High-speed rotating feeding and discharging device

Abstract

The invention relates to a high-speed rotating feeding and discharging device which comprises a base, the high-speed rotating feeding and discharging device comprises a first driving source fixedly arranged on the base and used for providing a power source, and the first driving source is provided with at least three detection assemblies used for comparing and detecting the rotating angle; the grabbing mechanism is arranged on the top of the first driving source in a lifting mode, and the first driving source can drive the grabbing mechanism to rotate in a stepping mode; and the flexible transmission mechanism is arranged between the first driving source and the grabbing mechanism, and the flexible transmission mechanism cuts off power transmission between the first driving source and the grabbing mechanism under the action of an electric field. The high-speed rotating feeding and discharging device has the advantages of being simple in structure, flexible to operate, efficient, safe and the like, is suitable for various industrial automatic production lines, and has wide application prospects.

Description

Technical Field

[0001] The invention relates to the field of mechanical automation, and in particular to a device for high-speed rotating loading and unloading of materials, which is suitable for quickly grabbing and placing materials in industrial production. Background Art

[0002] In today's modern industrial production field, loading and unloading operations are undoubtedly a crucial link in the entire production process. Traditional loading and unloading devices often expose many disadvantages in practical applications. For example, their running speed is relatively slow, which makes it difficult to adapt to the urgent needs of modern industry for efficient production rhythm; there are also obvious deficiencies in accuracy, which cannot meet those production scenarios with strict requirements on processing accuracy; furthermore, their adaptability is poor, and they often seem to be unable to cope with workpieces of different sizes and shapes and diverse production environments. The existence of these problems has greatly restricted the improvement of industrial production efficiency and the optimization of product quality.

[0003] With the continuous development and progress of industrial technology, in order to effectively respond to these challenges, a new type of high-speed rotating loading and unloading device is urgently needed. This device should have excellent performance that can realize fast and accurate loading and unloading operations, so as to effectively improve production efficiency, and further improve product quality while ensuring efficient production. Specifically, it needs to show outstanding advantages in the following aspects: First, in terms of speed, it can complete the loading and unloading actions with extremely high efficiency, greatly shorten the production cycle, and win time advantages for the enterprise; second, in terms of accuracy, it can accurately locate and grasp the workpiece, ensuring that every operation link is accurate, thereby ensuring the processing accuracy and quality stability of the product; third, in terms of adaptability, it can flexibly cope with various sizes and shapes of workpieces and complex and changing production environments, providing strong support and guarantee for industrial production. Summary of the invention

[0004] The purpose of the present invention is to provide a high-speed rotating loading and unloading device that can realize fast and accurate loading and unloading operations and improve production efficiency and product quality, so as to solve the above-mentioned technical problems.

[0005] To realize the above technical solution, the technical solution of the present invention is as follows: a high-speed rotating loading and unloading device, comprising a base, the high-speed rotating loading and unloading device comprising:

[0006] A first driving source is fixed on the base and is used to provide a power source. The first driving source is provided with at least three detection components for comparing and detecting the rotation angle;

[0007] A grabbing mechanism, which can be raised and lowered on the top of the first driving source, and the first driving source can drive the grabbing mechanism to rotate in a step-by-step manner; and

[0008] A flexible transmission mechanism is provided between the first driving source and the grasping mechanism, and the flexible transmission mechanism cuts off the power transmission between the first driving source and the grasping mechanism under the action of an electric field;

[0009] Wherein: at least three of the detection components detect that the high-speed rotating grasping mechanism rotates to the point where the power supply to the flexible transmission mechanism is cut off, the power transmission between the first driving source and the grasping mechanism is cut off, and at the same time one side of the flexible transmission mechanism is deformed and locks the grasping mechanism.

[0010] Furthermore, the first driving source is a servo motor placed horizontally; the output end of the servo motor is connected to a liftable divider through a coupling transmission; a first sensor is provided between the adjacent servo motor and the liftable divider; a second sensor is provided at the output end of the liftable divider in the horizontal direction; and a third sensor is provided at the vertical output end of the liftable divider;

[0011] Among them: the first sensor is used to detect the angle of rotation of the servo motor; the second sensor is used to detect the angle of rotation of the liftable divider; the third sensor is used to detect that the grabbing mechanism has rotated into place, and the first sensor, the second sensor and the encoder on the servo motor detect the angle value in all directions and then compare it with the signal detected by the third sensor to control the start and stop of the high-speed rotating loading and unloading device.

