A robot that automatically draws the bottom of parts, collects materials, flips and packs them into boxes

Abstract

The present invention relates to a robot for automatically drawing out the bottom of parts, collecting materials, flipping and boxing, comprising a bottom drawing and collecting device and a boxing flipping device used in conjunction with each other, wherein the bottom drawing and collecting device comprises a frame, a belt transmission component, a material discharging power component, a bottom drawing plate assembly component, a pneumatic material pushing component, a material blocking component, a staggered material discharging cylinder component, and a belt material stopper component, and the boxing flipping device comprises a linear and rotary power component, a fastening and flipping component, and a material support and lifting device component, wherein the material support and lifting device component is located below the bottom drawing plate assembly component. Fully automatic and intelligent material discharging and pushing are realized, and a part boxing method with the opening of the material box facing downward and inverted is adopted. After the multi-layer parts are arranged in the box, the material box filled with the parts is pressed and flipped by fastening the flipping component and the material support and lifting device component to avoid collision and tipping of the parts. The boxing efficiency is high and the product quality is stable. Parts can also be staggered according to needs, which greatly improves the utilization rate of the turnover box and saves manpower.

Description

Technical Field

[0001] The invention belongs to the field of material collecting and boxing robots, and in particular relates to a robot capable of automatically collecting materials by bottom drawing, flipping and boxing parts. Background Art

[0002] There are many types of parts with complicated specifications. After grinding the outer circle, the parts are manually placed into the material box or box, which is time-consuming and labor-intensive, affecting the work efficiency and product quality. In addition, the products in the material box are arranged in various forms and the product quality requirements are high. Manual loading will cause bumps and scratches, resulting in waste.

[0003] How to realize automatic unloading, collecting and arranging parts in layers in the material box has always troubled technical personnel in the industry. Summary of the invention

[0004] The purpose of the present invention is to provide a robot that can automatically draw parts from the bottom, collect materials, flip and pack them into boxes, so as to solve the technical problem that when parts are directly put into a material box or material box, they are not placed in place, resulting in the good parts after grinding becoming waste due to bumps, scratches and misoperation.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a robot for automatically drawing out the bottom of parts, collecting materials, flipping and packing in boxes, including a bottom drawing and collecting device and a boxing flipping device used in conjunction with each other, the bottom drawing and collecting device including a frame, a belt transmission component, a material discharge power component, a bottom drawing plate assembly component, a pneumatic material pushing component, a material blocking component, a staggered material discharge cylinder component, and a belt material stopper component, the belt transmission component, the material discharge power component, the bottom drawing plate assembly component, and the belt material stopper component are all fixed on the frame, the bottom drawing plate assembly component is located on one side of the belt transmission component, the pneumatic material pushing component, the material blocking component They are all located above the belt drive assembly. One end of the pneumatic pushing assembly is connected to the belt drive assembly, and the other end is connected to the discharge power assembly. The blocking assembly is connected to the discharge power assembly. The staggered discharge cylinder assembly is connected to the end of the belt drive assembly. The belt stopper assembly is located above the middle of the belt drive assembly. The box loading and flipping device includes a linear and rotary power assembly, a fastening and flipping assembly, and a support lifter assembly. The linear and rotary power assembly is connected to the fastening and flipping assembly through the end flange, and the fastening and flipping assembly is connected to the support lifter assembly. The support lifter assembly is located below the bottom plate assembly.

[0006] Specifically, the belt drive assembly includes two square tubes, a driving roller, a driven roller, a synchronous pulley, and a PVC conveyor belt. There are two square tubes, which are arranged in parallel. The two square tubes are connected by an intermediate steel plate. The two ends of the two square tubes are respectively connected to the driving roller and the driven roller. One end of the driving roller is connected to the synchronous pulley through a flat key. The PVC conveyor belt is connected between the driving roller and the driven roller. The side near one end of the driving roller is respectively welded with a material sorting frame fixing plate and a pneumatic pusher fixing plate.

[0007] Specifically, the discharging power assembly includes a power assembly frame, a connecting plate, a linear guide, a slider, a mounting plate A, a ball nut seat, a discharging cylinder bracket, a ball nut, a ball screw, a coupling, a servo motor, a servo motor seat, a mounting plate B, a bearing seat, a tapered roller bearing, a round nut, a discharging cylinder, a micro switch connecting plate, a rotatable baffle assembly, a spring, a bearing, an end connecting plate, and a support plate. Two linear guides are fixed to the bottom of the power assembly frame, and the linear guides are connected to the mounting plate A through a slider. A ball nut seat is fixed above the mounting plate A, and a ball nut is arranged on the ball nut seat. The ball nut and the ball screw are a rotating pair. The rotation of the ball screw can drive the ball nut to move forward and backward. The right end of the ball screw is connected to the output shaft of the servo motor through a coupling. The servo motor is arranged at On the servo motor seat, the servo motor seat is connected to the mounting plate B; the mounting plate B is fixed on the power assembly frame, and the connection between the right end of the ball screw and the servo motor is supported by a bearing seat; the bearing seat contains two tapered roller bearings; the tapered roller bearing is fixed to the ball screw by two round nuts; the bearing seat is fixed to the mounting plate B, and the left end of the ball screw passes through the bearing, and the bearing is embedded in the end connecting plate; the end connecting plate is fixed to the power assembly frame, the lower part of the end connecting plate is connected to the support plate, and the lower end of the support plate is connected to the bottom plate assembly component; a discharge cylinder bracket is fixed under the mounting plate A, and a discharge cylinder is connected to the lower part of the discharge cylinder bracket, and the end of the discharge cylinder is connected to a micro switch connecting plate, and the micro switch connecting plate is connected to a rotatable baffle assembly through screws, and a spring is also connected between the micro switch connecting plate and the rotatable baffle assembly.

[0008] Specifically, the bottom plate assembly component comprises a sprocket group bracket, a material sorting frame, a pull-out bottom plate, a driving sprocket assembly, a driven sprocket assembly, a pull-out bottom plate chain, a chain connecting block, a main chain, a pull-out bottom plate motor sprocket, a pull-out bottom plate motor, and an anti-slip block. The sprocket group bracket is fixed on the frame, the sprocket group bracket is connected to the material sorting frame, the rear end of the material sorting frame is connected to the belt transmission assembly, the front end of the material sorting frame is connected to the discharge power assembly, a pull-out bottom plate is provided at the bottom of the material sorting frame, the sprocket group bracket is provided with a driving sprocket assembly and a driven sprocket assembly, the driving sprocket assembly is connected to the pull-out bottom plate motor sprocket through the main chain, the pull-out bottom plate motor sprocket is connected to the output shaft of the pull-out bottom plate motor through a flat key, the pull-out bottom plate motor is fixed on the frame, the pull-out bottom plate chain passes through the driving sprocket assembly and is connected to the driven sprocket assembly, the upper end of the chain connecting block is connected to the pull-out bottom plate chain, and the lower end of the chain connecting block is connected to the pull-out bottom plate, and the material sorting frame is provided with a slip-off block for preventing the pull-out anti-plate from completely separating from the material sorting frame.

[0009] Specifically, the pneumatic pushing assembly includes a pushing cylinder, a vertical hanging plate, a cylinder seat, a transition bent plate, a pushing plate, and a proximity switch. The pushing cylinder is installed on the upper end surface of the cylinder seat, the front end of the cylinder seat is connected to the belt drive assembly, and the rear end is connected to the power assembly frame of the discharge power assembly through the vertical hanging plate. The output end of the pushing cylinder is connected to the transition bent plate, the transition bent plate is connected to the pushing plate, and the push plate is installed with a proximity switch.

[0010] Specifically, the material blocking assembly includes a material blocking cylinder bracket, a material blocking cylinder, a material blocking plate, screws, and a material blocking fixing plate. The material blocking cylinder is installed and fixed on the material blocking cylinder bracket, the end of the material blocking cylinder is connected to the material blocking plate, the material blocking fixing plate is arranged on the power assembly frame of the material discharge power assembly, and the material blocking assembly is fixed to the material blocking fixing plate by screws; the material blocking plate is parallel to the pushing plate of the pneumatic pushing assembly, and both are located above the belt drive assembly.

