A handling device of a palletizing robot for automobile processing

Abstract

The present invention relates to the technical field of palletizing robots. The present invention discloses a handling device of a palletizing robot for automobile processing, comprising: a handling manipulator; an adsorption type tire grabbing assembly, the adsorption type tire grabbing assembly comprising a side adsorption seat, the side adsorption seat can be mounted on the handling manipulator rotatable by 180 degrees, and six vacuum adsorption ports for adsorbing tires are distributed on the side adsorption seat; a side support plate assembly, the side support plate assembly is mounted on the side adsorption seat, when the side adsorption seat rotates 180 degrees, the side support plate assembly is located near the bottom end of the side adsorption seat, and the side support plate assembly drives the tire to roll onto the palletizing rack. Compared with the prior art that presses the tire by pressing a downward component to press the tire into a placement position, the present invention rolls the tire from the side end of the palletizing rack into the palletizing rack through the side support plate assembly, and the tire actively squeezes into the placement position of the palletizing rack when rotating, and the tire will not be deformed, and will not pop out of the placement position.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing robots, in particular to a handling device of a palletizing robot for automobile processing. Background Art

[0002] With the development of industrial automation, palletizing robots are becoming more and more important in industrial applications. They are automatic mechanical devices that automatically grasp, carry or operate according to given procedures, trajectories and requirements. In the automotive processing process, the palletizing of tires enables tires to be loaded and unloaded in a unified manner, simplifies the loading and unloading process, and reduces the complexity and error rate of manual operations.

[0003] Chinese patent CN116513803 B discloses a handling device of a palletizing robot for automobile processing, including a beam frame, a mechanical arm mounted on the beam frame, and a gripping device mounted at the end of the mechanical arm. The gripping device includes a shell, a plurality of vacuum suction cups 1 arranged on both sides of the front surface of the shell, at least one vacuum suction cup 2 arranged on the upper side of the front surface of the shell, and a driving mechanism. The vacuum suction cups 1 and 2 are connected to a vacuum generator. The present invention sets a fixed vacuum suction cup 1 and a vertically movable vacuum suction cup 2, and sucks the tire together through the vacuum suction cups 1 and 2. When placing, the tire can be brought to the placement position by operating the vacuum suction cup 2 alone and moving it downward, and then the tire can be released to fall to the designated position. Through this arrangement, when placing the tire, the shell does not need to move to the placement position together with the tire, so there is no need to reserve space for accommodating the gripping device, thereby improving space utilization.

[0004] In order to overcome the problem of loose stacking, the above-mentioned handling device presses the tire through a downward pressing component, thereby pressing the tire into the placement position. The tire will deform when pressed. If it is pressed too slowly, it will not be easy to press the tire into the placement position. If it is pressed too quickly, the tire will pop out of the placement position due to its deformation. Summary of the invention

[0005] In order to achieve the above object, the present invention discloses a handling device of a palletizing robot for automobile processing, comprising:

[0006] Handling manipulator;

[0007] The suction type tire grabbing assembly includes a side suction seat, which can be mounted on the handling manipulator 180 degrees and has six vacuum suction ports for sucking the tire;

[0008] The side support plate assembly is installed on the side adsorption seat. When the side adsorption seat rotates 180 degrees, the side support plate assembly is located near the bottom end of the side adsorption seat, and the side support plate assembly drives the tire to roll onto the stacking rack.

[0009] Preferably, it also includes:

[0010] Transverse track, the transverse track is set up at a preset position;

[0011] The transverse moving seat moves on the transverse moving track, and the handling robot is installed on the transverse moving seat.

[0012] Preferably, a rotating head is installed at the side end of the side adsorption seat away from the vacuum adsorption port, and the handling robot is connected to the side adsorption seat through the rotating head.

