A robotic arm for stacking shredded cakes

Abstract

A robotic arm for stacking filament cakes, used in conjunction with a dewatering machine's belt conveyor. It consists of a large robotic arm, a small robotic arm, and a stepping belt conveyor. The large robotic arm is vertically positioned relative to the dewatering machine's belt conveyor, the small robotic arm is connected to the bottom of the large robotic arm's drive shaft, and the stepping belt conveyor is vertically positioned at the tail end of the dewatering machine's belt conveyor. This invention features a simple structure and convenient operation. In the viscose filament production process, it can be used in conjunction with a dewatering machine's belt conveyor to rotate individual vertical wet filament cakes on the dewatering machine's belt conveyor by 90° and then neatly stack them side-by-side on the stepping belt conveyor. This improves the precision of filament cake gripping, ensures rapid rotation, and achieves neat stacking, effectively reducing the labor intensity of operators and production costs. It also offers stable and reliable operation with high processing accuracy and automation.

Description

Technical Field

[0001] This utility model relates to the field of viscose filament manufacturing technology, specifically a robotic arm used in conjunction with a belt conveyor of a dewatering machine for stacking filament cakes during the viscose filament production process. Background Technology

[0002] Currently, in the viscose filament manufacturing industry, dewatering machines place the dewatered filament cakes vertically onto a belt conveyor. After the cakes have been conveyed to a certain position, they need to be manually flipped and stacked neatly one by one until a specified quantity is reached, at which point they are conveyed to the next process. Because the filament cakes on the belt conveyor move at high speeds, operators need to be able to quickly and accurately pick up the cakes, flip them, and stack them horizontally. Since the operation is continuous, requiring operators to perform repetitive tasks, this traditional production method suffers from drawbacks such as high labor intensity, low efficiency, and high cost. Therefore, researching a robotic arm for stacking filament cakes is particularly important. Summary of the Invention

[0003] To overcome the shortcomings of the existing technology, the purpose of this invention is to provide a robotic arm for stacking silk cakes, which can automatically pick up the silk cakes on the belt conveyor, rotate them 90°, and stack them in a row on the stepper belt conveyor.

[0004] To achieve the above-mentioned objectives, the present invention provides a robotic arm for stacking skewer cakes, comprising a large robotic arm, a small robotic arm, and a stepping belt conveyor. The large robotic arm is vertically positioned relative to the dewatering machine's belt conveyor, the small robotic arm is connected to the bottom of the large robotic arm's drive shaft, and the stepping belt conveyor is vertically placed at the tail end of the dewatering machine's belt conveyor.

[0005] Furthermore, the main support of the large robotic arm is placed vertically on the ground and fixed by four anchor bolts. The upper and lower split fixing rings mounted on the main support are respectively connected to the support plate of the main support by bolts. The cylinder with flanges at both ends is vertically installed in the split fixing rings. The upper cover of the cylinder is installed on the upper flange of the cylinder by bolts through the protrusions and grooves on the cylinder. The lower cover of the cylinder is connected to the lower flange of the cylinder by bolts. The first servo reduction motor is vertically fixed on the upper cover of the cylinder. The output shaft of the first servo reduction motor is connected to the transmission main shaft by a coupling. A thrust bearing is installed between the lower pressure cover and the transmission main shaft. The pressure cover is installed on the lower pressure cover of the cylinder with screws. The sealing ring is set between the pressure cover and the transmission main shaft. The limiting plate is installed at the bottom of the transmission main shaft.

[0006] Furthermore, the horizontal clamp of the small manipulator is fixed to the bottom end of the transmission spindle of the large manipulator by bolts, and the connecting sleeve is fitted inside the horizontal clamp. The second servo reduction motor is horizontally installed on the left side of the connecting sleeve partition by bolts. The rotating seat is fitted on the output shaft of the second servo motor, and the crank is fitted in the groove of the rotating seat. A bearing is installed between the rotating seat and the connecting sleeve. The groove plate is welded to the end panel of the crank. Two small hand cylinders are installed at the lower end of the groove plate. An arc-shaped clamp is fixed to the piston rod end of each small hand cylinder. The two arc-shaped clamps are located above the stepper belt conveyor. The model and specification of the small hand cylinder 19 is KCU32-70D.

