Overturning and discharging manipulator for powder metallurgy parts

Abstract

The invention discloses an overturning and discharging manipulator for powder metallurgy parts, and relates to the technical field of overturning and discharging manipulators. The device comprises a CCD detector, the CCD detector is arranged at the interval of two connecting arms, the CCD detector is fixedly connected with the end, away from a box body, of a first telescopic rod, and the CCD detector carries out shooting comparison on parts grabbed by a discharging mechanism, so that the grabbing position is adjusted through the discharging mechanism, the overturning angle and the laying-down position are adjusted in a similar way, and the grabbing precision of the parts is improved. The two parts are arranged on the two connecting arms, slippage caused by a poor grabbing position, collision caused by too many or too few overturning angles and falling of the parts caused by uncertain laying-down positions are avoided, so that the situation that the parts are damaged and waste products are generated is avoided, meanwhile, other parts on the two connecting arms are matched with each other, the two parts can be grabbed respectively, and the CCD detector is arranged at the interval of the two connecting arms. And two parts on the two sides can be detected, and the manufacturing cost of the overturning discharging mechanical arm is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of a turning and blanking robot, and in particular to a turning and blanking robot for powder metallurgy parts. Background Art

[0002] Powder metallurgy is a process technology that uses metal powder or a mixture of metal powder and non-metal powder as raw materials, and then forms and sinters them to manufacture metal materials, composite materials and various types of products. After the powder is made into powder metallurgy parts in the molding machine, a push rod is usually used to push the powder metallurgy parts to the conveyor belt, which then sends the powder metallurgy parts away. Some existing powder metallurgy parts have a raised structure. In the sintering process after molding, they need to be stacked on the bracket. The raised structure must be located at the top, while the raised structure is located at the bottom during molding in the molding machine. Therefore, the worker must flip the embryo on the conveyor belt and stack it on the bracket. On the one hand, the push rod pushes the powder metallurgy parts away from the molding machine, which is easy to bump and hit, and the powder metallurgy parts are easy to crack without sintering, resulting in waste; on the other hand, manual flipping of powder metallurgy parts is also easy to fall and bump against other powder metallurgy parts, resulting in the collapse of the powder metallurgy parts and waste. When a robot is used to flip and unload the parts, vibrations often occur when the telescopic parts are started. Long-term vibrations can easily cause the robot to loosen, which is not conducive to clamping. At the same time, the shapes and sizes of the parts are different, and different clamping methods and angles should be used for clamping. In addition, when the parts are placed on the surface of the conveyor belt, they are very easy to slide due to inertia, causing collisions between parts. In order to avoid the above situation, we have proposed a powder metallurgy parts flipping and unloading robot. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a powder metallurgy parts turning and unloading robot, comprising a bottom plate, a frame body is fixedly connected to the top of the bottom plate, a top plate is fixedly connected to the top of the frame body, a unloading mechanism is arranged inside the frame body, and a conveying mechanism is arranged at the interval between the unloading mechanism and the bottom plate; A material unloading mechanism, which is arranged inside the frame, and has a slide plate, both ends of which are slidably connected to the inner wall of the frame, and a side of the slide plate away from the top plate is fixedly connected to a box body, and a connecting arm is provided through the inner wall of the box body, and the outer surface of the connecting arm is slidably connected to the inner wall of the box body, and the number of the connecting arms is symmetrically arranged. A first telescopic rod is provided at the interval between the two connecting arms, and the first telescopic rod is fixedly connected to the outer surface of the box body; Also includes: CCD detector, the CCD detector is arranged at the interval between the two connecting arms, and the CCD detector is fixedly connected to one end of the first telescopic rod away from the box body, the CCD detector is used to detect the grasping, flipping angle and placement of parts, the CCD detector takes pictures and compares the parts grasped by the unloading mechanism, so as to adjust the grasping position through the unloading mechanism, and similarly adjust the flipping angle and the lowering position, so as to avoid slipping caused by poor grasping position, bumping caused by too much or too little flipping angle, and falling of parts caused by uncertain lowering position, so as to avoid damage to parts and produce waste. At the same time, other parts on the two connecting arms cooperate with each other, so as to grasp two parts respectively. The CCD detector is arranged at the interval between them, so as to detect the two parts on both sides, thereby reducing the manufacturing cost of the flip unloading manipulator; A control panel is fixedly connected to one side of the frame, the output end of the control panel is electrically connected to the unloading mechanism, the control panel controls the flipping and unloading operation of the unloading mechanism, the input end of the control panel is electrically connected to the CCD detector, and the control panel controls the unloading mechanism to grab parts, flip parts and put down parts.