[0011] Specifically, the staggered discharge cylinder assembly includes a mounting base, a staggered cylinder, a staggered cylinder bracket, and a baffle. The mounting base is fixed to one end of the active roller on the belt drive assembly. The lower end of the staggered cylinder bracket is connected to the mounting base, and the upper end is connected to the staggered cylinder. The end of the staggered cylinder is connected to the baffle.

[0012] Specifically, the belt material stopper assembly includes a splint, a long screw, a material stopper cylinder bracket, a pressure plate, a material stopper plate, a material stopper cylinder, a compensation cylinder, and a compensation cylinder bracket. The splint, long screws and nuts cooperate to fix the material stopper cylinder bracket to the frame. The material stopper cylinder bracket is connected to the material stopper cylinder, the end of the material stopper cylinder is connected to the compensation cylinder bracket, the compensation cylinder bracket is connected to the compensation cylinder, and the end of the compensation cylinder is connected to the material stopper plate through a pressure plate.

[0013] Specifically, the linear and rotary power assembly includes a bed, a linear slide, a sliding plate, a stepper motor 1, a flip power motor, a flip shaft, a seat bearing 1, an end flange, a key block 1, a flip frame, a slider 2, a leg, a gear, a rack, and a flip positioning assembly. Legs are provided at the bottom of the bed, and the bed is connected to two parallel linear slides by bolts, and each linear slide is equipped with two sliders 2; the rack is connected to the bed by screws, parallel to the linear slides and located between the two linear slides; the sliding plate is connected to the four sliders 2; a straight mouth and a motor connection hole are opened on the sliding plate for connecting a stepper motor 1; a gear is connected to the end of the stepper motor shaft, and the gear is meshed with the rack; a flip frame is welded on the sliding plate for fixing the flip power motor and the flip positioning assembly; the flip power motor is connected to the flip shaft through the key block, and the flip shaft is further fixed and supported by the seat bearing 1; the end of the flip shaft is connected to the end flange through the key block 1.

[0014] Specifically, the fastening and flipping assembly includes a turning plate, a fastening bracket shaft, a second key block, a double-row sprocket, a turnover box, a buckle plate, a second spring, a washer, a fastening bracket, a U-bolt, a second seat bearing, and a reduction motor. The upper end of the turning plate is connected to the end flange on the linear and rotary power assembly by screws, and the lower end is connected to the elevator base on the support elevator assembly. Both ends of the fastening bracket shaft are supported by a second seat bearing; the second seat bearing is fixed to one end of the elevator base; the middle part of the fastening bracket shaft is connected to the double-row sprocket through the second key block; the fastening bracket shaft is connected to the fastening bracket through a U-bolt, and the U-bolt is located on the inner side of the second seat bearing; the fastening bracket is an inverted "L"-shaped welded rib plate, and the fastening bracket is connected to the buckle plate through screws, two springs, and washers; the reduction motor is connected to the elevator base through screws, and the end of the reduction motor is connected to the double-row sprocket.

[0015] Specifically, the material support lifter assembly includes an upper support plate of the lifter, three bearings, a short shaft, a compression spring, an oblique support rod assembly, two stepper motors, two couplings, two round nuts, two tapered roller bearings, two bearing seats, a shield, a lifter base, a fixed block, an elongated hole, a ball screw, two ball nuts, a stepper motor seat, an intermediate shaft, a cotter pin, two ball nut seats, and a connecting shaft. Two pairs of fixed blocks are provided on the lifter base, one pair of fixed blocks is provided with a circular hole, and the other pair of fixed blocks is provided with an elongated hole. The oblique support rod assembly is composed of two groups of cross steel plates, one of the two ends below is fixed in the fixed block, a three bearing is provided in the fixed block, a short shaft is provided in the three bearings, the lower end of the oblique support rod assembly is rotatably connected to the fixed block through the short shaft, and the two ends of the short shaft are fixed by cotter pins; the other end of the lower end of the oblique support rod assembly is fixed to the fixed block with the elongated hole in the same way, and the oblique support rod assembly can move back and forth in the elongated hole, and the upper end of the oblique support rod assembly is fixed in the same way through the fixed block The two groups of oblique support rod assemblies are fixed on the upper support plate of the lifter, and the middle of the two groups of oblique support rod assemblies are connected by an intermediate shaft; the two ends of the two groups of oblique support rod assemblies fixed in the long strip hole are connected by a connecting shaft; the connecting shaft is fixed to the two ends of the ball nut seat 2 by screws; the ball nut seat 2 is fixed to the ball nut 2 by screws and stoppers, the ball nut 2 and the ball screw are a rotating pair, the rotation of the ball screw can drive the ball nut 2 to move back and forth, and the ball screw is fixed to the output shaft of the stepper motor 2 by the coupling 2; the stepper motor 2 is fixed on the stepper motor seat, the stepper motor seat is fixed on the lifter base, the ball screw is close to the end of the stepper motor 2 and is supported and fixed by the tapered roller bearing 2 and the bearing seat 2, and the round nut 2 is used to lock the position of the ball screw and the tapered roller bearing 2; the bearing seat 2 is fixed on the lifter base, and a compression spring is connected between the fixed block on the lifter upper support plate and the fixed block on the lifter base, and a shield is arranged around the upper support plate of the lifter, and the shield is fixed to the lifter base by screws.

[0016] The present invention has the following beneficial effects: the robot for automatically drawing bottom, collecting materials, flipping and boxing parts of the present invention realizes fully automatic and intelligent material arrangement and pushing by using a bottom-drawing and collecting device and a boxing flipping device, and adopts a downward-facing inverted boxing method for parts. After the multi-layer parts are arranged in boxes, the box filled with parts is pressed and flipped by tightening the flip assembly and the material support lifter assembly to avoid bumping and tipping of the parts, with high boxing efficiency and stable product quality, avoiding bumps, scratches, misoperation, etc. caused by manual boxing. In addition, the parts can be staggered according to needs, and staggered or non-staggered arrangement can be achieved within the specified range, which greatly improves the utilization rate of turnover boxes and saves manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the bottom-drawing material collecting device of the robot of the present invention.

[0018] Figure 2 It is a left side view of the bottom-drawing material collecting device of the robot of the present invention.

[0019] Figure 3 It is a top view of the bottom-drawing material collecting device of the robot of the present invention.

[0020] Figure 4 It is a three-dimensional diagram of the frame structure of the robot of the present invention.

[0021] Figure 5 It is a front view of the frame structure of the robot of the present invention.

[0022] Figure 6 It is a schematic diagram of the structure of the belt transmission component of the robot of the present invention.

[0023] Figure 7 It is a schematic diagram of the structure of the discharging power component of the robot of the present invention.

[0024] Figure 8 It is a left view of the partial structure of the discharging power component of the robot of the present invention.

[0025] Fig. 9 The figure is a front view of the bottom plate assembly of the robot of the present invention.

[0026] Fig.10 It is a left side view of the bottom plate assembly component of the robot of the present invention.

[0027] Fig.11 The figure is a top view of the bottom plate assembly of the robot of the present invention.

[0028] Fig.12 It is a top view of the power assembly frame of the robot of the present invention.

[0029] Fig.13It is a front view of the power assembly frame of the robot of the present invention.

[0030] Fig.14 It is a schematic structural diagram of the sprocket assembly bracket of the robot of the present invention.

[0031] Fig.15 It is a schematic diagram of the three-dimensional structure of the material sorting frame of the robot of the present invention.

[0032] Fig.16 It is a right side view of the material sorting frame of the robot of the present invention.

[0033] Fig.17 It is a schematic structural diagram of the driving sprocket assembly of the robot of the present invention.

[0034] Fig.18 It is a three-dimensional diagram of the structure of the pneumatic pusher assembly of the robot of the present invention.

[0035] Fig.19 This is a top view of the pneumatic pusher assembly structure of the robot of the present invention.

[0036] Fig. 20 It is a schematic structural diagram of the material blocking assembly of the robot of the present invention.

[0037] Fig.21 It is a front view of the staggered discharge cylinder assembly of the robot of the present invention.

[0038] Fig. 22 It is a left view of the staggered discharge cylinder assembly of the robot of the present invention.

[0039] Fig.23 It is a three-dimensional structural schematic diagram of the belt material stopper assembly of the robot of the present invention.

[0040] Fig.24 It is a front view of the box loading and turning device of the robot of the present invention.

