Robot palletizing and depalletizing fixture for anti-theft doors of multiple specifications

Abstract

The present invention discloses a robot palletizing and depalletizing fixture for anti-theft doors of multiple specifications, which includes a support frame, a robot motion axis connected to the support frame, a slide rail provided on the support frame, a slider slidably connected to the slide rail, a rotary clamping device provided in the support frame and used for clamping the anti-theft door, and a driving device connected to the rotary clamping device and used for controlling the linear motion of the rotary clamping device. The beneficial effects of the present invention are that the robot palletizing and depalletizing fixture has a simple structure. By adjusting the moving distances of two nuts in the driving device on the left-handed screw rod and the right-handed screw rod, the rotary clamping device can be used for products of multiple specifications. At the same time, although the present invention mainly states that the robot palletizing and depalletizing fixture is used for anti-theft doors, it can also be used for workpieces with special-shaped frames, with strong practicability, high automation degree, reduced labor intensity of workers, and improved work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of clamps, in particular to a robot stacking and disassembling clamp for multi-specification anti-theft doors. Background Art

[0002] As people's awareness of safety precautions is gradually strengthened, anti-theft doors, as the first threshold of family anti-theft, are used by more and more families in life. Therefore, the demand for anti-theft doors is also growing rapidly. Anti-theft doors are undergoing tremendous changes in the development process. For example: the material has developed from iron doors, steel doors, aluminum alloy doors to stainless steel doors and copper doors. The appearance has developed from ordinary doors, European doors, wide-edge doors to the current decorative doors, etc. The lines, surfaces and overall structure of anti-theft doors are also constantly innovating; from the current production status of anti-theft door manufacturers, a large amount of labor is required when transporting anti-theft doors, and this is heavy physical work with high labor intensity, high repetitiveness, low technical content and relatively poor working environment. These factors have led to difficulties in recruiting workers for enterprises, and more and more young people are unwilling to engage in such work. Therefore, it is of great significance to apply automated equipment to the production process of anti-theft doors. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned problem and to design a robot palletizing and stacking fixture for multi-specification anti-theft doors.

[0004] The technical solution of the present invention to achieve the above-mentioned purpose is a robot palletizing and stacking fixture for multi-specification anti-theft doors, comprising a support frame, a robot motion axis connected to the support frame, a slide rail arranged on the support frame, and a slider slidably connected to the slide rail, characterized in that it also includes:

[0005] A rotating clamping device, arranged in the supporting frame, for clamping the anti-theft door;

[0006] A driving device is connected to the rotating clamping device and is used to control the linear motion of the rotating clamping device.

[0007] As a further explanation of the present invention, the rotary clamping device includes a sliding plate connected to the slider, a first linear cylinder and a second linear cylinder arranged on the sliding plate from top to bottom, a rotary clamping cylinder arranged on one side of the second linear cylinder, a lower pressure plate arranged at the extended end of the first linear cylinder, a hook claw arranged at the extended end of the second linear cylinder, a clamping claw arranged at the extended end of the rotary clamping cylinder, and polyurethane pads respectively arranged on the lower pressure plate, the hook claw and the clamping claw.

[0008] As a further description of the present invention, the sliding plate is in a stepped shape, a groove in the shape of a square is provided on the sliding plate, the hook claw is in a convex shape, and the clamping claw is in an L shape.

[0009] As a further explanation of the present invention, the driving device includes a servo motor connected to the support frame, a worm gear reducer connected to the shaft of the servo motor, a left-handed screw and a right-handed screw respectively connected to the worm gear reducer, a left-handed nut sleeved on the left-handed screw, a right-handed nut sleeved on the right-handed screw, a bearing with a seat sleeved on the left-handed screw and the right-handed screw respectively, a support seat connected to the support frame, and connecting parts respectively arranged on the left-handed nut and the right-handed nut, wherein the left-handed screw and the screw are located on the same straight line.

[0010] As a further explanation of the present invention, the servo motor is located between the two support seats, the seat bearings are respectively located at one end of the left-handed screw and the right-handed screw away from the worm gear reducer, the support seat and the seat bearings are connected, and the left-handed nut and the right-handed nut are both located between the seat bearings and the worm gear reducer.