[0004] Furthermore, the control panel includes a signal receiving module, a signal processing module, a storage module and a control module. The output end of the signal receiving module is electrically connected to the input end of the signal processing module, the output end of the signal processing module is electrically connected to the input end of the control module, the storage module is electrically connected to the control module, the signal receiving module is used to receive the electrical signal transmitted from the CCD detector to the inside of the control panel, the signal processing module is used to convert and process the electrical signal received inside the signal receiving module, the control module is used to compare the signal inside the signal processing module with the signal inside the storage module, and control the flipping and unloading operation of the unloading mechanism, the storage module is used to store the position information of grabbing, flipping and placing of multiple groups of parts, and provide it to the control module for comparison, and the control module can control the signal processing module The signal inside the block is compared with any set of position information, and the control panel controls the unloading mechanism to grab, flip and place the parts. At the same time, the first telescopic rod follows the grabbing, flipping and placement of a part, and takes pictures and detects before the time node of the next operation, records the final situation of the part being grabbed, flipped and placed, and transmits the detected three sets of position information to the signal receiving module in the control panel. The signal receiving module transmits the received three sets of position information to the signal processing module for conversion and processing, and then controls the processed signal through the control module to compare with the three sets of position information set in the storage module. When the processed signal matches the position information set in the storage module, the control module controls the unloading mechanism to stop adjusting the grabbing position, stop flipping, and stop adjusting the placement position.

[0005] Furthermore, the unloading mechanism also includes a longitudinal mechanical arm, which is rotatably connected to the end of the connecting arm away from the box body through a rotating rod, and the end of the longitudinal mechanical arm away from the connecting arm is rotatably connected to a transverse mechanical arm through a rotating rod, and the end of the transverse mechanical arm away from the longitudinal mechanical arm is fixedly connected to a circumferential rotating seat, and the inner wall of the circumferential rotating seat is limited and rotated with a ball, and the side of the ball away from the circumferential rotating seat is rotatably connected to a mechanical claw through a rotating rod. The longitudinal mechanical arm, the transverse mechanical arm, the circumferential rotating seat and the mechanical claw are all driven by a driver. The longitudinal mechanical arm rotates around the connecting arm to adjust the vertical grasping angle, and the transverse mechanical arm rotates around the longitudinal mechanical arm to adjust the horizontal grasping angle, and cooperates with the clamping of the mechanical claw to achieve multi-angle clamping of the parts. The formed parts need to be flipped. When flipping, the parts are located inside the mold. If you want to take them out, you need to find a suitable angle so that they will not slip off and cause waste. At the same time, the two different transverse mechanical arms rotate to adjust the spacing between the two mechanical claws to be the same as the spacing between the parts, thereby realizing the flipping and unloading of the two parts.

[0006] Furthermore, a telescopic platform is fixedly connected to a side of the slide plate away from the box body, and the side of the telescopic platform away from the slide plate is fixedly connected to a side of the top plate close to the frame body. The telescopic platform is extended and retracted to drive the slide plate to rise and fall, thereby adjusting the height between the parts and the conveying mechanism to avoid the parts being placed too high and causing collision, thereby avoiding scrap caused by bumps caused by the collision.

