounting bracket 201. The output shaft of the servo motor 206 is mounted on the top of the lead screw 205. The slider 204 and the lead screw 205 are connected by a thread.

[0045] It should be noted that in this embodiment, the mounting frame 201 and the gripper 202 are connected by a rotating connection. The gripper 202 in this embodiment is a two-section gripper 202. The upper section is rotatably connected to the slider 204 and the mounting frame 201 through the connecting rod 203. The lower section is set as the clamping section, which is recessed inward. The curvature of the recess fits the surface of the workpiece, making the workpiece more stable after clamping. This is the prior art.

[0046] During the clamping operation of the gripper 202, the servo motor 206 drives the lead screw 205 to rotate. The rotation of the lead screw 205 causes the slider 204 to move up and down, further changing the angle between the connecting rod 203 and the lead screw 205, and further driving the gripper 202 to perform opening and closing movements, thereby realizing the clamping and release of the first workpiece 3.

[0047] In this embodiment, as Figure 7 and Figure 8 As shown, the limiting mechanism 8 includes two mutually perpendicular telescopic rods, and a flexible hose 801 is connected between the two telescopic rods.

[0048] The telescopic rod includes a sleeve 802 and a piston rod 803 slidably connected inside the sleeve 802. One end of the piston rod 803 extends to the outside of the sleeve 802, and the other end of the piston rod 803 is fixedly connected to a return spring 804.

[0049] It should be noted that a groove is provided on the inner wall of the platform 7 to accommodate the limiting mechanism 8. The sleeve 802 is fixed to the inner wall of the platform 7 and has a cylindrical cavity inside. The piston rod 803 slides in the sleeve 802 and its extended end contacts the surface of the workpiece. A rubber buffer pad can be added to the end of the piston rod 803 to provide a certain buffering effect when the second workpiece 6 comes into contact.

[0050] In addition, a reset spring 804 is added in this example: one end is fixed to the bottom of the sleeve 802, and the other end abuts against the piston rod 803. The reset spring 804 can drive the various components to reset.

[0051] In this embodiment, as Figure 6 and Figure 7 As shown, several limiting mechanisms 8 are distributed around the second workpiece 6 in a circle. The interior of each telescopic rod is filled with hydraulic oil, and the hydraulic oil in the two mutually perpendicular telescopic rods flows to each other through hoses 801.

[0052] It should be noted that the two mutually perpendicular telescopic rods are connected by a hose 801. Through the transfer of hydraulic oil, pressure is transmitted synchronously. When the second workpiece 6 or the first workpiece 3 deviates, the first workpiece 3 relies on its own gravity and the elastic force of the helical spring 405 to form a downward pressure, squeezing the piston rod 803 on the lower surface of the second workpiece 6 and making it slide down the sleeve 802. The hydraulic oil is transferred through the hose 801 to another sleeve 802, further pushing the side piston rod 803 to pop out. The piston rods 803 of several limiting mechanisms 8 pop out at the same time, automatically centering the second workpiece 6.

[0053] In addition, it should be noted that after the first workpiece 3 and the second workpiece 6 are docked, the robot body 1 drives the gripper 202 and the positioning clamp 4 to disengage from the first workpiece 3. The pressure originally applied to the second workpiece 6 and the first workpiece 3 disappears. Under the action of the reset spring 804, the piston rod 803 on the side retracts again, releasing the restriction on the second workpiece 6, which is convenient for the next robot to transfer the work.

[0054] In this embodiment, as Figure 1As shown, the robot body 1 includes a base 101, a drive shaft 102 mounted on the top of the base 101, and a connector 103 rotatably connected to the drive shaft 102.

[0055] It should be noted that the base 101 provides stable support, and the drive shaft 102 is responsible for power transmission and motion control. The drive shaft 102 is mainly composed of components such as a motor, reducer, and coupling, which realizes the rotation or linear motion of the drive shaft 102, and further drives the connector 103 to move. In this embodiment, the connector 103 is connected to the positioning clamp 4 to connect the clamping mechanism 2. The servo motor 206 of the clamping mechanism 2 in this embodiment is electrically connected to the controller inside the robot body 1. The operator inputs the work tasks and parameters to the controller through the industrial control computer, including the robot's movement trajectory, speed, acceleration, clamping force, etc. The actual operation method and control scheme are common knowledge in the field.