[0012] Furthermore, the second sensor is a second encoder, and the second encoder is connected to the horizontal output end of the liftable divider through a second coupling; the third sensor is a photoelectric switch; the photoelectric switch is installed on the top of the liftable divider through a photoelectric mounting seat, and the photoelectric switch shoots light pointing to the axis of the vertical output end of the liftable divider.

[0013] Furthermore, the grabbing mechanism includes a grabbing bracket; an adjusting component is rotatably provided on the grabbing bracket; a grabbing component is slidably provided in a circular array along the circumferential side of the grabbing bracket; the adjusting component can drive the grabbing component to move back and forth in a vertical direction for adjustment; a sensing plate is provided in a circular array on the grabbing bracket; the sensing plate is arranged in the same plane as the grabbing component.

[0014] Furthermore, the grabbing bracket includes a rotating connecting block provided with a concave cavity, and the flexible transmission mechanism is filled in the concave cavity; a lifting plate is provided on the top of the rotating connecting block; adjacent rotating connecting blocks and lifting plates are connected by rotating price-raising adjustment mounting plates arranged in a circumferential array; the rotating price-raising adjustment mounting plates are provided with a concave rectangular positioning groove;

[0015] The adjustment assembly includes a screw assembly that can be rotatably arranged on the grab bracket; the screw assembly is connected to a lifting mounting plate through a screw sleeve; an adjustment hand wheel is arranged on the top of the screw assembly; and a clamping plate is arranged on the screw assembly that can be opened and closed;

[0016] The grabbing assembly includes a grabbing bracket; the grabbing bracket is movably mounted on a rectangular positioning groove through a linear slide rail; the grabbing bracket extends to the lifting mounting plate; a grabbing finger cylinder is vertically downwardly provided at the end of the grabbing bracket; fingers with concave trapezoidal dovetail grooves are symmetrically provided at the output end of the grabbing finger cylinder; a pad block adapted to the concave trapezoidal dovetail groove is detachably inserted on the finger; the height of the pad block is much greater than the depth of the concave trapezoidal dovetail groove.

[0017] Furthermore, the flexible transmission mechanism includes a coaxially arranged cutting component and a braking component; one end of the cutting component is connected to the first driving source, and the other end is connected to the grasping mechanism; the braking component is located at the top of the cutting component and is coaxially arranged with the grasping mechanism.

[0018] Furthermore, the cutting component includes a columnar liquid pool filled with electrorheological fluid, and electrode transfer shafts are arranged opposite to each other above and below the liquid pool; an external circuit applies or cuts off a strong electric field to the electrorheological fluid through the electrode transfer shaft.

[0019] Furthermore, the liquid pool is rotatably arranged on the inner concave cavity through a first bearing; an insulating layer is arranged on the inner side of the liquid pool;

[0020] The electrode transfer shaft includes a first electrode and a second electrode shaft; the first electrode and the second electrode shaft are coaxially arranged and spaced apart from each other; the first electrode and the second electrode shaft are both arranged in a T shape, and a triangular tooth is provided in a circular array on the end face; the first electrode is fixedly connected to the liquid pool; the second electrode shaft is sealingly connected to the liquid pool.

[0021] Furthermore, at least two of the braking components are arranged in an array along the axis of the second electrode shaft, the braking components are arranged in a horseshoe shape, and adjacent braking components are rotated 180° around the axis of the second electrode shaft.

[0022] Furthermore, the braking component includes an inner deformable layer, an insulating resin layer and an outer deformable layer which are tightly bonded in sequence from the inside to the outside; the inner deformable layer is a piezoelectric sensitive material of radial thickness deformation type; the outer deformable layer is a piezoelectric sensitive material of circumferential length deformation type; two power supply circuits respectively supply power to the inner deformable layer and the outer deformable layer, and under the inverse piezoelectric effect, the inner deformable layer and the outer deformable layer deform and squeeze the second electrode axis.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1) The present invention can achieve high-speed and accurate loading and unloading:

[0025] Excellent high-speed rotation performance: With the horizontally placed servo motor and the liftable divider driving the gripping mechanism together, high-speed rotation can be achieved, greatly improving the speed and efficiency of loading and unloading, fully meeting the needs of modern industrial high-speed production.