[0007] Furthermore, sliding rods are symmetrically arranged at the corners of the skateboard, the sliding rods are fixedly connected to a side of the skateboard close to the telescopic platform, and an end of the sliding rod away from the skateboard passes through the top plate, and the outer surface of the sliding rod is slidably connected to the inner wall of the top plate, the outer sleeve of the sliding rod is provided with a shock-absorbing spring, and the two ends of the shock-absorbing spring are respectively fixedly connected to a side where the top plate and the skateboard are close to each other, and a limiting plate is symmetrically arranged inside the frame body, and the limiting plate is fixedly connected to the inner wall of the frame body, and the limiting plate is arranged on a side of the skateboard away from the top plate. The skateboard is raised and lowered, driving the sliding rod to slide on the inner wall of the top plate, thereby playing a limiting role, avoiding the skateboard from being used for a long time, causing stagnation during sliding and causing vibration, and avoiding affecting the stability of the parts placement position. At the same time, the shock-absorbing spring further performs buffering to achieve a shock-absorbing effect, further ensuring the stability of the placement position.

[0008] Furthermore, rubber blocks are symmetrically arranged on the side where the mechanical claws are close to each other, and the rubber blocks are arranged on the side of the mechanical claws away from the ball. The rubber blocks are fixedly connected to the outer surface of the end of the mechanical claws, and the rubber blocks are arranged in a semi-cylindrical shape. When the mechanical claws clamp smaller parts, the smaller parts have higher precision, resulting in lower pressure they can withstand. The rubber blocks can increase the friction with the parts without changing the clamping force of the mechanical claws, thereby avoiding slippage of the parts due to insufficient clamping force during movement and flipping, and further avoiding scrapping.

[0009] Furthermore, an arc plate is provided inside the mechanical claw, and the two ends of the arc plate are respectively fixedly connected to the side where the two claws of the mechanical claw are close to each other, and an arc groove is provided on the outer surface of the arc plate. When the mechanical claw clamps a larger part, the larger part has a larger volume and needs to be clamped into the interior of the mechanical claw. The two claws of the mechanical claw approach each other, driving the arc plate to deform. The arc plate deforms and presses the part against it, thereby fixing it on the side that the mechanical claw does not clamp, and the other side of the part presses against the surface of the rubber block, and the cylindrical rubber block limits the other side of the part, thereby further preventing the part from slipping and causing waste parts. At the same time, the arc groove can make the arc plate easier to deform, thereby realizing the abutment and fixation of the part, and when abutting against the part, the abutting position is also more likely to be concave, fitting the shape of the part, realizing the wrapping of the part, and preventing the special-shaped parts from being squeezed by the arc plate and causing damage, thereby further avoiding waste parts.

[0010] The cam is connected to the second extension rod at one end and the second extension rod at the other end is connected with the extension rod at the other end. Drive the sleeve plate to move, thereby driving the other second telescopic rod to move synchronously, the second telescopic rod moves, drives the connecting arm to move, drives the longitudinal mechanical arm to move, drives the transverse mechanical arm to move, drives the circumferential rotating seat to move, drives the ball to move, drives the mechanical claw to move, the two mechanical claws synchronously reach the predetermined optimal clamping position, and then drive the two mechanical claws to clamp the part, thereby saving the cost of a second telescopic rod. When the second telescopic rod is started, vibration is inevitable. The vibration of the second telescopic rod will drive other parts to vibrate, which may easily cause the connecting parts of the parts to loosen, resulting in the mechanical claw being unable to accurately clamp the parts. The second telescopic rod vibrates when it starts, driving the mounting seat to move irregularly, and the mounting seat rotates around the sliding column to rub, consumes the vibration in this direction, and the mounting seat moves, driving the sliding column to move inside the sleeve, thereby driving the buffer spring to deform, further consuming the vibration, and avoiding the vibration causing the parts of the device to loosen, so as to ensure the clamping effect of the mechanical claw.