[0013] Preferably, the side support plate assembly comprises:

[0014] A rear flip plate, which is mounted on the side adsorption seat through an active rotating shaft;

[0015] A front retracted plate, which is mounted on the end of the rear flip plate away from the active rotating shaft, and both the rear flip plate and the front retracted plate are attached to the tread of the tire;

[0016] A mounting groove 1, the mounting groove 1 is arranged at the end of the rear flip plate away from the active rotating shaft;

[0017] An arc-shaped extension strip, one end of which is installed in the front retracted plate through a connecting plate 1, and a return spring is installed at the other end of the arc-shaped extension strip, and the return spring is installed on the inner wall of the installation groove 1 through a connecting plate 2 away from the end of the arc-shaped extension strip;

[0018] The flip rod is installed on the inner wall of the mounting groove one through the flip shaft, a top block is installed at one end of the flip rod, a clamping block one is installed at the other end of the flip rod, a clamping block two adapted to the clamping block one is installed at the other end of the arc-shaped extension strip, the top block passes through the inner wall of the mounting groove one and is adapted to the stop block setting, and the stop block is fixedly installed on the side adsorption seat.

[0019] Preferably, the side support plate assembly further comprises:

[0020] A reset pull rope, one end of which is connected to a stopper, and the other end of which passes through an installation groove from the side end of the rear flip plate and is connected to an arc-shaped extension strip near the reset spring end. A strip hole is provided at the side end of the front retractable plate for facilitating the insertion of the reset pull rope.

[0021] Preferably, the side support plate assembly further comprises:

[0022] An upper notch, which is formed at the end of the rear flip plate away from the active rotating shaft;

[0023] Gear blocks, two gear blocks are symmetrically mounted on the rear flip plate away from the active shaft end through the bottom mounting axis;

[0024] A shifting rod is installed on each gear block, and the shifting rod is arranged away from the gear block end and extends out of the front retracted plate;

[0025] Racks, two racks are installed opposite to each other on the inner wall of the front retracted plate, and the racks are adapted to the tooth block setting.

[0026] Preferably, a return coil spring is installed on the bottom mounting shaft.

[0027] Preferably, one end of the arc-shaped extension strip away from the connecting plate extends into the installation groove.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention provides a handling device for a palletizing robot for automobile processing. After the handling manipulator drives the side adsorption seat to move to a preset position, the side support plate assembly is located near the top of the adsorption seat and is against the top of the tire. The six vacuum adsorption ports on the side adsorption seat suck the tire. The handling manipulator drives the side adsorption seat to move to the side end of the palletizing rack. Then the side adsorption seat rotates 180 degrees. In this way, the side support plate assembly is located at the bottom end of the tire. The six vacuum adsorption ports stop working, and the side support plate assembly works, thereby driving the tire to roll onto the palletizing rack. Compared with the prior art that presses the tire by pressing the downward component to press the tire into the placement position, the present invention rolls the tire from the side end of the palletizing rack into the palletizing rack through the side support plate assembly. When the tire rotates, it actively squeezes into the placement position of the palletizing rack. The tire will not be deformed and will not pop out of the placement position. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a working schematic diagram of the present invention;

[0032] Figure 2 The appearance of the adsorption type tire grabbing assembly of the present invention is Figure 1 ;

[0033] Figure 3 The appearance of the adsorption type tire grabbing assembly of the present invention is Figure 2 (180 degree rotation);

[0034] Figure 4 It is a schematic diagram of the structure of the side support plate assembly of the present invention;

[0035] Figure 5 for Figure 4 The enlarged view of the middle label A;

[0036] Figure 6 It is a schematic diagram of the rear flip plate structure of the present invention;

[0037] Figure 7 It is a top view of the side support plate assembly of the present invention.