[0041] Fig.25 It is a left side view of the box loading and turning device of the robot of the present invention.

[0042] Fig.26 It is a front view of the linear and rotary power components of the robot of the present invention.

[0043] Fig. 27 It is a top view of the linear and rotary power components of the robot of the present invention.

[0044] Fig.28 It is a front view of the fastening and flipping assembly of the robot of the present invention.

[0045] Fig.29 It is a left view of the fastening and flipping assembly of the robot of the present invention.

[0046] Fig.30It is a front view of the material support lifting device assembly of the robot of the present invention.

[0047] Fig.31 It is a top view of the material support lifter assembly of the robot of the present invention.

[0048] Fig.32 This is a front view of the flipping and positioning assembly of the robot of the present invention.

[0049] Fig.33 It is a left view of the flipping and positioning assembly of the robot of the present invention.

[0050] Fig.34 It is a schematic structural diagram of the fastening bracket of the robot of the present invention.

[0051] Fig.35 It is a schematic structural diagram of the protective cover of the robot of the present invention.

[0052] Fig.36 It is a schematic structural diagram of the fastening and flipping assembly and the material support and lifting device assembly of the robot of the present invention when there are no parts and no turnover boxes.

[0053] Fig.37 It is a schematic structural diagram of a fastening and flipping assembly and a material support and lifting device assembly when the robot of the present invention has parts and turnover boxes.

[0054] In the figure, 1, bottom-drawing material receiving device; 2, frame; 3, belt drive assembly; 4, material discharge power assembly; 5, bottom-drawing plate assembly; 6, pneumatic material pusher assembly; 7, material stopper assembly; 8, staggered material discharge cylinder assembly; 9, belt material stopper assembly; 10, linear and rotary power assembly; 11, fastening and flipping assembly; 12, material support lifter assembly; 13, box loading and flipping device; 201, belt motor fixing plate; 202, material discharge plate power mounting frame fixing plate; 203, belt conveyor fixing plate; 204, bottom-drawing plate power motor mounting plate; 205, bottom-drawing type material sorter assembly mounting fixing plate; 206, square tube 1; 207, material sorting frame fixing plate; 208, pneumatic material pusher fixing plate; 209, fixing plate; 210, nut 1; 211, upper bracket; 212, lower bracket; 213, screw; 301, square tube 2; 302, active roller; 303, driven roller; 304, synchronous pulley; 305, PVC conveyor belt; 401, power assembly frame; 401-1, connecting plate; 402, linear guide; 403, slider 1; 404, mounting plate A; 405, screw 1; 406, ball nut seat 1; 407, discharge cylinder bracket; 408, ball nut 1; 409, ball screw; 410, coupling 1; 411, servo motor; 412, servo motor seat; 413, mounting plate B; 414, bearing seat 1; 415, tapered roller bearing 1; 416, round nut 1; 417, discharge cylinder; 418, micro motion Switch connecting plate; 419, rotatable baffle assembly; 419-1, hinge plate A; 419-2, hinge plate B; 419-3, pin shaft; 419-4, square plate; 420, screw 2; 421, spring 1; 422, nut 2; 423, bearing 1; 424, end connecting plate; 425, support plate; 501, sprocket assembly bracket; 502, material sorting frame; 503, pull-out bottom plate; 504, driving sprocket assembly; 505, driven sprocket assembly; 506, pull-out bottom plate chain; 507, chain connecting block; 508, main chain; 509, pull-out bottom plate motor sprocket; 510, pull-out bottom plate motor; 511, anti-drop block; 551, reinforcement plate A , 552, square tube three; 553, steel plate; 554, square tube four; 555, reinforcement plate B; 556, square steel bar; 561, side plate; 562, rear plate; 563, mounting plate; 564, reinforcement rib; 565, front plate; 571, bearing two; 572, bracket plate B; 573, spacer; 574, bottom plate power sprocket; 575, spindle; 576, driving sprocket; 577, set screw ;601, push cylinder; 602, vertical hanging plate; 603, cylinder seat; 604, transition bent plate; 605, push plate; 606, proximity switch; 701, stop cylinder bracket; 702, stop cylinder; 703, stop plate; 704, screw three; 705, stop fixing plate; 801, installation base; 802, staggered cylinder; 803, staggered cylinder bracket; 804, baffle; 901, splint;902, long screw; 903, material blocking cylinder bracket; 904, pressure plate; 905, material blocking plate; 906, material blocking cylinder; 907, compensation cylinder; 908, compensation cylinder bracket; 1001, bed; 1002, linear slide rail; 1003, sliding plate; 1004, stepping motor 1; 1005, turning power motor; 1006, turning shaft; 1007, seat bearing 1; 1008, end flange; 1009, key block 1; 1 010, flip frame; 1011, slider 2; 1012, support leg; 1013, gear; 1014, rack; 1015, flip positioning assembly; 10151, guide sleeve; 10152, U-shaped pressure plate; 10153, movable positioning pin; 10154, fixed bracket; 10155, flip positioning cylinder; 10156, angle pressure plate; 10157, positioning plate; 1101, flip turning plate; 1102, fasten the bracket shaft; 11 03, key block 2; 1104, double-row sprocket; 1105, turnover box; 1106, buckle plate; 1107, spring 2; 1108, washer; 1109, fastening bracket; 1110, U-bolt; 1111, bearing seat 2; 1112, reduction motor; 1201, upper support plate of lifter; 1202, bearing 3; 1203, short shaft; 1204, compression spring; 1205, oblique support rod assembly; 1206, stepper motor 2; 1 207, coupling 2; 1208, round nut 2; 1209, tapered roller bearing 2; 1210, bearing seat 2; 1211, shield; 1212, lifter base; 1212-1, fixing block; 1212-2, long hole; 1213, ball screw; 1214, ball nut 2; 1215, stepper motor seat; 1216, intermediate shaft; 1217, split pin; 1218, ball nut seat 2; 1219, connecting shaft. ; DETAILED DESCRIPTION

[0055] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0056] like Figure 1 , 2As shown in Figure 3, a robot for automatically drawing out the bottom of parts, collecting materials, flipping and packing them into boxes comprises a bottom drawing and collecting device 1 and a boxing flipping device 13 used together. The bottom drawing and collecting device 1 comprises a frame 2, a belt transmission component 3, a material discharge power component 4, a bottom drawing plate assembly component 5, a pneumatic material pushing component 6, a material blocking component 7, a staggered material discharge cylinder component 8, and a belt material stopper component 9. The belt transmission component 3, the material discharge power component 4, the bottom drawing plate assembly component 5, and the belt material stopper component 9 are all fixed on the frame 2, the bottom drawing plate assembly component 5 is located on one side of the belt transmission component 3, and the pneumatic material pushing component 6 and the material blocking component 7 are all located above the belt transmission component 3. One end of the pneumatic pushing assembly 6 is connected to the belt drive assembly 3, and the other end is connected to the discharging power assembly 4, the blocking assembly 7 is connected to the discharging power assembly 4, the staggered discharging cylinder assembly 8 is connected to the end of the belt drive assembly 3, and the belt stopper assembly 9 is located above the middle of the belt drive assembly 3; the box loading and turning device 13 includes a linear and rotary power assembly 10, a fastening and turning assembly 11, and a material support lifter assembly 12. The linear and rotary power assembly 10 is connected to the fastening and turning assembly 11 through the end flange 1008, and the fastening and turning assembly 11 is connected to the material support lifter assembly 12, and the material support lifter assembly 12 is located below the bottom plate assembly 5.

[0057] The frame 2 is a support frame for all other parts of the bottom-drawing material receiving device 1, such as Figure 4 , 5 As shown, the frame 2 is composed of an upper bracket 211 and a lower bracket 212, which are connected in the middle by four screws 213 and 16 nuts 210. The level of the upper bracket 211 can be adjusted by adjusting the positions of the screws and nuts. The main body of the frame is welded with square tubes, and the upper bracket 211 is welded with parts connected to other parts, namely, a belt motor fixing plate 201, four discharge plate power mounting frame fixing plates 202, four belt conveyor fixing plates 203, a bottom plate power motor mounting plate 204, and two bottom-drawing type material sorter assembly mounting fixing plates 205.