[0007] Furthermore, the frame of the stepper belt conveyor is fixed to the ground with bolts, the third servo geared motor is fixed to the frame, the drive shaft is mounted on the output shaft of the third servo geared motor, the end of the drive shaft is mounted in a bearing seat, the bearing seat is fixed to the frame, the two ends of the driven shaft are mounted in bearing seats on the frame, the synchronous pulleys are mounted on the drive shaft and the driven shaft respectively, and the synchronous belt wraps around the two synchronous pulleys.

[0008] Furthermore, a signal board is provided on the outer side of the lower cover of the large robotic arm, and a control cabinet and a touch screen are installed on the main support; the touch screen is a Siemens touch screen.

[0009] Furthermore, the small robotic arm has rubber blocks bonded inside the arc-shaped clamping plate, a dustproof cover is provided on the grooved plate, the cover is located outside the second servo geared motor, and a proximity switch sensor is provided on both the cover and the crank; the proximity switch sensor is model KJT-J18.

[0010] Furthermore, the rear of the frame of the stepper belt conveyor is equipped with a sensor support plate, which is located next to the passive shaft, and the proximity switch sensor is mounted on the sensor support plate.

[0011] When the proximity switch sensor at the bottom of the small robotic arm detects that the yarn cake on the dehydrator's conveyor belt has reached the designated position, the information is transmitted to the PLC programmable controller in the control cabinet. The system instructs the small robotic arm's cylinder to operate, and the two arc-shaped clamps quickly grab the yarn cake from the dehydrator's conveyor belt. The second servo motor of the small robotic arm starts, and its output shaft rotates, causing the rotating seat to rotate synchronously. The rotating seat, through a crank, drives the two arc-shaped clamps and the yarn cake to flip, and the crank drives the two arc-shaped clamps to lift to a certain height. At the same time, the output shaft of the first servo reduction motor of the large robotic arm drives the transmission main shaft to rotate 90°, which in turn drives the horizontal clamp belt... The small robotic arm rotates horizontally to the end of the stepper belt conveyor. When the proximity switch sensor on the upper part of the small robotic arm detects the signal plate next to the lower cover of the cylinder, the system commands the small hand cylinder to stop working, the two arc-shaped clamps release the yarn cake, and return to the initial position. When the yarn cake rotates onto the stepper belt conveyor, the yarn cake is placed horizontally. When the proximity switch sensor on the stepper belt conveyor detects the conveyed yarn cake, the information is transmitted to the control cabinet, the system returns a command, the third servo motor reducer on the stepper belt conveyor starts, the belt drives the yarn cake forward a specified distance, and then stops to wait for the next step, completing one work cycle.

[0012] Compared with the prior art, this utility model has a simple structure and is easy to operate. It can be used in conjunction with the belt conveyor of the dewatering machine in the viscose filament production process. It flips the individual vertical wet filament cakes on the belt conveyor of the dewatering machine by 90° and then neatly stacks them side by side on the walking belt conveyor. This improves the accuracy of filament cake clamping, the flipping is rapid, and the stacking is neat. It effectively reduces the labor intensity of operators and production costs. It is stable and reliable in operation and has high processing accuracy and automation. Attached Figure Description

[0013] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a simplified structural diagram of the present invention.

[0014] Figure 2 for Figure 1 Top view.

[0015] Figure 3 for Figure 1 A simplified schematic diagram of the structure of a large robotic arm.

[0016] Figure 4 for Figure 1 A simplified schematic diagram of the structure of a small robotic arm.

[0017] Figure 5 for Figure 4 A simplified schematic diagram of the horizontal clamp structure.

[0018] Figure 6 for Figure 5 A bottom view.