[0026] Precise angle control: The first drive source is equipped with at least three detection components, including the first sensor, the second sensor and the third sensor, which respectively perform all-round detection of the rotation angles of the servo motor, the liftable divider and the gripping mechanism. By comparing the angle values ​​of the rotation, the position of the gripping mechanism can be accurately controlled to ensure the accuracy of loading and unloading.

[0027] 2) The present invention is flexible to adapt to various types of workpieces:

[0028] Adjustable gripping assembly: The adjustment assembly in the gripping mechanism can drive the gripping assembly to move back and forth in the vertical direction. The linear slide rail and rectangular positioning groove design on the gripping bracket allow the gripping assembly to slide and position flexibly in the circumferential direction. In addition, the pads on the fingers at the output end of the gripping finger cylinder can be removably inserted, and the pad height can be adjusted according to different workpieces, which can adapt to workpieces of various sizes and shapes, significantly improving the versatility of the device.

[0029] Convenient adjustment handwheel and clamping plate: The adjustment handwheel on the top of the adjustment component allows the operator to manually adjust the height of the grab assembly. The clamping plate on the screw assembly can be opened and closed to facilitate the fixation and adjustment of the screw shaft sleeve, further enhancing the operability and adaptability of the device.

[0030] 3) The present invention can ensure safe and reliable power control:

[0031] Efficient flexible transmission mechanism: The flexible transmission mechanism is arranged between the first driving source and the grasping mechanism, and can cut off the power transmission between the first driving source and the grasping mechanism under the action of the electric field. When the detection component detects that the grasping mechanism has rotated into place, the power supply is cut off in time to stop the power transmission, effectively avoiding safety accidents caused by excessive rotation or loss of control.

[0032] Reliable braking components: When the power is cut off, the braking components squeeze the second electrode shaft through the deformation of the inner deformation layer and the outer deformation layer, thereby quickly locking the grasping mechanism and ensuring the stability and safety of the device when it is stopped.

[0033] 4) The present invention can provide stable and efficient operation guarantee:

[0034] Reasonable structural design: The grab bracket is composed of a rotating connection block, a lifting plate and a rotating lifting adjustment mounting plate. The structure is stable and provides stable support for the grab assembly and the adjustment assembly. The liquid pool is rotatably arranged on the concave cavity through the first bearing, ensuring the smooth operation of the flexible transmission mechanism.

[0035] Excellent electrode transfer shaft design: The first electrode and the second electrode shaft of the electrode transfer shaft are set in a T shape, and the end surface circumferential array is provided with triangular teeth, which increases the contact area and transfer efficiency. At the same time, the sealing connection between the insulating layer on the inner side of the liquid pool and the second electrode shaft ensures the stable operation of the electrorheological fluid under the action of a strong electric field and improves the reliability of the device.

[0036] In summary, the high-speed rotary loading and unloading device has many advantages such as high-speed and precise loading and unloading, flexible adaptation to different workpieces, safe and reliable power control, and stable and efficient operation guarantee. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0038] Figure 1 It is a three-dimensional diagram of the high-speed rotating loading and unloading device;

[0039] Figure 2 A three-dimensional diagram of the grasping mechanism;

[0040] Figure 3 This is the front view of the flexible transmission mechanism. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0042] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0043] Please refer to the attached Figures 1 to 3As shown: a high-speed rotating loading and unloading device, comprising a base 1, a first driving source 2, a grabbing mechanism 3 and a flexible transmission mechanism 4. The base provides stable support for the entire device, the first driving source 2 is fixed on the base 1, used to provide a power source, and the first driving source 2 is provided with at least three detection components for comparing and detecting the angle of rotation; the grabbing mechanism 3 can be raised and lowered and arranged on the top of the first driving source 2, and the first driving source 2 can drive the grabbing mechanism 3 to rotate step by step; the flexible transmission mechanism 4 is arranged between the first driving source 2 and the grabbing mechanism 3, and the flexible transmission mechanism 4 cuts off the power transmission between the first driving source 2 and the grabbing mechanism 3 under the action of an electric field; wherein: when at least three of the detection components detect that the high-speed rotating grabbing mechanism 3 rotates to the point where the power supply to the flexible transmission mechanism 4 is cut off, the power transmission between the first driving source 2 and the grabbing mechanism 3 is cut off, and at the same time, one side of the flexible transmission mechanism 4 is deformed and locked to the grabbing mechanism 3. Driven by the servo motor and the liftable divider, the grabbing mechanism can achieve high-speed rotation, greatly improving the speed and efficiency of loading and unloading, and meeting the needs of modern industrial high-speed production; the first driving source is provided with at least three detection components, which can detect the angle value of the rotation in all directions, realize the precise control of the grabbing mechanism, and ensure the accuracy of loading and unloading; the adjustment component in the grabbing mechanism can drive the grabbing component to move back and forth in the vertical direction for adjustment, and the finger at the output end of the grabbing finger cylinder can be removably inserted with a pad, which can adapt to workpieces of various sizes and shapes, improving the versatility of the device; the flexible transmission mechanism can cut off the power transmission between the first driving source and the grabbing mechanism under the action of the electric field, and the brake component can lock the grabbing mechanism when the power is cut off, ensuring the safe stop of the device, and improving the safety and reliability of the device; the device has a reasonable structural design, and the components are closely matched, which can ensure the stable operation of the device. At the same time, the design of the electrode transmission shaft and the working principle of the flexible transmission mechanism can improve the transmission efficiency and reliability of the device.