[0058] The belt transmission assembly 3 includes a square tube 301, a driving roller 302, a driven roller 303, a synchronous pulley 304, and a PVC conveyor belt 305. Figure 6 As shown, the main structure is formed by two parallel square tubes 301 connected by a middle steel plate. The two ends of the square tube 301 are respectively connected with a driving roller 302 and a driven roller 303. One end of the driving roller 302 is connected with a synchronous pulley 304 through a flat key. Between the driving roller 302 and the driven roller 303 is a PVC conveyor belt 305. Furthermore, a long groove is fixed to the driven roller 303, which can adjust the tightness of the PVC conveyor belt 305. The side near one end of the driving roller is respectively welded with a material frame fixing plate 207 and a pneumatic pusher fixing plate 208 for fixing and connecting with other parts.

[0059] The discharge power assembly 4 includes a power assembly frame 401, a connecting plate 401-1, a linear guide 402, a slider 403, a mounting plate A part 404, a screw 405, a ball nut seat 406, a discharge cylinder bracket 407, a ball nut 408, a ball screw 409, a coupling 410, a servo motor 411, a servo motor seat 412, a mounting plate B part 413, a bearing seat 414, a tapered roller bearing 415, a round nut 416, a discharge cylinder 417, a micro switch connecting plate 418, a rotatable baffle assembly 419, a screw 420, a spring 421, a nut 422, a bearing 423, an end connecting plate 424, and a support plate 425. The structure is as follows: Figure 7 , 8 shown.

[0060] The powertrain frame 401 is welded from two parallel square tubes. Fig.12 , 13 As shown, four fixing plates 209 are welded therein, which are used to connect with the fixing plate 202 of the discharge plate power mounting frame of the frame to fix it on the frame. The lower ends of the two square tubes of the powertrain frame 401 are connected with a linear guide rail 402 by screws, and each guide rail is provided with a slider 403, and the slider 403 is connected with the mounting plate A part 404 by screws; the mounting plate A part 404, the ball nut seat 406, and the discharge cylinder bracket 407 are connected together by screws 405; the discharge cylinder bracket 407 is an "L"-shaped bent plate, and the discharge cylinder 417 is fixed by screws; the ball nut 408 and the ball screw 409 are a rotating pair, and the rotation of the ball screw 409 can drive the ball nut 408 to move forward and backward; the right end of the ball screw 409 is connected with the output shaft of the servo motor 411 by a coupling 410; the servo motor 411 is connected with the servo motor seat 412 by screws; the servo motor seat 412 is connected with the mounting plate B part 413 by screws; the mounting plate B part 413 is welded to the powertrain frame 401. The right end of the ball screw 409 and the connection between the motor are supported by a bearing seat 414; the bearing seat 414 contains two tapered roller bearings 415; the tapered roller bearings 414 are fixed to the ball screw 409 by two round nuts 416; the bearing seat 414 is fixed to the mounting plate B 413 by screws.

[0061] Furthermore, the end of the discharge cylinder 417 is connected to the micro switch connecting plate 418; the rotatable baffle assembly 419 is fixed by screws; further, the rotatable baffle assembly 419 is a hinge structure, including hinge plate A419-1, hinge plate B419-2, pin 419-3, and square plate 419-4, hinge plate B419-2 is connected to hinge plate A419-1 through pin 419-3, and hinge plate A419-1 and hinge plate B419-2 can rotate freely around the pin; square plate 419-4 is welded on hinge plate B419-2, and square plate 419-4 fixes screw 2 420 on hinge plate B419-2 through two nuts; the other end (top) of screw 2 420 is connected to the micro switch connecting plate The long hole on the connecting plate 418 can swing within a certain range; the spring 1 421 passes through the screw 2 420, the upper end presses the micro switch connecting plate 418, and the lower end is fixed by a nut 2 422. By adjusting the position of the nut 2 422, the spring elasticity can be adjusted, that is, the magnitude of the force of the hinge plate B419-2 rotating around the pin shaft can be adjusted; when the hinge plate B419-2 touches the parts, due to the certain force of the spring, the hinge plate B419-2 will not immediately rotate around the pin shaft 419-3. When a certain force is reached, the hinge plate B419-2 rotates around the pin shaft 419-3 to drive the screw 2 420 to swing within a certain range. When the displacement of the top of the screw 2 420 reaches a certain degree, the micro switch is triggered. The left end of the ball screw 409 passes through the bearing 1 423, and the bearing 1 423 is embedded in the end connecting plate 424; the end connecting plate 424 is fixed to the end faces of the two square tubes of the powertrain frame 401 by screws at both ends. The support plate 425 is connected to the end connecting plate 424 by screws, and the lower end thereof is used to connect to the material sorting frame 502 .

[0062] In this way, the working process of the discharging power component 4 is as follows: the servo motor 411 rotates through the coupling 410 to drive the ball screw 409 to rotate, and the rotational motion of the ball screw 409 is converted into the forward and backward motion of the ball nut 408, which is converted into the forward and backward motion of the discharging cylinder 417 through a series of fixed support connectors. The discharging cylinder 417 moves the parts from the front to the back through the end connector; especially the hinge plate B419-2 at the end of the discharging cylinder 417 has the function of adjusting the force and triggering the micro switch, which is convenient for the judgment and automatic control of the entire program.

[0063] The bottom plate assembly 5 includes a sprocket bracket 501, a material sorting frame 502, a bottom plate 503, a driving sprocket assembly 504, a driven sprocket assembly 505, a bottom plate chain 506, a chain connecting block 507, a main chain 508, a bottom plate motor sprocket 509, a bottom plate motor 510, and an anti-drop block 511. The structure is as follows Fig. 9 , 10 , as shown in 11.

[0064] The structure of the sprocket bracket 501 is as follows: Fig.14 As shown, it includes reinforcing plate A551, square tube 3 552, steel plate 553, square tube 4 554, reinforcing plate B555, and square steel bar 556. The two sides of the two square tubes 3 552 are welded with steel plates 553 and square tube 4 554 respectively. After the two sides of the square tube 4 554 are processed, two reinforcing plates A551 and two reinforcing plates B555 are welded at both ends respectively; square steel bar 556 is welded to the center of the front of the square tube 4 554; four holes are opened on the steel plate 553 for connecting with the bottom-drawing material sorter assembly mounting fixing plate 205, so that the sprocket group bracket 501 is fixed on the frame 2.

[0065] The structure of the material sorting frame 502 is as follows: Fig.15 , 16 As shown, the material sorting frame 502 includes side panels 561, a rear panel 562, a mounting plate 563, a reinforcing rib 564, and a front panel 565. The material sorting frame 502 is a rectangular structure with no bottom in the middle. Specifically, it is composed of two side panels 561, one front panel 565, one rear panel 562, one mounting plate 563, and two reinforcing ribs 564. The reinforcing ribs 564 are welded to the inside of the rear panel 562 and the mounting plate 563. A long hole is processed at the bottom of the side panel 561 for pulling the bottom panel 503 back and forth inside. The mounting plate 563 has three slots that connect with the material sorting frame fixing plate 207 (see FIG. 2 ) on the belt drive assembly 3. Figure 6 ) on the threaded holes, the material sorting frame 502 can be fixed on the belt drive assembly 3. Two holes are opened on the front plate 565 for connecting with the lower end of the support plate 425 of the material discharge power assembly 4, so that the front and rear ends of the material sorting frame 502 are supported to avoid supporting only one end to form a cantilever beam structure, which is easy to deform and sag over time.

[0066] The structure of the driving sprocket assembly 504 is as follows: Fig.17 The driving sprocket assembly 504 includes a bearing 2 571 , a bracket plate B 572 , a spacer 573 , a bottom plate power sprocket 574 , a main shaft 575 , a driving sprocket 576 , and a set screw 577 . A bottom plate power sprocket 574 and a driving sprocket 576 are sleeved on the driving shaft 575. Bearings 571 are provided on both sides of the bottom plate power sprocket 574. A spacer sleeve 573 is provided between the bearing 571 and the bottom plate power sprocket 574. The two bearings 571 are respectively embedded in the bracket plate B572; the two bracket plates B572 are respectively fixed to the two reinforcing plates A551 of the sprocket assembly bracket 501 by screws; the bottom plate power sprocket 574 is axially positioned by being sandwiched between the two bearings 571 and the spacer sleeve 573; the driving sprocket 576 is axially positioned by a set screw 577; the bottom plate power sprocket 574 and the driving sprocket 576 are both rotated synchronously with the rotation of the main shaft 575 through a flat key transmission.