[0056] Working principle: When using this device, the first workpiece 3 is picked up and loaded by the gripper 202 of the clamping mechanism 2 to start the preparation work. During the clamping process, the servo motor 206 of the clamping mechanism 2 is driven to rotate forward by the controller inside the robot body 1, which further drives the lead screw 205 to rotate forward. At this time, the slider 204 moves down, which drives each gripper 202 to unfold and wrap the first workpiece 3. Then, the servo motor 206 is started to rotate in reverse, which further drives the slider 204 to move up, which drives each gripper 202 to clamp and fix the first workpiece 3. According to the originally set path, the clamping mechanism 2 and the first workpiece 3 body are moved by the drive shaft 102 until the first workpiece 3 and the second workpiece 6 are docked. When the first workpiece 3 and the second workpiece 6 are precisely matched, the shaft of the first workpiece 3 will be smoothly inserted into the bushing of the second workpiece 6, and then each gripper 202 can be controlled to release and the next round of operation can be carried out. If the first workpiece 3 and the second workpiece 6 are misaligned, the shaft of the first workpiece 3 cannot be smoothly inserted into the bushing of the second workpiece 6. As the drive shaft 102 of the robot body 1 drives the connector 103 and the clamping mechanism 2 to continue to move downward, the first workpiece 3 falls directly onto the second workpiece 6. At this time, the first workpiece 3 generates a reaction force, causing the limiting rod 404 to slide upward along the slide groove 403. As a result, the helical spring 405 is compressed, and the helical spring 405 generates elastic pressure. Specifically, when the helical spring 405 is initially compressed, the squeezing causes the inner pipe 502 to move upward. The inner pipe 502 and the protrusion 504 slide upward along the straight section of the guide groove 503, and the inner pipe 502 achieves initial retraction. The helical spring 405 is initially compressed, generating a certain downward pressure. Combined with the gravity of the first workpiece 3, the overall pressure on the second workpiece 6 increases, squeezing the piston rod 803 on the lower surface of the second workpiece 6 and causing it to slide down along the sleeve 802. The hydraulic oil is transferred through the hose 801 to another sleeve 802, further pushing the side piston rod 803 to pop out. The piston rods 803 of several limiting mechanisms 8 pop out simultaneously, automatically centering the second workpiece 6 so that the second workpiece 6 always remains in the center of the platform 7. Next, as the inner pipe 502 continues to slide upward, when the protrusion 504 reaches the junction of the straight section and the Z-shaped section, it will continue to move upward and be forced to rotate due to the Z-shaped bend, causing the inner pipe 502 to rotate synchronously. This causes the inner pipe 502 to rotate left and right with the central axis of the outer pipe 501 as the center, further driving the bottom gripper 202 mechanism and the first workpiece 3 to start to rotate left and right slightly. As the first workpiece 3 rotates left and right, it begins to adjust its angle and rebounds slightly backward to avoid the first workpiece 3 and the second workpiece 6 being squeezed hard. Once the shaft of the first workpiece 3 is connected to the bushing, under the elastic force of the spiral spring 405, the first workpiece 3 is squeezed to quickly connect to the second workpiece 6. After the robot body 1 detects the connection, the gripper 202 of the clamping mechanism 2 releases the first workpiece 3, and the clamping mechanism 2 moves upward.

[0057] Finally, as the clamping mechanism 2 moves upward, the helical spring 405 continues to reset. As the helical spring 405 resets, it drives the double-layer pipe 5 back to the stretched state. At the same time, the pressure of the helical spring 405 on the first workpiece 3 and the second workpiece 6 disappears, and the piston rod 803 resets under the action of its respective reset spring 804, contacting the limit on the second workpiece 6, which facilitates the transfer work of the robot arm on the production line.