[0019] Figure 7 for Figure 1 A simplified schematic diagram of the structure of a stepper belt conveyor.

[0020] Figure 8 for Figure 7 Side view.

[0021] Figure 9 for Figure 7 Top view.

[0022] In the diagram: 1. Main frame; 2. Split retaining ring; 3. First servo geared motor; 4. Cylindrical top cover; 5. Coupling; 6. Transmission shaft; 7. Cylindrical cylinder; 8. Cylindrical lower cover; 9. Limiting plate; 10. Signal plate; 11. Horizontal clamp; 12. Connecting sleeve; 13. Second servo geared motor; 14. Cover; 15. Proximity switch sensor; 16. Rotary seat; 17. Crank; 18. Slotted plate; 19. Small hand cylinder; 20. Arc-shaped clamp. 21. Dustproof cover; 22. Frame; 23. Third servo geared motor; 24. Sensor support plate; 25. Synchronous pulley; 26. Drive shaft; 27. Bearing housing; 28. Synchronous belt; 29. ​​Driven shaft; 30. Large robotic arm; 31. Small robotic arm; 32. Stepping belt conveyor; 33. Dewatering machine belt conveyor; 34. Control cabinet; 35. Touch screen; 36. Thrust bearing; 37. Pressure cap; 38. Sealing ring; 39. Bearing; 40. Silk cake. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9As shown, the robotic arm for stacking skewer cakes according to this utility model mainly consists of a large robotic arm 30, a small robotic arm 31, and a stepping belt conveyor 32. The large robotic arm 30 is vertically arranged relative to the dewatering machine belt conveyor 33, the small robotic arm 31 is connected to the bottom of the drive shaft 6 of the large robotic arm 30, and the stepping belt conveyor 32 is vertically placed at the tail end of the dewatering machine belt conveyor 33.

[0026] Preferably, the main support 1 of the large robotic arm 30 is placed vertically on the ground and fixed by four anchor bolts. Two support plates are welded to the middle of the main support 1, and holes are drilled at the ends of the support plates. The upper and lower split fixing rings 2 are respectively bolted to the support plates of the main support 1. The cylinder 7 with flanges at both ends is vertically installed in the split fixing rings 2. The upper cover 4 of the cylinder is bolted to the upper flange of the cylinder 7 through the protrusions and grooves on the cylinder 7. The lower cover 8 of the cylinder is bolted to the lower flange of the cylinder 7. The first servo reduction motor 3 is vertically fixed on the upper cover 4 of the cylinder. The output shaft of motor 3 is connected to the main transmission shaft 6 via coupling 5. A thrust bearing 36 is installed between the lower pressure cover 8 and the main transmission shaft 6. The pressure cover 37 is screwed onto the lower pressure cover 8. A sealing ring 38 is placed between the pressure cover 37 and the main transmission shaft 6. A limit plate 9 is installed at the bottom of the main transmission shaft 6 to prevent the main transmission shaft 6 from rotating excessively and damaging the equipment. A signal board 10 for proximity switch sensor detection is provided on the outside of the lower pressure cover 8. A control cabinet 34 and a touch screen 35 are installed on the main support 1. The controller of the control cabinet 34 is a high-performance PLC programmable controller, and the touch screen 35 is a Siemens touch screen.

[0027] Preferably, the horizontal clamp 11 of the small manipulator 31 is fixed to the bottom end of the transmission spindle 6 of the large manipulator 30 by bolts. The connecting sleeve 12 is fitted inside the horizontal clamp 11. The second servo reduction motor 13 is horizontally installed on the left side of the partition of the connecting sleeve 12 by bolts. The rotating seat 16 is fitted on the output shaft of the second servo motor 13. The crank 17 is fitted in the groove of the rotating seat 16. A bearing 39 is installed between the rotating seat 16 and the connecting sleeve 12. The groove plate 18 is welded to the end panel of the crank 17. Two small hand cylinders 19 are installed at the lower end of the groove plate 18. The piston rod end of each of the small hand cylinders 19 is fixed with... An arc-shaped clamping plate 20 is located above the stepper belt conveyor 32. Rubber blocks are bonded inside the arc-shaped clamping plate 20 to prevent damage to the wire cake 40 when clamping it. A dustproof cover 21 is provided on the grooved plate 18. The cover 14 is located outside the second servo reduction motor 13 to prevent dust from entering the small hand cylinder 19 and the second servo motor 13. A proximity switch sensor 15 is provided on the cover 14 and the crank 17 respectively. The model of the proximity switch sensor 15 is KJT-J18, and the model of the small hand cylinder 19 is KCU32-70D.