[0067] The driven sprocket assembly 505 is similar in structure to the driving sprocket assembly 504, where the driven sprocket is clamped by two bearings and two spacers, and the bracket plate A for fixing the bearing is fixed on the reinforcing plate B555 on the sprocket assembly bracket 501. The difference is that the bracket plate A of the driven wheel has a long hole for adjusting the tightness of the chain, and there is no other redundant structure, which will not be described in detail.

[0068] The bottom plate chain 506 passes through the bottom plate power sprocket 574, the square steel bar 556 and the driven sprocket assembly 505 to be connected; the upper end of the chain connecting block 507 is connected to the bottom plate chain 506, and the lower end is connected to the pull-out bottom plate 503 by screws; the driving sprocket 576 is connected to the bottom plate motor sprocket 509 through the main chain 508; the bottom plate motor sprocket 509 is connected to the output shaft of the bottom plate motor 510 through a flat key; the bottom plate motor 510 is connected to the bottom plate power motor mounting plate 204 of the frame 2 by screws; the pull-out bottom plate 503 can just pass through the long strip holes of the two side plates 561 in the material sorting frame 502; the material sorting frame 502 is connected to the anti-slip block 511 by screws, and the anti-slip block 511 is used to prevent the pull-out bottom plate 503 from being completely separated from the material sorting frame 502 due to excessive movement displacement.

[0069] In this way, when the bottom plate motor 510 moves, it is transmitted to the active sprocket assembly 504 through the main chain 508, driving the bottom plate chain 506 to move left and right. The left and right movement of the bottom plate chain 506 is transmitted to the pull-out bottom plate 503 through the chain connecting block 507, causing the pull-out bottom plate 503 to move left and right, thereby realizing the opening and closing of the bottom of the material sorting frame 502.

[0070] The pneumatic pusher assembly 6 is used to push the parts that have reached the specified number on the belt conveyor into the material sorting frame 502 in a row. The specific structure includes a pusher cylinder 601, a vertical hanging plate 602, a cylinder seat 603, a transition bent plate 604, a pusher plate 605, and a proximity switch 606. Fig.18 , 19 The push cylinder 601 is installed on the upper end surface of the cylinder seat 603. The front end of the cylinder seat 603 is connected to the pneumatic pusher fixing plate 208 on the belt drive assembly 3, and the rear end is connected to the connecting plate 401-1 ( Figure 6 ) are fixed at the front and back to make the connection more secure. The output end of the push cylinder 601 is directly connected to the transition bent plate 604, and the transition bent plate 604 is directly connected to the push plate 605, and the fixing hole is a long hole, so that the front and back position of the push plate 605 can be adjusted; a proximity switch 606 is installed on the push plate 605 for counting.

[0071] The material blocking assembly 7 includes a material blocking cylinder bracket 701, a material blocking cylinder 702, a material blocking plate 703, a screw 704, and a material blocking fixing plate 705. Fig. 20The material blocking cylinder 702 is fixed on the material blocking cylinder bracket 701 , and the end of the material blocking cylinder 702 is connected to the material blocking plate 703 ; the material blocking assembly 7 is fixed to the material blocking fixing plate 705 on the power assembly frame 401 by screws 704 .

[0072] The material blocking assembly 7 and the pneumatic pushing assembly 6 are used in combination: the material blocking plate 703 is parallel to the pushing plate 605 of the pneumatic pushing assembly 6, and both are located above the belt drive assembly 3; the distance between the two plates can be adjusted by adjusting the position of the pushing plate 605, that is, the width of a part can just pass through; the belt drive assembly 3 transports the parts here, and the parts are neatly arranged in a row under the action of the two plates, and the detection count of the proximity switch 606 is passed. When the specified number of parts is reached, the material blocking plate 905 on the belt blocker assembly 9 is actuated to prevent the parts on the belt drive assembly 3 from entering; at the same time, the material blocking cylinder 702 is actuated to drive the material blocking plate 703 to rise. After the above two steps are completed, the pushing plate 605 can push the entire row of parts into the material sorting frame 502 without causing the parts to hit the material blocking plate 703.

[0073] The staggered discharge cylinder assembly 8 includes a mounting base 801, a staggered cylinder 802, a staggered cylinder bracket 803, and a baffle 804. Fig.21 , 22 As shown. The mounting base 801 is fixed to one end of the active roller 302 on the belt drive assembly 3, spanning the two parallel square tubes of the belt drive assembly 3; the staggered cylinder bracket 803 is an "L"-shaped bent plate, the lower end of which is connected to the mounting base 801, and the upper end is connected to the staggered cylinder 802, and the end of the staggered cylinder 802 is connected to the baffle 804; the entire staggered discharge cylinder assembly 8 is fixed to the end of the belt drive assembly 3. The push cylinder 601, the blocking cylinder 702, and the baffle connected to the staggered cylinder 802 form a "U"-shaped structure, and the middle of the "U" mouth passes through the entire row of parts, and the bottom of the "U" corresponds to the baffle 804 connected to the staggered cylinder 802.

[0074] The belt material blocking device assembly 9 includes a clamping plate 901, a long screw 902, a material blocking cylinder bracket 903, a pressure plate 904, a material blocking plate 905, a material blocking cylinder 906, a compensation cylinder 907, and a compensation cylinder bracket 908. The structure is as follows: Fig.23 The clamping plate 901, the long screw 902 and the nut cooperate to clamp the material blocking cylinder bracket 903 on the square tube 206, the material blocking cylinder bracket 903 is connected to the material blocking cylinder 906, the end of the material blocking cylinder 906 is connected to the compensation cylinder bracket 908, the compensation cylinder bracket 908 is connected to the compensation cylinder 907, and the end of the compensation cylinder 907 is connected to the material blocking plate 905 through the pressing plate 904; the compensation cylinder 9070 is used in conjunction with the staggered cylinder 802 for staggered discharge.

[0075] like Fig.24 , 25As shown, the linear and rotary power assembly 10 is the base of the box loading and flipping device 13, which is responsible for moving the fastening and flipping assembly 11 and the material support lifter assembly 12 linearly and horizontally from one position (loading position) to another position (discharging position), and at the same time provides power and support for the flipping movement of the fastening and flipping assembly 11.

[0076] like Fig.26 , 27 As shown, the linear and rotary power assembly 10 includes a bed 1001, a linear slide rail 1002, a sliding plate 1003, a stepper motor 1004, a flip power motor 1005, a flip shaft 1006, a seat bearing 1007, an end flange 1008, a key block 1009, a flip frame 1010, a slider 1011, a leg 1012, a gear 1013, a rack 1014, and a flip positioning assembly 1015. The bed 1001 is a welded part, connected to the legs 1012 by bolts and nuts, and the level of the bed 1001 can be easily adjusted by adjusting the bolts and nuts; the bed 1001 is connected to two parallel linear slide rails 1002 by bolts, and each slide rail is equipped with two sliders 1011; the rack 1014 is connected to the bed 1001 by screws, parallel to the linear slide rails 1002 and located between the two linear slide rails; the sliding plate 1003 is connected to the four sliders by screws On the second 1011; the sliding plate 1003 is provided with a straight opening and a motor connecting hole for connecting a stepper motor 1004; the end of the stepper motor 1004 shaft is connected with a gear 1013, and the gear 1013 is engaged with the rack 1014; when the stepper motor 1004 moves, the gear 1013 is engaged with the rack 1014. Since the rack is fixed, according to the principle of relative motion, the stepper motor 1004 drives the sliding plate 1003 to move along the linear guide rail 1002. A flip frame 1010 is welded on the sliding plate 1003, which is used to fix the flip power motor 1005 and the flip positioning assembly 1015; the flip power motor 1005 is connected to the flip shaft 1006 through a key block, and the flip shaft 1006 is further fixed and supported by a seat bearing 1007; the end of the flip shaft 1006 is connected to the end flange 1008 through a key block 1009, so that the flip power motor 1005 will transmit power to the end flange 1008 when it moves.