[0011] As a further description of the present invention, the connecting member is T-shaped, and both ends of the horizontal part of the connecting member are connected to the rotating clamping device.

[0012] The beneficial effect is that the present invention is mainly used for grabbing the finished packaged anti-theft doors, and for disassembling or stacking the anti-theft doors. Since the wide sides of the anti-theft doors are flat and there are frames on the long sides, if the anti-theft doors are grabbed by clamping the wide sides on both sides, the overall size requirements of the clamp are very large, and the range of automatic adjustment will also be very large, which will lead to high load requirements for the mechanical structures of various parts, increase manufacturing costs and risk factors. Therefore, the present invention adopts four sets of rotating clamping devices to first grab the frames on both sides of the long sides of the anti-theft doors, and then rotate the clamping claws to the bottom of the anti-theft doors through the rotating clamping cylinder, and then use the first linear cylinder to press the lower plate Press down and contact the security door. The first linear cylinder and the second linear cylinder continue to extend downward together, so that the security door falls between the polyurethane pads of the lower pressure plate and the clamping claws, and clamps the upper and lower sides of the security door. At this time, the security door is placed horizontally. It can also be rotated 90 degrees and placed vertically through the robot motion axis according to needs. By arranging polyurethane pads on the lower pressure plate, the clamping claws and the hook claws, they can prevent them from causing damage to the security door when they contact it. During the rotation process, the clamping air pressure of the cylinder is controlled to ensure that the security door will not slide after being placed vertically, thereby ensuring the safety and reliability of the entire automated operation process;

[0013] Although the robot depalletizing and stacking fixture provided by the present invention has a simple structure, the control system automatically adjusts the movement distance of the two nuts in the driving device on the left-handed screw and the right-handed screw, so that the rotary clamping device can be used for products of different widths. Three cylinders are respectively provided in the four groups of rotary clamping devices, and the two states of the cylinders can be switched by the solenoid valve so that the rotary clamping device can clamp products of different thicknesses. Although the present invention mainly says that the robot depalletizing and stacking fixture is used for anti-theft doors, it is also used for workpieces with heterogeneous frames, especially for positions with high labor intensity, high risk factor and repetitive operations. The robot depalletizing and stacking fixture can be used to solve the problem of shortage of human resources and improve production efficiency, and at the same time, it can also improve the degree of automation and market competitiveness of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention;

[0015] Figure 2 It is a structural schematic diagram of another perspective of the present invention;

[0016] Figure 3 The present invention Figure 2 A local enlarged schematic diagram in FIG.

[0017] Figure 4 is a schematic structural diagram of the rotary clamping device of the present invention;

[0018] Figure 5 is a schematic structural diagram of the rotary clamping device of the present invention from another perspective;

[0019] Figure 6 It is a working principle diagram of the present invention placed vertically;

[0020] Figure 7 It is a working principle diagram of the present invention placed horizontally;

[0021] In the figure, 1. support frame; 101. horizontal side column; 102. longitudinal side column; 2. driving device; 201. servo motor; 202. worm gear reducer; 203. left-handed screw; 204. right-handed screw; 205. support seat; 206. seat bearing; 207. left-handed nut; 208. connecting piece; 209. right-handed nut; 3. rotary clamping device; 301. sliding plate; 302. first linear cylinder; 303. second linear cylinder; 304. rotary clamping cylinder; 305. lower pressure plate; 306. hook; 307. clamping claw; 308. polyurethane pad; 4. slide rail; 5. slider. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1-Figure 7As shown, the robot palletizing and depalletizing fixture for multi-specification anti-theft doors can grasp the anti-theft doors. It mainly includes a support frame 1, a driving device 2, and a rotary clamping device 3. A robot motion axis is provided on the support frame, which can rotate the support frame and the structures thereon by 90 degrees, so that the horizontal placement of the anti-theft door becomes a vertical placement. The support frame 1 looks like a Chinese character 'tian' from a top view. For the convenience of description and understanding, the support frame 1 is corresponded to the 'tian' character, and with the direction as the distinguishing point, in this robot palletizing and depalletizing fixture, the frame part parallel to the left-handed screw rod 203 and the right-handed screw rod 204 is called the transverse side column 101 (i.e., the horizontal part in the 'tian' structure), and vice versa, the frame part in a vertical relationship is called the longitudinal side column 102 (i.e., the vertical part in the 'tian' structure). Since the combined length of the left-handed screw rod 203 and the right-handed screw rod 204 is relatively long, the length of the transverse side column 101 is also long. The transverse side column 101 is not like the 'tian' structure with only three. It is provided with four, and there are two in the middle of the transverse side column 101. In this way, the longitudinal side column 102 and the transverse side column 101 form four regions. Then, two slide rails 4 are provided on the surface of each transverse side column 101 far from the robot motion axis. The slide rails 4 are located between two adjacent longitudinal side columns 102, so there are a total of eight slide rails 4. And a slider 5 is slidably arranged on each slide rail 4, and the slider 5 is connected to the rotary clamping device 3, so that it is convenient for the four rotary clamping devices 3 to move in the corresponding regions respectively. The overall structure of this robot palletizing and depalletizing fixture is axisymmetric with the middle longitudinal side column 102 as the central axis.