[0044] Based on the above embodiment, the first driving source 2 is a servo motor 21 placed horizontally; the output end of the servo motor 22 is connected to a liftable divider 23 through a coupling transmission; a first sensor 24 is provided between the adjacent servo motor 21 and the liftable divider 23; a second sensor 25 is provided at the output end of the liftable divider 23 in the horizontal direction; and a third sensor 26 is provided at the vertical output end of the liftable divider 23;

[0045] Among them: the first sensor 24 is used to detect the angle of rotation of the servo motor 21; the second sensor 25 is used to detect the angle of rotation of the liftable divider 23; the third sensor 26 is used to detect that the grasping mechanism 3 has rotated into place, and the first sensor 24, the second sensor 25 and the encoder on the servo motor 21 detect the angle value of rotation in all directions, and then compare the signal detected by the third sensor 26 to control the start and stop of the high-speed rotating loading and unloading device.

[0046] Based on the above embodiment, the second sensor 25 is a second encoder, and the second encoder is connected to the horizontal output end of the liftable divider 23 through a second coupling; the third sensor 26 is a photoelectric switch; the photoelectric switch is installed on the top of the liftable divider 23 through a photoelectric mounting seat, and the photoelectric switch shoots light pointing to the axis of the vertical output end of the liftable divider 23.

[0047] Based on the above embodiment, the grabbing mechanism 3 includes a grabbing bracket 31; an adjusting component 32 is rotatably provided on the grabbing bracket 31; a grabbing component 33 is slidably provided in a circular array along the circumferential side of the grabbing bracket 31; the adjusting component 32 can drive the grabbing component 33 to move back and forth in the vertical direction for adjustment; a sensing plate 34 is provided in a circular array on the grabbing bracket 31; the sensing plate 34 is arranged on the same plane as the grabbing component 33.

[0048] On the basis of the above embodiment, the grabbing bracket 31 comprises a rotating connecting block 311 provided with an inner concave cavity, and the flexible transmission mechanism 4 is filled in the inner concave cavity; a lifting plate 312 is provided on the top of the rotating connecting block 311; adjacent rotating connecting blocks 311 and lifting plates 312 are connected by rotating price increase adjustment mounting plates 313 arranged in a circumferential array; the rotating price increase adjustment mounting plates 313 are provided with an inner concave rectangular positioning groove;

[0049] The adjusting assembly 32 includes a screw assembly 321 rotatably arranged on the grab bracket 31; the screw assembly 321 is connected to a lifting mounting plate 323 through a screw sleeve; an adjusting hand wheel 234 is arranged on the top of the screw assembly 321; and a clamping plate 325 is arranged on the screw assembly 321 which can be opened and closed;

[0050] The grabbing assembly 33 includes a grabbing bracket 331; the grabbing bracket 331 is movably mounted on a rectangular positioning groove through a linear slide rail; the grabbing bracket 331 extends to the lifting mounting plate 323; a grabbing finger cylinder 332 is vertically downwardly provided at the end of the grabbing bracket 331; fingers 333 with concave trapezoidal dovetail grooves are symmetrically provided at the output end of the grabbing finger cylinder 332; a pad 334 adapted to the concave trapezoidal dovetail groove is detachably inserted on the finger 333; the height of the pad 334 is much greater than the depth of the concave trapezoidal dovetail groove.