[0077] The flip positioning assembly 1015 is used to accurately locate the flip position, and its structure is as follows: Fig.32 , 33As shown, the flip positioning assembly 1015 includes a guide sleeve 10151, a U-shaped pressure plate 10152, a movable positioning pin 10153, a fixed bracket 10154, a flip positioning cylinder 10155, an angle pressure plate 10156, and a positioning plate 10157. The flip shaft 1006 has a section of structure that is a "square structure" rather than a circular structure, and the opening at the end of the positioning plate 10157 is also a square hole. Through this structure, the positioning plate 10157 can be inserted into the "square structure" of the flip shaft 1006, and can be fixed on the flip shaft 1006, and rotate synchronously with the flip shaft 1006. The angle pressure plate 10156 is connected to the positioning plate 10157 by screws, and is used to firmly fix the flip shaft 1006 and the positioning plate 10157 together; the fixed bracket 10154 is fixed to the flip frame 1010 by screws, and the flip positioning cylinder 10155 is fixed to the fixed bracket 10154 by screws; the end of the movable positioning pin 10153 is threaded and screwed into the end of the flip positioning cylinder 10155, and is fixed and guided by the guide sleeve 10151 and the U-shaped pressure plate 10152. The end of the movable positioning pin 10153 is a conical structure, and there is a conical hole in the positioning plate 10157. When the flip shaft 1006 is roughly positioned and rotated to a certain position, the positioning plate 10157 is also driven to rotate to a certain position. At this time, the flip positioning cylinder 10155 is activated, driving the movable positioning pin 10153 to extend and extend into the conical hole of the positioning plate 10157, thereby achieving precise positioning.

[0078] The fastening and flipping assembly 11 is connected to the linear and rotary power assembly 10 through the end flange 1008. Its function is to press the turnover box upside down on the lifting platform and flip it 180 degrees so that the front side of the turnover box faces upward for the subsequent process or steps.

[0079] The fastening and flipping assembly 11 includes a flipping bend plate 1101, a fastening bracket shaft 1102, a key block 1103, a double-row sprocket 1104, a turnover box 1105, a buckle plate 1106, a spring 1107, a washer 1108, a fastening bracket 1109, a U-bolt 1110, a seat bearing 1111, and a reduction motor 1112. Fig.28 , 29As shown. The turning bend 1101 is an "L"-shaped wide bend plate, which is the support of the entire fastening and flipping assembly 11. The upper end is connected to the end flange 1008 by screws, and the plane of the lower end is connected to the lifter base 1212 by four screws. The two ends of the fastening bracket shaft 1102 are supported by a disk bearing seat 1111; the bearing seat 1111 is fixed to one end of the lifter base 1212 by screws; the middle part of the fastening bracket shaft 1102 is connected to the double-row sprocket 1104 by key block 1103; the fastening bracket shaft 1102 is connected to the fastening bracket 1109 by U-bolts 1110, and the U-bolts 1110 are located on the inner side of the bearing seat 1111; the fastening bracket 1109 is an inverted "L"-shaped welded rib plate, and its structure is as shown Fig.34 As shown; the fastening bracket 1109 is connected to the buckle plate 1106 by screws, spring 1107 and washer 1108; the reduction motor 1112 is connected to the lifter base 1212 by screws, and the end is connected with a double-row sprocket 1104, so that the reduction motor 1112 transmits power to the sprocket on the fastening bracket shaft 1102 through the double-row sprocket 1104 and the chain, driving the fastening bracket shaft 1102 to rotate, and the fastening bracket 1109 and buckle plate 1106 on the fastening bracket shaft 1102 move accordingly, so that the buckle plate 1106 buckles the bottom of the turnover box 1105.

[0080] The support lift assembly 12 is used to hold parts of a specified number of layers. The support lift assembly 12 includes a lift upper support plate 1201, a bearing three 1202, a short shaft 1203, a compression spring 1204, an inclined support rod assembly 1205, a stepper motor two 1206, a coupling two 1207, a round nut two 1208, a tapered roller bearing two 1209, a bearing seat two 1210, a shield 1211, a lift base 1212, a fixing block 1212-1, a long hole 1212-2, a ball screw 1213, a ball nut two 1214, a stepper motor seat 1215, an intermediate shaft 1216, a cotter pin 1217, a ball nut seat two 1218, and a connecting shaft 1219. The structure is as follows: Fig.30 , 31 shown.

[0081] The lifter base 1211 has been introduced to be fixed on the turning plate 1101 and will not be described in detail. The lifter base 1211 is welded with two pairs of weldment fixing blocks 1212-1 for fixing the oblique support rod assembly 1205, one pair of which has circular holes, and the other pair of which has long holes 1212-2. The structure of the oblique support rod assembly 1205 is similar to that of a "scissors", consisting of two steel plates, with a pin connected in the middle for free rotation, one of the two ends below is fixed in a fixed block 1212-1, the fixed block 1212-1 contains a bearing 3 1202, a short shaft 1203 is arranged in the bearing 3 1202, the lower end of the oblique support rod assembly 1205 is rotatably connected to the fixed block 1212-1 through the short shaft 1203, and the two ends of the short shaft 1203 are fixed by a cotter pin 1217; in this way, one end of the oblique support rod assembly 1205 is fixed in the fixed block 1212-1 and can rotate freely. The other end of the lower end of the oblique support rod assembly 1205 is fixed on the fixed block 1212-1 with a long hole 1212-2 in the same way, and the oblique support rod assembly 1205 can move back and forth in the long hole 1212-2. The two ends of the upper end of the oblique support rod assembly 1205 are fixed on the upper support plate 1201 of the lifter in the same manner, and the direction of the circular hole or the elongated hole is consistent with that of the lower end. The two oblique support rod assemblies 1205 are connected by an intermediate shaft 1216 in the middle; the two ends of the two oblique support rod assemblies 1205 are fixed in the long hole 1212-2 and are connected by a connecting shaft 1219; the two connecting shafts 1219 are fixed to the two ends of the ball nut seat 1218 by screws; the ball nut seat 1218 is fixed to the ball nut 1214 by screws and stoppers, and the ball nut 1214 and the ball screw 1213 are a rotating pair. The rotation of the ball screw 1213 can drive the ball nut 1214 to move forward and backward, and then drive the connecting shaft 1219 to move forward and backward, and then drive the oblique support rod assembly 1205 to move up and down, and then drive the upper support plate 1201 of the lifter to move up and down; the ball screw 1213 is fixed to the input of the stepper motor 1206 through the coupling 1207. The output shaft; the stepper motor 1206 is fixed to the stepper motor seat 1215 by screws; the stepper motor seat 1215 is fixed to the lifter base 1212 by screws; the ball screw 1213 is supported and fixed by the tapered roller bearing 1209 and the bearing seat 1210 at one end close to the motor, and the round nut 1208 is used to lock the position of the ball screw 1213 and the tapered roller bearing 1209; the bearing seat 1210 is fixed to the lifter base 1212 by screws; when the upper support plate 1201 of the lifter is at the lowest position and starts, the force is relatively large, and the compression spring 1204 is fixed to the fixed block 1212-1, which can provide a certain auxiliary force for starting at the lowest position; there is a protective cover 1211 on the outside of the entire lifter to cover the upper support plate 1201 of the lifter, and the protective cover structure is as follows Fig.35As shown, it is fixed on the lifter base 1212 by screws. The structure of the fastening flip assembly and the support lifter assembly with or without the parts turnover box is as shown in FIG. Fig.36 , 37 shown.

[0082] The parts enter the narrow space between the baffle plate 703 and the push plate 605 of the pneumatic pushing assembly through the belt drive assembly 3, are blocked by the end baffle plate 804, and are counted by the front proximity switch 606. When the counting requirement set by the program is reached, the front end baffle plate 905 of the belt drive assembly 3 blocks the parts that continue to come in, and the belt drive assembly 3 stops running at the same time to prepare for the next pushing; at this time, the baffle plate 703, the push plate 605, the baffle plate 804, and the baffle plate 905 form a narrow rectangle, the baffle plate 703 and the push plate 605 are the long sides of the rectangle, the baffle plate 804 and the baffle plate 905 are the short sides of the rectangle, and the parts are located inside the rectangle.