[0023] The above-mentioned devices are further described below. First, the driving device 2 is introduced. It can drive the rotating clamping device 3. The driving power source in the driving device 2 is a servo motor 201 arranged on the middle longitudinal side column 102. The shaft of the servo motor 201 is connected to the worm gear reducer 202. Then, the left-hand screw 203 and the right-hand screw 204 are respectively connected to the worm gear reducer 202. In this way, as long as the servo motor 201 is driven and the worm gear reducer 202 is used, the servo motor 201 can be rotated. 01 is decelerated to the desired number of revolutions, and a larger torque is obtained to rotate the left-hand screw 203 and the right-hand screw 204; a support seat 205 is arranged on the longitudinal side columns 102 on both sides, and the end of the left-hand screw 203 and the right-hand screw 204 away from the worm gear reducer 202 passes through the support seat 205, and then the seat bearing 206 is respectively sleeved on the left-hand screw 203 and the right-hand screw 204, and connected to the support seat 205; because the four rotating clamping devices 3 need to be close to the middle, A left-handed screw rod 203 and a right-handed screw rod 204 with opposite thread rotation directions are provided, and corresponding left-handed nuts 207 and right-handed nuts 209 are respectively sleeved on the left-handed screw rod 203 and the right-handed screw rod 204. The two nuts play an important role in the movement of the rotating clamping device 3. A T-shaped connecting piece 208 is provided on the left-handed nut 207 and the right-handed nut 209. The vertical part of the connecting piece 208 is very short and is fixedly connected to the surface of the left-handed nut 207 and the right-handed nut 209 close to the support frame 1. The two ends of the horizontal part of the connecting piece 208 are respectively fixedly connected to the two rotating clamping devices 3 located on the same side, and the connecting piece 208 is located between the two rotating clamping devices 3. In this way, as long as the left-handed screw 203 and the right-handed screw 204 rotate, the left-handed nut 207 and the right-handed nut 209 mounted thereon will move in a straight line, so that the connecting piece 208 will bring the rotating clamping devices 3 closer to the middle, and the distance they travel can be controlled by the servo motor 201 and the worm gear reducer 202.

[0024] There are four rotary clamping devices 3 in the robot palletizing and stacking fixture, and they are symmetrical in pairs. Their structures and working principles are the same, so only one is explained. It is mentioned above that the slider 5 is connected to the rotary clamping device 3. It should be explained here that the slider 5 is connected to the sliding plate 301 in the rotary clamping device 3. The sliding plate 301 plays a connecting role in the rotary clamping device 3. It is similar to a step shape when viewed from the side, with a total of three horizontal planes and two vertical planes (for the convenience of distinction in the following description, the three horizontal planes are referred to as the upper horizontal plane, the middle horizontal plane and the lower horizontal plane from top to bottom, and the two vertical planes are referred to as the lower horizontal plane from top to bottom). The upper horizontal plane is called the upper vertical plane and the lower vertical plane), but the length of the upper horizontal plane is smaller than the other two horizontal planes, so that after the middle horizontal plane of the sliding plate 301 is connected to the two adjacent sliders 5, the upper horizontal plane and the upper vertical plane will be located between the two adjacent horizontal side columns 101, and the two sliders 5 will be located on the left and right sides of the upper vertical plane. Since the connecting member 208 in the driving device 2 is respectively connected to the middle horizontal plane of the sliding plate 301, the connecting member 208 is driven by the left-handed nut 207 and the right-handed nut 209 to move linearly, and the slider 5 will slide on the slide rail 4, and the slider 5 will move synchronously with the two rotating clamping devices 3;