[0051] Based on the above embodiment, the flexible transmission mechanism 4 includes a coaxially arranged cutting component 41 and a braking component 42; one end of the cutting component 41 is connected to the first driving source 2, and the other end is connected to the grasping mechanism 3; the braking component 42 is located at the top of the cutting component 41 and is coaxially arranged with the grasping mechanism 3.

[0052] Based on the above embodiment, the cutting component 41 includes a columnar liquid pool 411, the liquid pool 411 is filled with electrorheological fluid 412, and the liquid pool 411 has electrode transfer shafts 413 arranged opposite to each other up and down; an external circuit applies or cuts off a strong electric field to the electrorheological fluid 411 through the electrode transfer shaft 413.

[0053] Based on the above embodiment, the liquid pool 411 is rotatably disposed on the inner concave cavity through a first bearing; an insulating layer is disposed inside the liquid pool 411;

[0054] The electrode transfer shaft 413 includes a first electrode and a second electrode shaft; the first electrode and the second electrode shaft are coaxially arranged and spaced apart from each other; the first electrode and the second electrode shaft are both arranged in a T shape, and a triangular tooth is provided in a circular array on the end face; the first electrode is fixedly connected to the liquid pool 411; the second electrode shaft is sealingly connected to the liquid pool 411.

[0055] Based on the above embodiment, at least two brake components 42 are arranged in an array along the axis of the second electrode shaft, and the brake components 42 are arranged in a horseshoe shape. Adjacent brake components 42 are rotated 180° around the axis of the second electrode shaft.

[0056] Based on the above embodiment, the braking component 42 includes an inner deformable layer 421, an insulating resin layer 422 and an outer deformable layer 423 which are tightly bonded in sequence from the inside to the outside; the inner deformable layer 421 is a piezoelectric sensitive material of radial thickness deformation type; the outer deformable layer 423 is a piezoelectric sensitive material of circumferential length deformation type; two power supply circuits respectively supply power to the inner deformable layer 421 and the outer deformable layer 423, and under the inverse piezoelectric effect, the inner deformable layer 421 and the outer deformable layer 423 deform and squeeze the second electrode axis.