[0083] The next action is pushing the material, and the steps are as follows: the baffle plate 703 is lifted, and the push plate 605 pushes the parts in the rectangle forward onto the rear plate 562 of the material sorting frame 502, then the push plate 605 is retracted, the baffle plate 703 falls, the blocking plate 905 is retracted, and the belt drive assembly 3 continues to operate to transport the parts into the rectangular cavity; the material is pushed for the second row until a layer is full; if staggered discharge is not required at this time, the material pushing steps are the same as the first pushing process, and if a second row of staggered discharge is required, the two short side baffles 804 of the rectangle and the blocking plate 905 are moved forward in parallel by half the diameter of the part, wherein the left and right movement of the baffle 804 is completed by the staggered cylinder 802, and the left and right movement of the blocking plate 905 is completed by the compensation cylinder 907.

[0084] Next is the material discharge. At this time, the bottom of the material sorting frame 502 is supported by the pull-out bottom plate 503. The whole row of parts on the rear plate 562 of the material sorting frame 502 is transported to the front plate 565 at the front end of the material sorting frame 502 by the material discharge power assembly 4. The specific steps are as follows: the rotatable baffle assembly 419 is driven by the servo motor 411 and the ball screw 409 to the top of the whole row of parts just pushed out by the rear plate 562 of the material sorting frame, and then the material discharge cylinder 417 is actuated, and the rotatable baffle assembly 419 falls to block the rear of the whole row of parts, and the servo motor 411 drives the ball screw 409 to move forward ( That is, close to the front plate 565 of the material sorting frame), the rotatable baffle assembly 419 drives the entire row of parts to move forward. When it hits the front plate 565 (or the front row is full of parts), the micro switch is triggered, and the forward movement of the material discharging stops immediately. At the same time, after moving backward for a certain distance, the material discharging cylinder 417 is reset, and the rotatable baffle assembly 419 rises to its original position (the reason for running backward for a certain distance is to avoid the rotatable baffle assembly 419 from carrying up the arranged parts when it rises), and the servo motor drives the rotatable baffle assembly 419 to return to its original position, waiting for the next material discharging; this cycle is repeated.

[0085] When the parts in the material sorting frame are full, it is necessary to pull out the bottom plate, that is, to pull out the bottom plate assembly. The process is as follows: when the last row of parts is pushed out, the discharging cylinder 417 is actuated, and the rotatable baffle assembly 419 falls down, covering the entire layer of parts together with the side plate 561 and the front plate 565 of the material sorting frame; the bottom plate 503 is pulled out and slowly empties the bottom of the material sorting frame under the action of the bottom plate pulling motor 510. At this time, the entire layer of parts falls onto the upper support plate 1201 of the lifter of the support lifter assembly 12, and the upper support plate 1201 of the lifter falls down by a part height, and the pulled bottom plate 503 is reset. The new discharging process repeats the above steps to continue. When the specified number of layers is reached, the lifting platform will transport it out for post-processing such as boxing and palletizing.

[0086] When the fastening bracket 1109 is open and the material support and lifting device assembly 12 is at the upper end (flipped back to the normal position), the linear and rotary power assembly 10 moves the fastening and flipping assembly 11 and the material support and lifting device assembly 12 to the working loading position through the drive of the stepper motor 1004. The whole layer of parts falls onto the upper pallet 1201 of the lifter through the bottom-drawing receiving device 1. The upper pallet 1201 of the lifter is precisely controlled by the stepper motor 1206 to drop the height of a part. When the set number of layers is reached, the linear and rotary power assembly 13 drives the material support and lifting device 12 to the discharge position (a position where it can be safely flipped) through the drive of the stepper motor 1004. The empty box containing the parts is turned upside down on the shield 1211 of the material support and lifting device 12 through other devices. Then the fastening bracket 1109 drives the buckle plate 1106 to press the bottom of the box. At the same time, the upper pallet 1201 of the lifter rises to a part height to put the turnover box The parts inside are pressed down (to prevent the parts inside from scattering or overturning when flipping), and then the flipping power motor 1005 drives the fastening flipping assembly 11 to flip 180°, so that the box and the parts inside are in the forward position, and the box full of parts is received by another device, and then the fastening bracket 1109 is opened. After another device takes the full box of parts to a safe position, the flipping power motor 1005 drives the fastening flipping assembly 11 to return to the forward position (reverse 180 degrees to restore the previous position), and after confirming the return to the forward position (the flip positioning assembly 1015 works), the linear and rotary power assembly 10 returns to the receiving position again, and so on. The box loading flipping device 13 has been working in a program cycle to achieve the purpose of automatic and accurate boxing after the parts are ground, saving labor, improving work efficiency, and ensuring product quality.

[0087] The present invention is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the enlightenment of the present invention, and all those having the same or similar technical solutions as the present invention fall within the protection scope of the present invention.

[0088] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. A robot for automatically extracting parts from the bottom, collecting materials, flipping and packing them into boxes, characterized in that: The present invention relates to a box loading and unloading device, wherein the box loading and unloading device comprises a bottom-drawing and receiving device and a box loading and unloading device. The bottom-drawing and receiving device comprises a frame, a belt transmission component, a discharging power component, a bottom-drawing plate assembly component, a pneumatic material pushing component, a material blocking component, a staggered discharging cylinder component and a belt material blocking device component. The belt transmission component, the discharging power component, the bottom-drawing plate assembly component and the belt material blocking device component are all fixed on the frame, the bottom-drawing plate assembly component is located on one side of the belt transmission component, the pneumatic material pushing component and the material blocking component are both located above the belt transmission component, one end of the pneumatic material pushing component is connected to the belt transmission component, and the other end is connected to the discharging power component, the material blocking component is connected to the discharging power component, the staggered discharging cylinder component is connected to the end of the belt transmission component, and the belt material blocking component is located above the middle of the belt transmission component; the box loading and unloading device comprises a linear and rotary power component, a fastening and unloading component and a material supporting lifter component. The linear and rotary power component is connected to the fastening and unloading component through an end flange, the fastening and unloading component is connected to the material supporting lifter component, and the material supporting lifter component is located below the bottom-drawing plate assembly component; The belt drive assembly includes a square tube II, a driving roller, a driven roller, a synchronous pulley, and a PVC conveyor belt. There are two square tube IIs, which are arranged in parallel. The two square tube IIs are connected by an intermediate steel plate. The two ends of the two square tube IIs are respectively connected to a driving roller and a driven roller. One end of the driving roller is connected to the synchronous pulley through a flat key. A PVC conveyor belt is connected between the driving roller and the driven roller. A material sorting frame fixing plate and a pneumatic pusher fixing plate are respectively welded on the side near one end of the driving roller. The discharging power assembly comprises a power assembly frame, a connecting plate, a linear guide, a slider, a mounting plate A, a ball nut seat, a discharging cylinder bracket, a ball nut, a ball screw, a coupling, a servo motor, a servo motor seat, a mounting plate B, a bearing seat, a tapered roller bearing, a round nut, a discharging cylinder, a micro switch connecting plate, a rotatable baffle assembly, a spring, a bearing, an end connecting plate, and a support plate. Two linear guides are fixed to the bottom of the power assembly frame, and the linear guides are connected to the mounting plate A through a slider. A ball nut seat is fixed above the mounting plate A, and a ball nut is arranged on the ball nut seat. The ball nut and the ball screw are a rotating pair. The rotation of the ball screw can drive the ball nut to move forward and backward. The right end of the ball screw is connected to the output shaft of the servo motor through a coupling. The servo motor is arranged on the servo On the motor seat, the servo motor seat is connected to the mounting plate B; the mounting plate B is fixed on the power assembly frame, and the connection between the right end of the ball screw and the servo motor is supported by a bearing seat; the bearing seat contains two tapered roller bearings; the tapered roller bearing is fixed to the ball screw by two round nuts; the bearing seat is fixed to the mounting plate B, and the left end of the ball screw passes through the bearing, and the bearing is embedded in the end connecting plate; the end connecting plate is fixed to the power assembly frame, the lower part of the end connecting plate is connected to the support plate, and the lower end of the support plate is connected to the bottom plate assembly component; a discharge cylinder bracket is fixed under the mounting plate A, and a discharge cylinder is connected to the lower part of the discharge cylinder bracket, and the end of the discharge cylinder is connected to a micro switch connecting plate, and the micro switch connecting plate is connected to a rotatable baffle assembly through screws, and a spring is also connected between the micro switch connecting plate and the rotatable baffle assembly.