[0038] In the figure: 10. handling robot; 11. suction-type tire grabbing assembly; 12. side suction seat; 13. tire; 14. vacuum suction port; 15. side support plate assembly; 16. transverse track; 17. transverse seat; 18. rear flip plate; 19. active shaft; 20. front retracting plate; 21. mounting slot 1; 22. arc-shaped extension strip; 23. connecting plate 1; 24. reset spring; 25. connecting plate 2; 26. flip rod; 27. top block; 28. clamping block 1; 29. ​​clamping block 2; 30. baffle; 31. reset pull rope; 32. upper notch; 33. tooth block; 34. lever; 35. rack. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Example

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] like Figures 1 to 7 As shown, the present embodiment provides a handling device of a palletizing robot for automobile processing, comprising:

[0043] Handling robot 10;

[0044] The suction type tire grabbing assembly 11 includes a side suction seat 12, which can be mounted on the handling manipulator 10 rotatably by 180 degrees, and has six vacuum suction ports 14 for sucking the tire 13;

[0045] The side support plate assembly 15 is installed on the side adsorption seat 12. When the side adsorption seat 12 rotates 180 degrees, the side support plate assembly 15 is located near the bottom end of the side adsorption seat 12, and the side support plate assembly 15 drives the tire 13 to roll onto the stacking rack.

[0046] The working principle and beneficial effects of the above technical solution are:

[0047] The present invention provides a handling device of a palletizing robot for automobile processing. After the handling manipulator 10 drives the side adsorption seat 12 to move to a preset position, the side support plate assembly 15 is located near the top of the adsorption seat 12 and is against the top of the tire 13. The six vacuum adsorption ports 14 on the side adsorption seat 12 suck the tire 13. The handling manipulator 10 drives the side adsorption seat 12 to move to the side end of the palletizing rack, and then the side adsorption seat 12 rotates 180 degrees. In this way, the side support plate assembly 15 is located at the bottom end of the tire 13. The six vacuum adsorption ports 14 stop working, and the side support plate assembly 15 works, thereby driving the tire 13 to roll onto the palletizing rack. The present invention discloses a handling device of a palletizing robot for automobile processing. Compared with the prior art, the tire 13 is pressed into a placement position by a pressing component, and the tire 13 is rolled into the palletizing rack from the side end of the palletizing rack by a side support plate assembly 15. The tire 13 is actively squeezed into the placement position of the palletizing rack while rotating, and the tire 13 is unlikely to be deformed and will not pop out of the placement position.

[0048] In one embodiment, it further includes:

[0049] A transverse track 16, wherein the transverse track 16 is installed at a preset position;

[0050] The transverse moving seat 17 moves on the transverse moving track 16 , and the transport robot 10 is installed on the transverse moving seat 17 .

[0051] The working principle and beneficial effects of the above technical solution are:

[0052] The transverse seat 17 moves on the transverse track 16, thereby driving the handling robot 10 connected to the transverse seat 17, the side adsorption seat 12 installed on the handling robot 10, and the tire 13 adsorbed on the side adsorption seat 12 to move, thereby realizing the handling of the tire 13 on the stacking rack.

[0053] In one embodiment, a rotating head is installed at a side end of the side adsorption seat 12 away from the vacuum adsorption port 14 , and the transport robot 10 is connected to the side adsorption seat 12 via the rotating head.

[0054] The working principle and beneficial effects of the above technical solution are:

[0055] The rotating head is set to realize the 180-degree rotation of the side adsorption seat 12 on the handling robot 10. In the initial state, the side support plate assembly 15 is located near the top of the side adsorption seat 12, so that when the side adsorption seat 12 is against the tire 13, the top of the tire 13 is against the side support plate assembly 15, and then after the vacuum adsorption port 14 adsorbs the tire 13, the rotating head drives the side adsorption seat 12 to rotate 180 degrees on the handling robot 10. Because the tire 13 rotates 180 degrees, the top of the tire 13 becomes the bottom of the tire 13, and the side support plate assembly 15 against the top of the tire 13 also rotates to the bottom of the tire 13. After the vacuum adsorption port 14 stops working, the side support plate assembly 15 supports the bottom of the tire 13.