[0057] Specifically, when using, select a stable and solid installation position and place the base at this position. Use bolts or other fixing methods to firmly fix the base to the ground or work platform to ensure that the base does not shake or move during operation. Then place the servo motor horizontally and fix it on the base. Ensure that the servo motor is firmly installed and the output shaft is parallel to the plane of the base. Install the liftable divider at the output end of the servo motor and connect it through a coupling. Adjust the position of the liftable divider so that it is coaxial with the output shaft of the servo motor. Install the first sensor between the servo motor and the liftable divider to ensure that the sensor can accurately detect the angle of the servo motor. Connect the first sensor to the control system to monitor the operating status of the servo motor in real time. Install the second sensor (second encoder) at the horizontal output end of the liftable divider and connect it through the second coupling. Ensure that the second encoder can accurately detect the angle of rotation of the liftable divider and transmit its signal to the control system. Install the third sensor (photoelectric switch) at the vertical output end of the liftable divider. Use the photoelectric mount to fix the photoelectric switch on the top of the liftable divider, and adjust the position of the photoelectric switch so that its shooting light points to the axis of the vertical output end of the liftable divider. Ensure that the photoelectric switch can accurately detect the rotation position signal of the gripping mechanism and transmit it to the control system. Then install the rotating connection block on the vertical output end of the liftable divider. The rotating connection block is provided with a concave cavity inside for filling the flexible transmission mechanism. Ensure that the rotating connection block is firmly installed and coaxial with the output shaft of the liftable divider. Install the lifting plate on the top of the rotating connection block. Use the rotating price adjustment mounting plate set in a circular array to connect the rotating connection block and the lifting plate. Ensure that the rotating price adjustment mounting plate is firmly installed and can provide stable support for the gripping bracket. Process the concave rectangular positioning groove on the rotating price adjustment mounting plate for mounting the gripping assembly. The screw assembly is rotatably mounted on the gripping bracket. Ensure that the screw assembly is firmly installed and can rotate smoothly. Install the screw sleeve on the screw assembly and connect the lifting mounting plate through the screw sleeve transmission. Ensure that the lifting mounting plate can move back and forth in the vertical direction under the drive of the screw assembly. Install an adjustment handwheel on the top of the screw assembly to facilitate the operator to manually adjust the height of the grab assembly. Install an openable and closable clamp on the screw assembly to fix and adjust the position of the screw shaft sleeve. The grab bracket is movably mounted on the rectangular positioning groove through a linear slide. Ensure that the grab bracket can slide smoothly on the rectangular positioning groove to achieve the position adjustment of the grab assembly in the circumferential direction. Install the grab finger cylinder at the end of the grab bracket so that its output end is vertically downward. Ensure that the grab finger cylinder is firmly installed and can work stably. Install the fingers symmetrically at the output end of the grab finger cylinder, and the fingers are provided with a concave trapezoidal dovetail groove. Ensure that the fingers are firmly installed and can accurately grab the workpiece. A pad that is compatible with the concave trapezoidal dovetail groove is detachably inserted on the fingers.Select a pad of appropriate height to ensure that the height of the pad is much greater than the depth of the concave trapezoidal dovetail groove so as to adapt to workpieces of different sizes. Finally, a columnar liquid pool is made, and the liquid pool is filled with electrorheological fluid. Electrode transfer shafts are arranged relatively above and below the liquid pool, including a first electrode and a second electrode shaft. Ensure that the electrode transfer shaft is firmly installed and can stably transmit the electric field. The liquid pool is rotatably mounted on the concave cavity of the rotating connection block through the first bearing. Ensure that the liquid pool can rotate smoothly and move synchronously with the grasping mechanism. An insulating layer is set on the inside of the liquid pool to prevent current leakage. Ensure that the insulating layer is firmly installed and can effectively isolate the current. The first electrode is fixedly connected to the liquid pool, and the second electrode shaft is sealed to the liquid pool. Ensure that the connection between the electrode transfer shaft and the liquid pool is firm and can stably transmit the electric field. Make at least two brake components, which are arranged in a horseshoe shape, and include a tightly bonded inner deformation layer, an insulating resin layer, and an outer deformation layer from the inside to the outside. The inner deformation layer is a piezoelectric sensitive material of radial thickness deformation type, and the outer deformation layer is a piezoelectric sensitive material of circumferential length deformation type. The braking components are arranged in an array along the axis of the second electrode shaft, and the adjacent braking components are rotated 180° around the axis of the second electrode shaft. Ensure that the braking components are firmly installed and can accurately lock the grasping mechanism when needed. Connect the two power supply circuits to the inner deformation layer and the outer deformation layer respectively to ensure that under the inverse piezoelectric effect, the inner deformation layer and the outer deformation layer can deform and squeeze the second electrode shaft to achieve the braking function. Then, turn on the power and start the control system. The control system initializes each sensor to ensure that the sensor can work normally. Start the servo motor, and the servo motor drives the liftable divider to rotate through the coupling. The liftable divider transmits power to the grasping mechanism, so that the grasping mechanism starts to rotate step by step. The first sensor detects the angle of the servo motor in real time and transmits the angle signal to the control system. The control system calculates the theoretical position of the grasping mechanism based on the angle signal of the servo motor. The second sensor detects the angle of the liftable divider in real time and transmits the angle signal to the control system. The control system further corrects the position calculation of the grasping mechanism in combination with the angle signal of the liftable divider. The encoder on the servo motor also detects the rotation angle of the servo motor at the same time and transmits the angle signal to the control system. The control system integrates the angle signals of the first sensor, the second sensor and the encoder to perform a full-scale detection of the angle value. When the grasping mechanism rotates to a position close to the target position, the third sensor (photoelectric switch) begins to detect the rotation signal of the grasping mechanism. The photoelectric switch transmits the detected signal to the control system. When the control system receives the signal from the third sensor, indicating that the grasping mechanism has rotated to the right position, the power supply of the flexible transmission mechanism is immediately cut off. The strong electric field applied to the electrorheological fluid by the external circuit through the electrode transmission shaft is cut off, the electrorheological fluid in the liquid pool loses the electric field effect, and the power transmission is cut off.At the same time, after losing the electric field, the inner deformation layer and the outer deformation layer in the brake component deform due to the inverse piezoelectric effect and squeeze the second electrode shaft. The brake component is arranged in a horseshoe shape, which can quickly lock the grasping mechanism and stop it from rotating. After the grasping mechanism stops rotating, the height of the grasping assembly is adjusted by adjusting the hand wheel according to the size and shape of the workpiece. The screw assembly is connected to the lifting mounting plate through the screw shaft sleeve transmission, so that the grasping assembly moves back and forth in the vertical direction and adjusts to a suitable position. Start the grasping finger cylinder, and the symmetrical fingers at the output end of the grasping finger cylinder open to place the workpiece between the fingers. Then the grasping finger cylinder contracts and the fingers clamp the workpiece. The pads on the fingers can adapt to workpieces of different sizes to ensure the stability of grasping. When the workpiece needs to be placed at the specified position, start the servo motor to rotate the grasping mechanism to the target position. Repeat the process of angle detection and control, power cut-off and braking to make the grasping mechanism stop accurately at the target position. Start the grasping finger cylinder, open the fingers, and place the workpiece at the specified position. In summary, the present invention exhibits excellent high-speed rotation performance, can operate at a very fast speed, greatly improves the efficiency of loading and unloading, and fully meets the urgent needs of modern industry for efficient production. Second, the angle control is extremely accurate. Through multiple detection components, all-round angle detection can be achieved, and the rotation angle of the device can be accurately controlled to ensure the accuracy of loading and unloading operations. Third, it has excellent flexibility and can adapt to workpieces of different sizes and shapes. The adjustable design of the gripping mechanism and the detachable pads and other components enable the device to be flexibly adjusted according to actual needs, and it has strong versatility. Fourth, it is safe and reliable in power control. The flexible transmission mechanism can quickly cut off the power transmission under certain circumstances, and the braking component can quickly lock the gripping mechanism when the power is cut off, effectively avoiding safety accidents caused by unexpected situations, and greatly improving the safety and reliability of the device. Finally, the device runs stably and efficiently. Its structural design is reasonable, and the components are closely matched, which provides a solid guarantee for the stable operation of the device. At the same time, the advanced technical design and sophisticated component manufacturing enable the device to maintain an efficient working state during operation, providing a reliable solution for efficient automated production in modern industrial production.