[0011] Furthermore, the conveying mechanism includes a motor, the outer surface of the motor is fixedly connected to a fixing frame, and the side of the fixing frame away from the motor is fixedly connected to the outer surface of the frame, the end of the motor is fixedly connected to a driving shaft, and the end of the driving shaft away from the motor is rotatably connected to the frame, the outer surface of the driving shaft is fixedly connected to a driving roller, the outer surface of the driving roller is sleeved with a transmission belt, the inner wall of the transmission belt is transmission-connected to a driven roller, and the driven roller is arranged on the side of the frame away from the driving roller, the inner wall of the driven roller is fixedly connected to a driven shaft, and the two ends of the driven shaft are respectively rotatably connected to the frame, the outer surface of the transmission belt is provided with a V-shaped groove, and a plurality of V-shaped grooves are evenly provided on the surface of the transmission belt, and the direction of the V-shaped grooves is In the opposite direction of the conveyor belt's movement, the mechanical claw grabs the part, flips the direction and places it in the middle of the conveyor belt surface. The conveyor belt drives the part to move until it reaches the subsequent processing. By opening a V-shaped groove, the friction on the conveyor belt surface is increased, thereby preventing the part from sliding on the conveyor belt surface due to inertia, avoiding affecting the intervals between multiple parts, and even collisions between parts, thereby avoiding scrap caused by collisions between parts. At the same time, the direction of the V-shaped groove is opposite to the movement direction of the conveyor belt. When the part is placed in the middle of the conveyor belt, the part rests on both sides of the V-shaped groove and is subjected to the pressure of the part. The symmetrical sides of the V-shaped groove can provide symmetrical reaction forces to the part, thereby maintaining the position of the part and avoiding deflection of the part, thereby ensuring the stability of the part's placement on the conveyor belt.

[0012] Furthermore, an H-frame is fixedly connected to one side of the bottom plate close to the frame body, a baffle is fixedly connected to one side of the H-frame away from the bottom plate, and the H-frame is provided with a plurality of baffles at the interval between the bottom plate and the baffle, both sides of the baffle are inclined toward the side away from each other, and the baffle does not contact the conveyor belt. By providing the baffle, the parts can be shielded when the parts are placed incorrectly to prevent the parts from detaching from the conveyor belt, causing the parts to fall and cause waste parts. The two sides of the baffle are inclined toward the side away from each other to increase the protection range, further prevent the parts from falling and causing waste parts. At the same time, the baffle does not contact the conveyor belt, thereby preventing the inner wall of the conveyor belt from rubbing against the baffle, thereby reducing power loss and achieving the purpose of energy saving.

[0013] The present invention has the beneficial effects: 1. The present invention sets a CCD detector, which takes pictures and compares the parts grasped by the unloading mechanism, so as to adjust the grasping position through the unloading mechanism, and similarly adjust the flipping angle and the lowering position to avoid slipping caused by poor grasping position, bumping caused by too much or too little flipping angle, and falling of parts caused by uncertain lowering position, thereby avoiding damage to parts and generating waste. At the same time, other parts on the two connecting arms cooperate with each other to grasp the two parts respectively. The CCD detector is set at the interval between them, and can detect the two parts on both sides, thereby reducing the manufacturing cost of the flip unloading robot.

[0014] 2. The present invention sets a feeding mechanism. The longitudinal robot arm rotates around the connecting arm to adjust the vertical grabbing angle. The transverse robot arm rotates around the longitudinal robot arm to adjust the horizontal grabbing angle. The mechanical claws are used to clamp the parts at multiple angles. The formed parts need to be flipped over. When flipping, the parts are located inside the mold. To take them out, it is necessary to find a suitable angle to prevent them from slipping and falling to cause waste. At the same time, the two different transverse robot arms rotate to adjust the spacing between the two mechanical claws to the same as the spacing between the parts, thereby realizing the flipping and feeding of the two parts.