[0028] Preferably, the frame 22 of the stepper belt conveyor 32 is fixed to the ground with bolts, the third servo geared motor 23 is fixed on the frame 22, the drive shaft 26 is mounted on the output shaft of the third servo geared motor 23, the end of the drive shaft 26 is mounted in the bearing seat 27, the bearing seat 27 is fixed on the frame 22, the two ends of the driven shaft 29 are mounted in the bearing seats on the frame 22, the synchronous pulleys 25 are respectively mounted on the drive shaft 26 and the driven shaft 29, the synchronous belt 28 is wrapped around the two synchronous pulleys 25, the rear of the frame 22 is equipped with a sensor support plate 24, the sensor support plate 24 is located next to the driven shaft 29, and the proximity switch sensor 15 is mounted on the sensor support plate 24 for detecting the positioning information of the yarn cake 40.

[0029] The first servo geared motor 3, the second servo motor 13, the third servo geared motor 23, the small hand cylinder 19, the signal board 10, the proximity switch sensor 15 are connected to the control cabinet 34.

[0030] When the proximity switch sensor 15 mounted on the crank 17 at the bottom of the small robotic arm 31 detects that the silk cake 40 on the dehydrator belt conveyor 33 has reached the designated position, the information is transmitted to the PLC programmable controller in the control cabinet 34. The system instructs the electromagnetic reversing valve on the small hand cylinder 19 to start, and the small hand cylinder 19 works. The two arc-shaped clamps 20 quickly grab the silk cake 40 on the conveyor belt of the dehydrator belt conveyor 33. The second servo motor 13 of the small robotic arm 31 starts, and the output shaft rotates, driving the rotating seat 16 to rotate synchronously. The rotating seat 16 drives the two arc-shaped clamps 20 and the silk cake 40 to flip through the crank 17. While the second servo motor 13 flips the silk cake 40 through the crank 17, the crank 17 can drive the two arc-shaped clamps 20 and the silk cake 40 to rise synchronously to avoid the silk cake 40 scratching the belt and damaging the silk cake 40 when rotating horizontally. At the same time, the output shaft of the first servo reduction motor 3 of the large robotic arm 30 drives the transmission main shaft 6 to rotate. The mechanical arm 31 rotates horizontally to the tail end of the stepper belt conveyor 32 via the horizontal clamp 11 connected to the transmission main shaft 6. When the proximity switch sensor 15 on the cover 14 above the mechanical arm 31 detects the signal plate 10 next to the lower cover 8 of the cylinder 7, the system commands the electromagnetic reversing valve on the small hand cylinder 19 to close, the small hand cylinder 19 stops working, the two arc-shaped clamps 20 release the silk cake 40, and return to the initial position. When the silk cake 40 rotates onto the stepper belt conveyor 32, the silk cake 40 is placed horizontally. When the proximity switch sensor 15 on the stepper belt conveyor 32 detects the delivered silk cake 40, the information is transmitted to the control cabinet 34, the system returns the command, the third servo motor reducer 23 on the stepper belt conveyor 32 starts, the belt drives the silk cake 40 forward a specified distance, and then stops to wait for the next step, completing one work cycle. The interval between each work cycle is very short, and the cycle is repeated.