[0058] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not used to limit the present invention. Any person skilled in the art should be able to use the technical content disclosed above to make equivalent embodiments that are equivalent changes by slight changes or modifications without departing from the scope of the technical solution of the present invention. However, any brief modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A high-speed rotating loading and unloading device, comprising a base (1), characterized in that: The high-speed rotating loading and unloading device comprises: A first driving source (2) is fixedly mounted on the base (1) and is used to provide a power source. The first driving source (2) is provided with at least three detection components for comparing and detecting the rotation angle. A gripping mechanism (3) is arranged on the top of the first driving source (2) in a liftable manner, and the first driving source (2) can drive the gripping mechanism (3) to rotate in a step-by-step manner; and A flexible transmission mechanism (4) is arranged between the first driving source (2) and the grasping mechanism (3), and the flexible transmission mechanism (4) cuts off the power transmission between the first driving source (2) and the grasping mechanism (3) under the action of an electric field; Wherein: when at least three of the detection components detect that the grabbing mechanism (3) rotates at a high speed, the power supply to the flexible transmission mechanism (4) is cut off, and the power transmission between the first driving source (2) and the grabbing mechanism (3) is cut off, and at the same time, one side of the flexible transmission mechanism (4) is deformed and locks the grabbing mechanism (3).

2. The high-speed rotating loading and unloading device according to claim 1, characterized in that: The first driving source (2) is a servo motor (22) placed horizontally; the output end of the servo motor (22) is connected to a liftable divider (23) through a coupling; a first sensor (24) is provided between the adjacent servo motor (22) and the liftable divider (23); a second sensor (25) is provided at the output end of the liftable divider (23) in the horizontal direction; and a third sensor (26) is provided at the vertical output end of the liftable divider (23); Wherein: the first sensor (24) is used to detect the angle of rotation of the servo motor (22); the second sensor (25) is used to detect the angle of rotation of the liftable divider (23); the third sensor (26) is used to detect whether the gripping mechanism (3) is rotated into place, and the first sensor (24), the second sensor (25) and the encoder on the servo motor (22) perform all-round detection of the angle value of rotation and then compare the signal detected by the third sensor (26) to control the start and stop of the high-speed rotating loading and unloading device.

3. The high-speed rotating loading and unloading device according to claim 2, characterized in that: The second sensor (25) is a second encoder, and the second encoder is connected to the horizontal output end of the liftable divider (23) via a second coupling; the third sensor (26) is a photoelectric switch; the photoelectric switch is installed on the top of the liftable divider (23) via a photoelectric mounting seat, and the light captured by the photoelectric switch is directed to the axis of the vertical output end of the liftable divider (23).