[0015] 3. The present invention provides a mechanical claw. When the mechanical claw clamps a smaller part, the smaller part has a higher precision, resulting in a lower pressure that the part can withstand. The rubber block can increase the friction with the part without changing the clamping force of the mechanical claw, thereby preventing the part from slipping due to insufficient holding force when moving and flipping, and further avoiding waste. When the mechanical claw clamps a larger part, the larger part has a larger volume and needs to be clamped into the interior of the mechanical claw. The two claws of the mechanical claw approach each other, driving the arc plate to deform. The arc plate deforms and presses the part against the side not clamped by the mechanical claw, thereby fixing it. The other side of the part abuts against the surface of the rubber block. The cylindrical rubber block limits the other side of the part, thereby further avoiding the part from slipping and causing waste. At the same time, the arc groove can make the arc plate easier to deform, thereby achieving abutment and fixation of the part. When abutting against the part, the abutting position is also more likely to be concave, fitting the shape of the part, achieving wrapping of the part, and avoiding damage to the special-shaped part caused by the extrusion of the arc plate, thereby further avoiding waste.

[0016] 4. The present invention sets a sleeve plate, and a second telescopic rod is extended and retracted to drive the sleeve plate to move, thereby driving the other second telescopic rod to move synchronously, and the two mechanical claws reach the predetermined optimal clamping position synchronously, thereby saving the cost of a second telescopic rod. When the second telescopic rod is started, it is inevitable that vibration will occur. The vibration of the second telescopic rod will drive other parts to vibrate, which may easily cause the connecting parts of the parts to loosen, thereby causing the mechanical claws to be unable to accurately clamp the parts.

[0017] 5. The present invention increases the friction force on the surface of the conveyor belt by arranging a V-shaped groove, thereby preventing parts from sliding on the surface of the conveyor belt due to inertia, avoiding affecting the intervals between multiple parts, and even colliding between parts, thereby avoiding scrap caused by collisions between parts. At the same time, the direction of the V-shaped groove is opposite to the movement direction of the conveyor belt. Therefore, when the parts are placed in the middle of the conveyor belt, the parts abut against both sides of the V-shaped groove and are subjected to the pressure of the parts. Therefore, the symmetrical sides of the V-shaped groove can provide symmetrical reaction forces to the parts, thereby maintaining the position of the parts and preventing the parts from deflecting, thereby ensuring the stability of the placement of the parts on the conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of a powder metallurgy parts turning and unloading robot of the present invention; Figure 2 It is a structural schematic diagram of the blanking mechanism of the present invention; Figure 3 It is a partial structural schematic diagram of the blanking mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the mechanical claw of the present invention; Figure 5 It is a schematic diagram of the internal structure of the box body of the present invention; Figure 6 It is a schematic diagram of the cross-sectional structure of the box body of the present invention; Figure 7 It is a schematic diagram of the structure of the conveying mechanism of the present invention; Figure 8 It is a schematic diagram of the cross-sectional structure of the transmission belt of the present invention; Fig. 9 It is a flow chart of the control panel of the present invention.