[0058] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A loading and unloading robot for a production line, comprising a robot body (1), a clamping mechanism (2) mounted on the end of the robot body (1), and a first workpiece (3) disposed in the inner cavity of the clamping mechanism (2), characterized in that: It also includes a positioning clamp (4) installed at the end of the robot body (1) to connect the clamping mechanism (2) and a double-layer pipe (5) located on the lower surface of the positioning clamp (4) that can drive the clamping mechanism (2) and the first workpiece (3) to rotate left and right. The second workpiece (6) and the platform (7) for placing the second workpiece (6) are located directly below the first workpiece (3). The inner wall of the platform (7) is provided with several hidden limiting mechanisms (8) that can automatically center and position the second workpiece (6).

2. The loading and unloading robot for a production line according to claim 1, characterized in that: The positioning clamp (4) includes an upper clamp (401) threadedly connected to the robot body (1) and a lower clamp (402) parallel to the lower clamp (401) directly below it. The surface of the lower clamp (402) is provided with a number of equally angled sliding grooves (403), and each sliding groove (403) is slidably connected with a limit rod (404).

3. The loading and unloading robot for a production line according to claim 2, characterized in that: Each of the limiting rods (404) is fitted with a helical spring (405). The positioning clamp (4) is driven to move down by the robot body (1) so that the limiting rod (404) slides up along the slide groove (403) and the helical spring (405) is compressed.

4. The loading and unloading robot for a production line according to claim 2, characterized in that: The double-layer pipe (5) includes an outer pipe (501) welded to the lower clamping plate (402) and an inner pipe (502) fixedly connected to the clamping mechanism (2). The central axis of the inner pipe (502) coincides with that of the outer pipe (501). The side curved surface of the outer pipe (501) is provided with a number of guide grooves (503) distributed at equal angles. A protrusion (504) is slidably connected in each guide groove (503).

5. The loading and unloading robot for a production line according to claim 4, characterized in that: The protrusion (504) is welded to the outer surface of the inner pipe (502). The lower half of the guide groove (503) is straight, and the upper half of the guide groove (503) is a continuously bent Z-shape. The protrusion (504) slides along the guide groove (503) to drive the inner pipe (502) to rotate and move along the outer pipe (501).

6. The loading and unloading robot for a production line according to claim 2, characterized in that: The clamping mechanism (2) includes a mounting frame (201) fixedly connected to the bottom end of the limiting rod (404). The side of the mounting frame (201) is rotatably connected to a number of equally distributed grippers (202). Each gripper (202) is rotatably connected to one end of a connecting rod (203) via a shaft at the upper middle part. The other end of the connecting rod (203) is rotatably connected to a slider (204).

7. The loading and unloading robot for a production line according to claim 6, characterized in that: The lower surface of the mounting bracket (201) is rotatably connected to a lead screw (205), and the top end of the lead screw (205) is equipped with the output shaft of a servo motor (206). The slider (204) and the lead screw (205) are connected by a thread.

8. The loading and unloading robot for a production line according to claim 1, characterized in that: The limiting mechanism (8) includes two mutually perpendicular telescopic rods, and a flexible hose (801) is connected between the two telescopic rods. The telescopic rod includes a sleeve (802) and a piston rod (803) slidably connected inside the sleeve (802). One end of the piston rod (803) extends to the outside of the sleeve (802), and the other end of the piston rod (803) is fixedly connected to a return spring (804).

9. The loading and unloading robot for a production line according to claim 1, characterized in that: Several limiting mechanisms (8) are distributed around the second workpiece (6). Each telescopic rod is filled with hydraulic oil. The hydraulic oil in the two mutually perpendicular telescopic rods flows to each other through hoses (801).

10. A loading / unloading robot for a production line according to claim 1, characterized in that: The robotic arm body (1) includes a base (101), a drive shaft (102) mounted on the top of the base (101), and a connector (103) rotatably connected to the drive shaft (102).

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