[0056] In one embodiment, the side support plate assembly 15 includes:

[0057] A rear flip plate 18, which is mounted on the side adsorption seat 12 via an active rotating shaft 19;

[0058] A front retracted plate 20, which is mounted on the end of the rear flip plate 18 away from the active rotating shaft 19, and the rear flip plate 18 and the front retracted plate 20 are both attached to the tread of the tire 13;

[0059] A mounting groove 21, the mounting groove 21 is formed at the end of the rear flip plate 18 away from the active shaft 19;

[0060] An arc-shaped extension strip 22, one end of which is mounted in the front retracted plate 20 via a connecting plate 1 23, and a return spring 24 is mounted on the other end of the arc-shaped extension strip 22, and the return spring 24 is mounted on the inner wall of the mounting groove 1 21 via a connecting plate 2 25 away from the end of the arc-shaped extension strip 22;

[0061] The flip rod 26 is installed on the inner wall of the mounting groove 21 through the flip axis. A top block 27 is installed at one end of the flip rod 26, and a clamping block 28 is installed at the other end of the flip rod 26. A clamping block 29 adapted to the clamping block 28 is installed at the other end of the arc extension strip 22. The top block 27 passes through the inner wall of the mounting groove 21 and is adapted to the setting of the block 30. The block 30 is fixedly installed on the side adsorption seat 12.

[0062] The working principle and beneficial effects of the above technical solution are:

[0063] The active rotating shaft 19 is installed at the output end of the driving motor, and the driving motor is installed on the side adsorption seat 12. After the driving motor works, it drives the active rotating shaft 19 installed at the output end of the driving motor to rotate, and the active rotating shaft 19 drives the rear flip plate 18 connected thereto and the front retracted plate 20 installed on the rear flip plate 18 to rotate synchronously. When the active rotating shaft 19 rotates clockwise, the height of the front retracted plate 20 will be lower than the height of the rear flip plate 18, and as the rear flip plate 18 rotates clockwise around the active rotating shaft 19 as the center, the top block 27 abuts against the stopper 30, and the stopper 30 drives the flip rod 26 connected thereto to rotate around the flip shaft as the center. At this time, the card block 1 28 located at the end of the flip rod 26 away from the top block 27 disengages from the card block 29, and the return spring 2 in the stretched state 4 contracts rapidly, thereby driving the arc-shaped extension strip 22 connected to the return spring 24, the connecting plate 1 23 connected to the arc-shaped extension strip 22, and the front retracting plate 20 connected to the connecting plate 1 23 to move in the contraction direction of the return spring 24, and the arc-shaped extension strip 22 is inserted into the mounting groove 1 21. As the front retracting plate 20 quickly retreats on the rear flip plate 18, the front retracting plate 20 pulls the bottom end of the tire 13, thereby pulling the tire 13 to rotate clockwise. After the front retracting plate 20 stops moving, the tire 13 keeps rotating clockwise, and rolls out of the front retracting plate 20, and rolls into the stacking frame from the side end of the stacking frame. When the tire 13 rotates, it actively squeezes into the placement position of the stacking frame, and the tire 13 will not be deformed, and will not pop out of the placement position.

[0064] In one embodiment, the side support plate assembly 15 further includes:

[0065] A reset rope 31 is connected to a stopper 30 at one end of the reset rope 31, and the other end of the reset rope 31 passes through a mounting groove 21 from the side end of the rear flip plate 18, and is connected to an arc-shaped extension strip 22 near the end of the reset spring 24, and a strip hole is provided at the side end of the front retractable plate 20 for facilitating the insertion of the reset rope 31.