[0019] In the figure: 1, bottom plate; 2, frame; 3, top plate; 4, unloading mechanism; 41, slide plate; 42, telescopic table; 43, box; 44, connecting arm; 45, longitudinal mechanical arm; 46, transverse mechanical arm; 47, circumferential rotating seat; 48, ball bearing; 49, mechanical claw; 410, first telescopic rod; 411, second telescopic rod; 412, sleeve plate; 413, mounting seat; 414, sliding column; 415, sleeve; 416, buffer Impact spring; 417, rubber block; 418, arc plate; 419, arc groove; 420, slide bar; 421, shock-absorbing spring; 422, limit plate; 5, conveying mechanism; 51, motor; 52, fixed frame; 53, active shaft; 54, active roller; 55, conveyor belt; 56, driven roller; 57, driven shaft; 58, H frame; 59, baffle; 510, V-groove; 6, CCD detector; 7, control panel. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0021] Example 1 See also Figure 1-Figure 9 The present invention is a powder metallurgy parts turning and unloading robot, comprising a bottom plate 1, a frame 2 is fixedly connected to the top of the bottom plate 1, a top plate 3 is fixedly connected to the top of the frame 2, a unloading mechanism 4 is arranged inside the frame 2, and a conveying mechanism 5 is arranged at the interval between the unloading mechanism 4 and the bottom plate 1; A material unloading mechanism 4 is arranged inside the frame 2, and the material unloading mechanism 4 has a slide plate 41, both ends of the slide plate 41 are slidably connected to the inner wall of the frame 2, and the side of the slide plate 41 away from the top plate 3 is fixedly connected to a box 43, and a connecting arm 44 is provided through the inner wall of the box 43, and the outer surface of the connecting arm 44 is slidably connected to the inner wall of the box 43, and the number of connecting arms 44 is symmetrically arranged. A first telescopic rod 410 is provided at the interval between the two connecting arms 44, and the first telescopic rod 410 is fixedly connected to the outer surface of the box 43; Also includes: CCD detector 6, which is arranged at the interval between the two connecting arms 44, and is fixedly connected to one end of the first telescopic rod 410 away from the box body 43, and is used to detect the grasping, flipping angle and placement of parts. The CCD detector 6 takes pictures and compares the parts grasped by the unloading mechanism 4, so as to adjust the grasping position through the unloading mechanism 4, and similarly adjust the flipping angle and the lowering position to avoid slipping caused by poor grasping position, bumping caused by too much or too little flipping angle, and falling of parts caused by uncertain lowering position, thereby avoiding damage to parts and producing waste. At the same time, other parts on the two connecting arms 44 cooperate with each other to grasp two parts respectively. The CCD detector 6 is arranged at the interval between them, and can detect the two parts on both sides, thereby reducing the manufacturing cost of the flip unloading manipulator; The control panel 7 is fixedly connected to one side of the frame 2. The output end of the control panel 7 is electrically connected to the unloading mechanism 4. The control panel 7 controls the flipping and unloading operation of the unloading mechanism 4. The input end of the control panel 7 is electrically connected to the CCD detector 6. The control panel 7 controls the unloading mechanism 4 to grab parts, flip parts and put down parts.

[0022] The control panel 7 includes a signal receiving module, a signal processing module, a storage module and a control module. The output end of the signal receiving module is electrically connected to the input end of the signal processing module, the output end of the signal processing module is electrically connected to the input end of the control module, the storage module is electrically connected to the control module, the signal receiving module is used to receive the electrical signal transmitted from the CCD detector 6 to the inside of the control panel 7, the signal processing module is used to convert and process the electrical signal received inside the signal receiving module, the control module is used to compare the signal inside the signal processing module with the signal inside the storage module, and control the flipping and unloading operation of the unloading mechanism 4, the storage module is used to store the position information of grabbing, flipping and placing of multiple groups of parts, and provide it to the control module for comparison, the control module can control the signal inside the signal processing module to be compared with any group of position information. The control panel 7 controls the unloading mechanism 4 to grab, flip and place the parts, and at the same time, the first telescopic rod 410 follows the grabbing, flipping and placement of a part, and performs shooting detection before the time node of the next operation, records the final situation of the part being grabbed, flipped and placed, and transmits the detected three sets of position information to the signal receiving module in the control panel 7. The signal receiving module transmits the received three sets of position information to the signal processing module for conversion and processing, and then controls the processed signal to be compared with the three sets of position information set in the storage module through the control module. When the processed signal matches the position information set in the storage module, the control module controls the unloading mechanism 4 to stop adjusting the grabbing position, stop flipping, and stop adjusting the placement position.