[0025] The rotary clamping device 3 is provided with three cylinders, namely a first linear cylinder 302, a second linear cylinder 303 and a rotary clamping cylinder 304. One end of the first linear cylinder 302 is fixedly connected to the upper horizontal surface, and a lower pressing plate 305 is connected to the protruding end of the first linear cylinder 302. The piston rod of the first linear cylinder 302 can move the lower pressing plate 305 in the vertical direction; the side surface of the second linear cylinder 303 is connected to the surface of the lower vertical surface away from the first linear cylinder 302, and a groove in the shape of a U-shaped and penetrating groove is provided on the vertical surface, and a convex hook claw 306 is connected to the protruding end of the second linear cylinder 303. When the piston rod of the second linear cylinder 303 is extended downward, the bottom surface of the hook claw 306 will contact the wall of the U-shaped groove, and the protruding part of the hook claw 306 will pass through the groove; the rotary clamping cylinder 304 is provided on the second linear cylinder 30 3 and is connected between the lower vertical surface and the lower horizontal surface. The axis of the rotary clamping cylinder 304 is connected to the clamping claw 307. The clamping claw 307 is similar to the L shape. Compared with L, the clamping claw 307 rotates L counterclockwise by 90 degrees. One end of the horizontal part of the clamping claw 307 is connected to the axis of the rotary clamping cylinder 304. In order to prevent damage to the anti-theft door when it contacts with the anti-theft door, a polyurethane pad 308 is provided on the lower pressure plate 305, the clamping claw 307 and the hook claw 306. The polyurethane pad 308 in the clamping claw 307 is located on one end of the vertical part, and the polyurethane pad 308 in the hook claw 306 is located on its protruding part; in this way, the second linear cylinder 303 and the hook claw 306 can hook the anti-theft door, the first linear cylinder 302 and the lower pressure plate 305 can press down and clamp the anti-theft door, and the rotary clamping cylinder 304 and the clamping claw 307 can rotate and clamp the anti-theft door.

[0026] Working principle: When the robot depalletizing and stacking fixture is working, the length range of the security door is 1400mm-2450mm, the width range is 700mm-1500mm, and the thickness range is 50mm-90mm (referring to the thickness of the door panel, excluding the frame). The packaged security door products are transported to the bottom of the robot depalletizing and stacking fixture. At the same time, the servo motor 201 and the worm gear reducer 202 in the driving device 2 are started, so that the left-handed nut 207 makes a linear motion on the left-handed screw rod 203 and the right-handed screw rod 204, and the right-handed nut 209 makes a linear motion on the right-handed screw rod 204. The connecting piece 208 moves inward with the four rotating clamping devices 3. When the rotating clamping device 3 reaches the specified position, the activity of the second linear cylinder 303 The plug rod extends downward, and the hook claw 306 hooks up the two side frames of the long side of the security door, the second linear cylinder 303 resets to lift the security door, and the rotating clamping cylinder 304 turns the clamping claw 307 to the bottom of the security door, and the piston rod of the second linear cylinder 303 extends downward so that the security door falls on the clamping claw 307, and the piston rod of the first linear cylinder 302 extends downward, bringing the lower pressure plate 305 closer to the security door, and making the polyurethane pad 308 on the lower pressure plate 305 contact the security door, pressing the upper and lower sides of the long side of the security door, and then the security door can be subjected to subsequent work, which mainly places the security door horizontally. During the production process, the security door can also be rotated 90 degrees from horizontal to vertical through the robot motion axis according to actual needs.