[0066] The working principle and beneficial effects of the above technical solution are:

[0067] The active rotating shaft 19 drives the rear flip plate 18 connected thereto and the front retracting plate 20 installed on the rear flip plate 18 to rotate synchronously, and the reset pull rope 31 is in a relaxed state. In this way, when the reset spring 24 contracts rapidly, it will not cause motion interference to the movement of the arc-shaped extension strip 22 in the contraction direction of the reset spring 24. After the tire 13 rolls out from the front retracting plate 20, the active rotating shaft 19 drives the rear flip plate 18 connected thereto and the front retracting plate 20 installed on the rear flip plate 18 to rotate in the opposite direction, and the reset pull rope 31 resumes the taut state, and pulls the arc-shaped extension strip 22, the connecting plate 1 23 connected to the arc-shaped extension strip 22, and the front retracting plate 20 connected to the connecting plate 1 23 to move in the stretching direction of the reset spring 24. The arc-shaped extension strip 22 drives the clamping block 29 to actively withdraw from the installation groove 1 21 and clamp on the clamping block 1 28 again. In this way, the front retracting plate 20 connected to the arc-shaped extension strip 22 is fixed on the flip plate 18 again, so as to drive the rotation of the tire 13 next time.

[0068] In one embodiment, the side support plate assembly 15 further includes:

[0069] An upper notch 32, which is formed at the end of the rear flip plate 18 away from the active rotating shaft 19;

[0070] Gear blocks 33, two gear blocks 33 are symmetrically mounted on the rear flip plate 18 away from the active rotating shaft 19 through the bottom mounting axis;

[0071] A lever 34 is installed on each tooth block 33, and the lever 34 is arranged away from the end of the tooth block 33 and extends out of the front retracted plate 20;

[0072] The two racks 35 are installed on the inner wall of the front retracted plate 20 in opposite directions, and the racks 35 are adapted to the tooth blocks 33 .

[0073] The working principle and beneficial effects of the above technical solution are:

[0074] The active shaft 19 drives the rear flip plate 18 connected thereto and the front retracted plate 20 mounted on the rear flip plate 18 to rotate synchronously. When the active shaft 19 rotates clockwise, the height of the front retracted plate 20 will be lower than the height of the rear flip plate 18, and then the two levers 34 extend into the placement position. As the rear flip plate 18 continues to rotate clockwise around the active rotating shaft 19, the top block 27 abuts against the stopper 30, and the stopper 30 drives the flip rod 26 connected thereto to rotate around the flip shaft as the center, the front retracted plate 20 quickly retreats on the rear flip plate 18, and drives the rack 35 connected to the front retracted plate 20 to quickly retreat on the flip plate 18, the tooth block 33 engaged with the rack 35 rotates, and the tooth block 33 drives the lever 34 connected thereto to rotate around the bottom mounting shaft as the center, and after the two levers 34 are opened in the placement position, the tire placed on the stacking rack is opened, and then synchronously, the front retracted plate 20 pulls the bottom end of the tire 13, thereby pulling the tire 13 to rotate clockwise, and after the front retracted plate 20 stops moving, the tire 13 keeps rotating clockwise and rolls from the front retracted plate 20 into the placement position. The active rotating shaft 19 drives the rear flip plate 18 connected thereto and the front retracting plate 20 installed on the rear flip plate 18 to rotate in the opposite direction, the reset pull rope 31 resumes the taut state, and pulls the arc extension bar 22, the connecting plate 1 23 connected to the arc extension bar 22, and the front retracting plate 20 connected to the connecting plate 1 23 to move in the stretching direction of the reset spring 24. The arc extension bar 22 drives the clamping block 29 to actively withdraw from the installation groove 1 21 and re-clamp on the clamping block 1 28, the tooth block 33 and the shift rod 34 are re-entered into the front retracting plate 20 near the end of the tooth block 33, the rack 35 drives the tooth block 33 to rotate in the opposite direction, and the two shift rods 34 resume the parallel state.

[0075] In one embodiment, a return coil spring is mounted on the bottom mounting shaft.

[0076] In one embodiment, the end of the arc-shaped extension strip 22 away from the connecting plate 1 23 extends into the installation groove 1 21 .