[0023] Example 2 See also Figure 1-Figure 6 The unloading mechanism 4 also includes a longitudinal mechanical arm 45, which is rotatably connected to the end of the connecting arm 44 away from the box 43 through a rotating rod, and the end of the longitudinal mechanical arm 45 away from the connecting arm 44 is rotatably connected to a transverse mechanical arm 46 through a rotating rod, and the end of the transverse mechanical arm 46 away from the longitudinal mechanical arm 45 is fixedly connected to a circumferential rotating seat 47, and the inner wall of the circumferential rotating seat 47 is limited and rotated with a ball 48, and the side of the ball 48 away from the circumferential rotating seat 47 is rotatably connected to a mechanical claw 49 through a rotating rod. The longitudinal mechanical arm 45, the transverse mechanical arm 46, the circumferential rotating seat 47 and the mechanical claw 49 are all driven by a driver, and the longitudinal mechanical arm 45, the transverse mechanical arm 46, the circumferential rotating seat 47 and the mechanical claw 49 are all driven by a driver. The robotic arm 45 rotates around the connecting arm 44 to adjust the vertical grasping angle. The transverse robotic arm 46 rotates around the longitudinal robotic arm 45 to adjust the horizontal grasping angle. Cooperating with the clamping of the mechanical claw 49, multi-angle clamping of the parts is achieved. The formed parts need to be flipped over. When flipping, the parts are located inside the mold. To take them out, it is necessary to find a suitable angle to prevent them from slipping and falling and causing waste. At the same time, the two different transverse robotic arms 46 rotate to adjust the spacing between the two mechanical claws 49 to the same as the spacing between the parts, thereby achieving the flipping and unloading of the two parts.

[0024] A telescopic platform 42 is fixedly connected to the side of the slide plate 41 away from the box body 43, and the side of the telescopic platform 42 away from the slide plate 41 is fixedly connected to the side of the top plate 3 close to the frame body 2. The telescopic platform 42 is extended and retracted to drive the slide plate 41 to rise and fall, thereby adjusting the height between the parts and the conveying mechanism 5 to avoid the parts being placed too high and causing collisions, thereby avoiding scrapping caused by collisions.

[0025] Slide bars 420 are symmetrically arranged at the corners of the slide plate 41, and the slide bar 420 is fixedly connected to the side of the slide plate 41 close to the telescopic platform 42, and the end of the slide bar 420 away from the slide plate 41 passes through the top plate 3, and the outer surface of the slide bar 420 is slidably connected to the inner wall of the top plate 3, and a shock-absorbing spring 421 is provided on the outside of the slide bar 420, and the two ends of the shock-absorbing spring 421 are respectively fixedly connected to the side where the top plate 3 and the slide plate 41 are close to each other, and a limit plate 422 is symmetrically arranged inside the frame body 2, and the limit plate 422 is fixedly connected to the inner wall of the frame body 2, and the limit plate 422 is arranged on the side of the slide plate 41 away from the top plate 3. The slide plate 41 is raised and lowered, driving the slide bar 420 to slide on the inner wall of the top plate 3, thereby playing a limiting role, avoiding the long-term use of the slide plate 41, causing stagnation and vibration during sliding, and avoiding affecting the stability of the parts placement position. At the same time, the shock-absorbing spring 421 further performs buffering to achieve a shock-absorbing effect, further ensuring the stability of the placement position.

[0026] The rubber block 417 is symmetrically arranged on the side where the mechanical claws 49 are close to each other, and the rubber block 417 is arranged on the side of the mechanical claw 49 away from the ball 48. The rubber block 417 is fixedly connected to the outer surface of the end of the mechanical claw 49, and the rubber block 417 is arranged in a semi-cylindrical shape. When the mechanical claw 49 clamps smaller parts, the smaller parts have higher precision, resulting in lower pressure they can withstand. The rubber block 417 can increase the friction with the parts without changing the clamping force of the mechanical claw 49, thereby avoiding slipping of the parts due to insufficient holding force during movement and flipping, and further avoiding scrapping.