[0027] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. Robot unstacking and palletizing fixture for anti-theft doors of multiple specifications, including a support frame (1), a robot motion axis connected to the support frame (1), a slide rail (4) provided on the support frame (1), and a slider (5) slidably connected to the slide rail (4). It is characterized in that it further includes a rotary clamping device (3), a total of four are provided, and they are symmetrically arranged in pairs, and are arranged in the support frame (1) for clamping the anti-theft door; a driving device (2), connected to the rotary clamping device (3) for controlling the linear motion of the rotary clamping device (3); The rotary clamping device (3) includes a sliding plate (301) connected to the slider (5), a first linear cylinder (302) and a second linear cylinder (303) arranged on the sliding plate (301) from top to bottom in sequence, a rotary clamping cylinder (304) arranged on one side of the second linear cylinder (303), a lower pressing plate (305) arranged at the extending end of the first linear cylinder (302), a hook claw (306) arranged at the extending end of the second linear cylinder, a clamping claw (307) arranged at the extending end of the rotary clamping cylinder (304), and polyurethane cushion blocks (308) respectively arranged on the lower pressing plate (305), the hook claw (306) and the clamping claw (307). The piston rod of the first linear cylinder (302) can drive the lower pressing plate (305) to move in the vertical direction; The sliding plate (301) is in a stepped shape, and a slot in the shape of a square is opened on the sliding plate (301). The hook claw (306) is in a convex shape. When the piston rod of the second linear cylinder (303) extends downward, the bottom surface of the hook claw (306) will contact the wall of the square-shaped slot, and the protruding part in the hook claw (306) will pass through the slot; the clamping claw (307) is in an L shape; compared with the L shape, the clamping claw (307) is rotated 90 degrees counterclockwise. One end of the horizontal part of the clamping claw (307) is connected to the shaft of the rotary clamping cylinder (304); The driving device (2) includes a connecting piece (208); the connecting piece (208) is in a T shape, and both ends of the horizontal part of the connecting piece (208) are respectively fixedly connected to two rotary clamping devices (3) on the same side, and the connecting piece (208) is located between the two rotary clamping devices (3); There are frames on both sides of the long side of the anti-theft door. When the rotary clamping device (3) reaches the specified position, the piston rod of the second linear cylinder (303) extends downward, and the hook claw (306) hooks up the frames on both sides of the long side of the anti-theft door. The second linear cylinder (303) resets to lift the anti-theft door. The rotary clamping cylinder (304) rotates the clamping claw (307) to directly below the anti-theft door. The piston rod of the second linear cylinder (303) extends downward so that the anti-theft door falls onto the clamping claw (307). The piston rod of the first linear cylinder (302) extends downward, moves the lower pressing plate (305) closer to the anti-theft door, and makes the polyurethane cushion block (308) on the lower pressing plate (305) contact the anti-theft door, pressing the upper and lower surfaces of the long side of the anti-theft door tightly.

2. The robot palletizing and depalletizing fixture for multi-specification anti-theft doors according to claim 1, wherein the driving device (2) comprises a servo motor (201) connected to the support frame (1), a worm and worm gear reducer (202) connected to the shaft of the servo motor (201), a left-handed lead screw (203) and a right-handed lead screw (204) respectively connected to the worm and worm gear reducer (202), a left-handed nut (207) sleeved on the left-handed lead screw (203), a right-handed nut (209) sleeved on the right-handed lead screw (204), pedestal bearings (206) respectively sleeved on the left-handed lead screw (203) and the right-handed lead screw (204), a support seat (205) connected to the support frame (1), and connecting members (208) respectively arranged on the left-handed nut (207) and the right-handed nut (209), wherein the left-handed lead screw (203) and the right-handed lead screw (204) are located on the same straight line.

3. The robot palletizing and depalletizing fixture for multi-specification anti-theft doors according to claim 2, wherein the servo motor (201) is located between the two support seats (205), the pedestal bearings (206) are respectively located at one end of the left-handed lead screw (203) and the right-handed lead screw (204) away from the worm and worm gear reducer (202), the support seat (205) is connected to the pedestal bearing (206), and both the left-handed nut (207) and the right-handed nut (209) are located between the pedestal bearing (206) and the worm and worm gear reducer (202).

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