[0031] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. A robotic arm for stacking shredded cakes, characterized in that: The robotic arm consists of a large robotic arm (30), a small robotic arm (31), and a stepping belt conveyor (32). The large robotic arm (30) is vertically positioned relative to the dewatering machine belt conveyor (33). The small robotic arm (31) is connected to the bottom of the drive shaft (6) of the large robotic arm (30). The stepping belt conveyor (32) is placed vertically at the tail end of the dewatering machine belt conveyor (33).

2. The robotic arm for stacking skewer sheets according to claim 1, characterized in that: The main support (1) of the large robotic arm (30) is placed vertically on the ground and fixed by four anchor bolts. Two split fixing rings (2) mounted on the main support (1) are respectively bolted to the support plate of the main support (1). A cylinder (7) with flanges at both ends is vertically installed inside the split fixing rings (2). The upper cover (4) of the cylinder is bolted to the upper flange of the cylinder (7) through the grooves on the cylinder (7). The lower cover (8) of the cylinder is bolted to the upper flange of the cylinder (7). The lower flange is connected by bolts. The first servo geared motor (3) is vertically fixed on the cylindrical cover (4). The output shaft of the first servo geared motor (3) is connected to the transmission main shaft (6) through a coupling (5). A thrust bearing (36) is installed between the lower cover (8) and the transmission main shaft (6). The cover (37) is installed on the lower cover (8) with screws. The sealing ring (38) is set between the cover (37) and the transmission main shaft (6). The limiting plate (9) is installed at the bottom of the transmission main shaft (6).

3. The robotic arm for stacking skewer sheets according to claim 1, characterized in that: The horizontal clamp (11) of the small manipulator (31) is fixed to the bottom end of the transmission main shaft (6) of the large manipulator (30) by bolts. The connecting sleeve (12) is clamped in the horizontal clamp (11). The second servo reduction motor (13) is horizontally installed on the left side of the partition of the connecting sleeve (12) by bolts. The rotating seat (16) is fitted on the output shaft of the second servo motor (13). The crank (17) is clamped in the groove of the rotating seat (16). A bearing (39) is installed between the rotating seat (16) and the connecting sleeve (12). The groove plate (18) is welded to the end panel of the crank (17). Two small hand cylinders (19) are installed at the lower end of the groove plate (18). Each piston rod end of the small hand cylinder (19) is fixed with an arc-shaped clamp (20). The two arc-shaped clamps (20) are located above the stepper belt conveyor (32). The model of the small hand cylinder (19) is KCU32-70D.

4. The robotic arm for stacking skewer sheets according to claim 1, characterized in that: The frame (22) of the stepper belt conveyor (32) is fixed to the ground by bolts. The third servo geared motor (23) is fixed on the frame (22). The drive shaft (26) is mounted on the output shaft of the third servo geared motor (23). The end of the drive shaft (26) is installed in the bearing seat (27). The bearing seat (27) is fixed on the frame (22). The two ends of the driven shaft (29) are installed in the bearing seat on the frame (22). The synchronous pulleys (25) are respectively mounted on the drive shaft (26) and the driven shaft (29). The synchronous belt (28) wraps around the two synchronous pulleys (25).

5. A robotic arm for stacking skewer sheets according to claim 2, characterized in that: The large robotic arm (30) has a signal plate (10) on the outside of the lower cover (8), and a control cabinet (34) and a touch screen (35) are installed on the main support (1); the touch screen (35) is a Siemens touch screen.

6. A robotic arm for stacking skewer sheets according to claim 3, characterized in that: The small robotic arm (31) has a rubber block bonded inside the arc-shaped clamp (20), a dustproof cover (21) on the groove plate (18), and a cover (14) outside the second servo geared motor (13). A proximity switch sensor (15) is provided on the cover (14) and the crank (17); the model specification of the proximity switch sensor (15) is KJT-J18.

7. A robotic arm for stacking skewer sheets according to claim 4, characterized in that: The frame (22) of the stepper belt conveyor (32) is equipped with a sensor support plate (24) at the tail end. The sensor support plate (24) is located next to the passive shaft (29), and the proximity switch sensor (15) is installed on the sensor support plate (24).

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