4. The high-speed rotating loading and unloading device according to claim 1, characterized in that: The gripping mechanism (3) comprises a gripping bracket (31); an adjusting component (32) is rotatably provided on the gripping bracket (31); a gripping component (33) is slidably provided in a circular array along the circumference of the gripping bracket (31); the adjusting component (32) can drive the gripping component (33) to move back and forth in a vertical direction for adjustment; a sensing plate (34) is provided in a circular array on the gripping bracket (31); the sensing plate (34) and the gripping component (33) are arranged in the same plane.

5. The high-speed rotating loading and unloading device according to claim 4, characterized in that: The grab bracket (31) comprises a rotating connection block (311) provided with a concave cavity, and the flexible transmission mechanism (4) is filled in the concave cavity; a lifting plate (312) is provided on the top of the rotating connection block (311); adjacent rotating connection blocks (311) and lifting plates (312) are connected by rotating price increase adjustment mounting plates (313) arranged in a circumferential array; and a concave rectangular positioning groove is provided on the rotating price increase adjustment mounting plate (313); The adjusting assembly (32) comprises a screw assembly (321) rotatably arranged on the grab bracket (31); the screw assembly (321) is connected to a lifting installation plate (323) via a screw sleeve; an adjusting hand wheel (234) is arranged on the top of the screw assembly (321); a clamping plate (325) is arranged on the screw assembly (321) which can be opened and closed; The grabbing assembly (33) comprises a grabbing bracket (331); the grabbing bracket (331) is movably mounted on a rectangular positioning groove via a linear slide rail; the grabbing bracket (331) extends to the lifting mounting plate (323); a grabbing finger cylinder (332) is vertically downwardly provided at the end of the grabbing bracket (331); fingers (333) with concave trapezoidal dovetail grooves are symmetrically provided at the output end of the grabbing finger cylinder (332); a pad (334) adapted to the concave trapezoidal dovetail groove is detachably inserted on the finger (333); the height of the pad (334) is much greater than the depth of the concave trapezoidal dovetail groove.

6. The high-speed rotating loading and unloading device according to claim 1, characterized in that: The flexible transmission mechanism (4) comprises a coaxially arranged cutting component (41) and a braking component (42); one end of the cutting component (41) is connected to the first driving source (2), and the other end is connected to the grasping mechanism (3); the braking component (42) is located at the top of the cutting component (41) and is coaxially arranged with the grasping mechanism (3).

7. The high-speed rotating loading and unloading device according to claim 6, characterized in that: The cutting component (41) comprises a columnar liquid pool (411), the liquid pool (411) is filled with electrorheological fluid (412), and the liquid pool (411) is provided with electrode transmission shafts (413) arranged opposite to each other up and down; an external circuit applies or cuts off a strong electric field to the electrorheological fluid (411) through the electrode transmission shaft (413).

8. The high-speed rotating loading and unloading device according to claim 7, characterized in that: The liquid pool (411) is rotatably arranged on the inner concave cavity through a first bearing; an insulating layer is arranged on the inner side of the liquid pool (411); The electrode transfer shaft (413) comprises a first electrode and a second electrode shaft; the first electrode and the second electrode shaft are coaxially arranged and spaced apart from each other; the first electrode and the second electrode shaft are both arranged in a T-shape, and a triangular tooth array is provided on the end surface; the first electrode is fixedly connected to the liquid pool (411); and the second electrode shaft is sealingly connected to the liquid pool (411).

9. The high-speed rotating loading and unloading device according to claim 6, characterized in that: At least two of the braking components (42) are arranged in an array along the axis of the second electrode shaft, the braking components (42) are arranged in a horseshoe shape, and adjacent braking components (42) are rotated 180 degrees around the axis of the second electrode shaft.

10. The high-speed rotating loading and unloading device according to claim 9, characterized in that: The braking component (42) comprises, from the inside to the outside, an inner deformation layer (421), an insulating resin layer (422) and an outer deformation layer (423) which are tightly bonded in sequence; the inner deformation layer (421) is a piezoelectric sensitive material of radial thickness deformation type; The outer shape-deformable sheet (423) is a piezoelectric sensitive material of circumferential length deformation type; the two power supply circuits respectively supply power to the inner shape-deformable sheet (421) and the outer shape-deformable sheet (423); under the inverse piezoelectric effect, the inner shape-deformable sheet (421) and the outer shape-deformable sheet (423) deform and squeeze the second electrode axis.

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