2. The robot for automatically drawing parts, collecting materials, flipping and packing them into boxes as claimed in claim 1 is characterized in that: The bottom plate assembly component comprises a sprocket group bracket, a material sorting frame, a pull-out bottom plate, a driving sprocket assembly, a driven sprocket assembly, a pull-out bottom plate chain, a chain connecting block, a main chain, a pull-out bottom plate motor sprocket, a pull-out bottom plate motor, and an anti-slip block. The sprocket group bracket is fixed on the frame, the sprocket group bracket is connected to the material sorting frame, the rear end of the material sorting frame is connected to the belt drive assembly, the front end of the material sorting frame is connected to the discharge power assembly, a pull-out bottom plate is provided at the bottom of the material sorting frame, the sprocket group bracket is provided with a driving sprocket assembly and a driven sprocket assembly, the driving sprocket assembly is connected to the pull-out bottom plate motor sprocket through the main chain, the pull-out bottom plate motor sprocket is connected to the output shaft of the pull-out bottom plate motor through a flat key, the pull-out bottom plate motor is fixed on the frame, the pull-out bottom plate chain passes through the driving sprocket assembly and is connected to the driven sprocket assembly, the upper end of the chain connecting block is connected to the pull-out bottom plate chain, and the lower end of the chain connecting block is connected to the pull-out bottom plate, and the material sorting frame is provided with a slip-off block for preventing the anti-pull-out bottom plate from completely separating from the material sorting frame.

3. The robot for automatically drawing parts from the bottom, collecting materials, flipping and packing in boxes as claimed in claim 1 is characterized in that: The pneumatic pushing assembly includes a pushing cylinder, a vertical hanging plate, a cylinder seat, a transition bent plate, a pushing plate, and a proximity switch. The pushing cylinder is installed on the upper end surface of the cylinder seat, the front end of the cylinder seat is connected to the belt drive assembly, and the rear end is connected to the power assembly frame of the discharge power assembly through the vertical hanging plate. The output end of the pushing cylinder is connected to the transition bent plate, the transition bent plate is connected to the pushing plate, and the proximity switch is installed on the pushing plate.

4. The robot for automatically drawing parts, collecting materials, flipping and packing them into boxes as claimed in claim 1, characterized in that: The material blocking assembly includes a material blocking cylinder bracket, a material blocking cylinder, a material blocking plate, screws, and a material blocking fixing plate. The material blocking cylinder is installed and fixed on the material blocking cylinder bracket. The end of the material blocking cylinder is connected to the material blocking plate. The material blocking fixing plate is arranged on the power assembly frame of the material discharging power assembly. The material blocking assembly is fixed to the material blocking fixing plate by screws. The material blocking plate is parallel to the push plate of the pneumatic push assembly and is located above the belt drive assembly. The staggered discharge cylinder assembly includes a mounting base, a staggered cylinder, a staggered cylinder bracket, and a baffle. The mounting base is fixed to one end of the active roller on the belt drive assembly. The lower end of the staggered cylinder bracket is connected to the mounting base, and the upper end is connected to the staggered cylinder. The end of the staggered cylinder is connected to the baffle.

5. The robot for automatically drawing parts, collecting materials, flipping and packing in boxes as claimed in claim 1 is characterized in that: The belt material stopper assembly includes a splint, a long screw, a material stopper cylinder bracket, a pressure plate, a material stopper plate, a material stopper cylinder, a compensation cylinder, and a compensation cylinder bracket. The splint, long screws and nuts cooperate to fix the material stopper cylinder bracket on the frame. The material stopper cylinder bracket is connected to the material stopper cylinder, the end of the material stopper cylinder is connected to the compensation cylinder bracket, the compensation cylinder bracket is connected to the compensation cylinder, and the end of the compensation cylinder is connected to the material stopper plate through the pressure plate.

6. The robot for automatically drawing parts, collecting materials, flipping and packing in boxes as claimed in claim 1, characterized in that: The linear and rotary power assembly includes a bed, a linear slide, a sliding plate, a stepper motor 1, a flip power motor, a flip shaft, a seat bearing 1, an end flange, a key block 1, a flip frame, a slider 2, a leg, a gear, a rack, and a flip positioning assembly. Legs are provided at the bottom of the bed. The bed is connected to two parallel linear slides by bolts, and each linear slide is equipped with two sliders 2; the rack is connected to the bed by screws, parallel to the linear slides and located between the two linear slides; the sliding plate is connected to the four sliders 2; a straight mouth and a motor connection hole are opened on the sliding plate for connecting a stepper motor 1; a gear is connected to the end of the stepper motor shaft, and the gear is meshed with the rack; a flip frame is welded on the sliding plate for fixing the flip power motor and the flip positioning assembly; the flip power motor is connected to the flip shaft through the key block, and the flip shaft is further fixed and supported by a seat bearing 1; the end of the flip shaft is connected to the end flange through the key block 1.

7. The robot for automatically drawing parts from the bottom, collecting materials, flipping and packing in boxes as claimed in claim 1, characterized in that: The fastening and flipping assembly includes a turning plate, a fastening bracket shaft, two key blocks, a double-row sprocket, a turnover box, a buckle plate, two springs, a washer, a fastening bracket, a U-bolt, two seat bearings, and a reduction motor. The upper end of the turning plate is connected to the end flange on the linear and rotary power assembly by screws, and the lower end is connected to the elevator base on the support elevator assembly. Both ends of the fastening bracket shaft are supported by two seat bearings; the two seat bearings are fixed at one end of the elevator base; the middle part of the fastening bracket shaft is connected to the double-row sprocket through two key blocks; the fastening bracket shaft is connected to the fastening bracket through U-bolts, and the U-bolts are located on the inner side of the two seat bearings; the fastening bracket is an inverted "L"-shaped welded rib plate, and the fastening bracket is connected to the buckle plate through screws, two springs, and washers; the reduction motor is connected to the elevator base through screws, and the end of the reduction motor is connected to the double-row sprocket.

8. The robot for automatically drawing parts, collecting materials, flipping and packing in boxes as claimed in claim 1, characterized in that: The material support lifting device assembly includes an upper support plate of the lifter, three bearings, a short shaft, a compression spring, an oblique support rod assembly, two stepper motors, two couplings, two round nuts, two tapered roller bearings, two bearing seats, a shield, a lifter base, a fixed block, an elongated hole, a ball screw, two ball nuts, a stepper motor seat, an intermediate shaft, a cotter pin, two ball nut seats, and a connecting shaft. Two pairs of fixed blocks are provided on the lifter base, one pair of fixed blocks is provided with a circular hole, and the other pair of fixed blocks is provided with an elongated hole. The oblique support rod assembly is composed of two groups of cross steel plates, one of the two ends below is fixed in the fixed block, a three bearing is provided in the fixed block, a short shaft is provided in the three bearings, the lower end of the oblique support rod assembly is rotatably connected to the fixed block through the short shaft, and the two ends of the short shaft are fixed by cotter pins; the other end of the lower end of the oblique support rod assembly is fixed to the fixed block with the elongated hole in the same way, the oblique support rod assembly can move back and forth in the elongated hole, and the upper end of the oblique support rod assembly is fixed by the fixed block in the same way On the upper support plate of the lifter, the middle of the two groups of oblique support rod assemblies are connected by an intermediate shaft; the two ends of the two groups of oblique support rod assemblies fixed in the long strip hole are connected by a connecting shaft; the connecting shaft is fixed to the two ends of the ball nut seat 2 by screws; the ball nut seat 2 is fixed to the ball nut 2 by screws and stoppers, the ball nut 2 and the ball screw are a rotating pair, the rotation of the ball screw can drive the ball nut 2 to move back and forth, and the ball screw is fixed to the output shaft of the stepper motor 2 by the coupling 2; the stepper motor 2 is fixed to the stepper motor seat, the stepper motor seat is fixed to the lifter base, the ball screw is close to the stepper motor 2. One end is supported and fixed by the tapered roller bearing 2 and the bearing seat 2, and the round nut 2 is used to lock the position of the ball screw and the tapered roller bearing 2; the bearing seat 2 is fixed to the lifter base, and a compression spring is connected between the fixed block on the upper support plate of the lifter and the fixed block on the lifter base, and a shield is arranged around the upper support plate of the lifter, and the shield is fixed to the lifter base by screws.

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