[0077] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A handling device of a palletizing robot for automobile processing, characterized in that: include: Handling robot (10); A suction-type tire grabbing assembly (11), the suction-type tire grabbing assembly (11) comprising a side suction seat (12), the side suction seat (12) being rotatable 180 degrees and mounted on a handling manipulator (10), and having six vacuum suction ports (14) distributed on the side suction seat (12) for sucking a tire (13); A side support plate assembly (15), the side support plate assembly (15) is mounted on the side adsorption seat (12), when the side adsorption seat (12) rotates 180 degrees, the side support plate assembly (15) is located near the bottom end of the side adsorption seat (12), and the side support plate assembly (15) drives the tire (13) to roll onto the stacking rack; The side support plate assembly (15) comprises: a rear flip plate (18) mounted on the side adsorption seat (12) via an active rotating shaft (19); a front retracting plate (20) mounted on the end of the rear flip plate (18) away from the active rotating shaft (19); the rear flip plate (18) and the front retracting plate (20) are both in contact with the tread of the tire (13); a mounting groove (21) is provided at the end of the rear flip plate (18) away from the active rotating shaft (19); one end of an arc-shaped extension strip (22) is mounted in the front retracting plate (20) via a connecting plate (23); a return spring (24) is mounted on the other end of the arc-shaped extension strip (22); and the return spring (24) The end away from the arc-shaped extension strip (22) is installed on the inner wall of the installation groove (21) through the second connecting plate (25), the flip rod (26) is installed on the inner wall of the installation groove (21) through the flip shaft, one end of the flip rod (26) is installed with a top block (27), the other end of the flip rod (26) is installed with a clamping block (28), the other end of the arc-shaped extension strip (22) is installed with a clamping block (29) adapted to the clamping block (28), the top block (27) passes through the inner wall of the installation groove (21) and is adapted to the setting of the block (30), and the block (30) is fixedly installed on the side adsorption seat (12).

2. The handling device of a palletizing robot for automobile processing according to claim 1, characterized in that: Also includes: A transverse track (16), wherein the transverse track (16) is installed at a preset position; The transverse shift seat (17) moves on the transverse shift track (16), and the handling robot (10) is installed on the transverse shift seat (17).

3. The handling device of a palletizing robot for automobile processing according to claim 1, characterized in that: A rotating head is installed at a side end of the side adsorption seat (12) away from the vacuum adsorption port (14), and the handling robot (10) is connected to the side adsorption seat (12) via the rotating head.

4. The handling device of a palletizing robot for automobile processing according to claim 1, characterized in that: The side support plate assembly (15) further comprises: A reset pull rope (31), one end of which is connected to the stopper (30), the other end of which is inserted into the first mounting groove (21) from the side end of the rear flip plate (18) and connected to the arc-shaped extension strip (22) near the end of the reset spring (24), and a strip hole is provided at the side end of the front retractable plate (20) for facilitating the insertion of the reset pull rope (31).

5. The handling device of a palletizing robot for automobile processing according to claim 1, characterized in that: The side support plate assembly (15) further comprises: an upper notch (32) formed at the end of the rear flip plate (18) away from the active rotating shaft (19); two tooth blocks (33) symmetrically mounted on the end of the rear flip plate (18) away from the active rotating shaft (19) via a bottom mounting axis; a lever (34) mounted on each tooth block (33); the lever (34) extending out of the front retractable plate (20) away from the end of the tooth block (33); and two racks (35) mounted opposite to each other on the inner wall of the front retractable plate (20); the racks (35) being adapted to the tooth blocks (33).

6. The handling device of a palletizing robot for automobile processing according to claim 5, characterized in that: A return coil spring is installed on the bottom mounting shaft.

7. The handling device of a palletizing robot for automobile processing according to claim 1, characterized in that: The arc-shaped extension strip (22) extends into the installation groove (21) at one end away from the connection plate (23).

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