[0027] The mechanical claw 49 is provided with an arc plate 418 inside, and the two ends of the arc plate 418 are respectively fixedly connected to the side where the two claws of the mechanical claw 49 are close to each other, and the outer surface of the arc plate 418 is provided with an arc groove 419. When the mechanical claw 49 clamps a larger part, the larger part has a larger volume and needs to be clamped into the interior of the mechanical claw 49. The two claws of the mechanical claw 49 approach each other, driving the arc plate 418 to deform, and the arc plate 418 deforms to press the part against the mechanical claw 49. The other side of the part abuts against the surface of the rubber block 417. The cylindrical rubber block 417 limits the other side of the part, thereby further preventing the part from slipping and causing waste. At the same time, the arc groove 419 can make the arc plate 418 easier to deform, thereby achieving the abutment and fixation of the part, and when abutting against the part, the abutting position is also easier to be concave, fitting the shape of the part, achieving the wrapping of the part, and preventing the special-shaped parts from being squeezed by the arc plate 418 and causing damage, thereby further avoiding waste.

[0028] The ends of the two connecting arms 44 located inside the box body 43 are fixedly connected to the second telescopic rod 411, and only one of the second telescopic rods 411 is driven by the main force, and the other second telescopic rod 411 only has a telescopic function. The end of the second telescopic rod 411 away from the connecting arm 44 is fixedly connected to the inner wall of the box body 43, and a sleeve plate 412 is provided on the side of the second telescopic rod 411 close to the connecting arm 44, and the inner wall of the sleeve plate 412 is fixedly connected to the outer surface of the two second telescopic rods 411, and the side of the sleeve plate 412 away from the connecting arm 44 is fixedly connected to the mounting seat 413 The side of the mounting seat 413 away from the sleeve plate 412 is rotatably connected with a sliding column 414 through a rotating rod, and a sleeve 415 is provided on the side of the sliding column 414 away from the mounting seat 413. The side of the sleeve 415 away from the sliding column 414 is fixedly connected to the inner wall of the box body 43, and the outer surface of the sliding column 414 is slidably connected to the inner wall of the sleeve 415. A buffer spring 416 is provided inside the sleeve 415, and the two ends of the buffer spring 416 are respectively fixedly connected to the bottom of the inner wall of the sleeve 415 and one end of the sliding column 414 located inside the sleeve 415. A second telescopic rod 411 is extended The second telescopic rod 411 moves, drives the connecting arm 44 to move, drives the longitudinal mechanical arm 45 to move, drives the transverse mechanical arm 46 to move, drives the circumferential rotating seat 47 to move, drives the ball 48 to move, drives the mechanical claw 49 to move, and the two mechanical claws 49 synchronously reach the predetermined optimal clamping position, and then drive the two mechanical claws 49 to clamp the parts, thereby saving the cost of a second telescopic rod 411. When the second telescopic rod 411 is started, it is inevitable that vibration will occur. The vibration of the second telescopic rod 411 will cause other parts to vibrate, which may easily cause the connecting parts of the parts to loosen, thereby causing the mechanical claw 49 to be unable to accurately clamp the parts. The second telescopic rod 411 vibrates when it is started, causing the mounting seat 413 to move irregularly. The mounting seat 413 rotates around the sliding column 414 to consume the vibration in this direction. The mounting seat 413 moves, driving the sliding column 414 to move inside the sleeve 415, thereby causing the buffer spring 416 to deform, further consuming the vibration, and avoiding the parts of the device from loosening due to vibration, so as to ensure the clamping effect of the mechanical claw 49.

[0029] Example 3 See also Figure 7-Figure 8The conveying mechanism 5 includes a motor 51, the outer surface of the motor 51 is fixedly connected to a fixing frame 52, and the side of the fixing frame 52 away from the motor 51 is fixedly connected to the outer surface of the frame 2, the end of the motor 51 is fixedly connected to a driving shaft 53, and the end of the driving shaft 53 away from the motor 51 is rotatably connected to the frame 2, the outer surface of the driving shaft 53 is fixedly connected to a driving roller 54, the outer surface of the driving roller 54 is sleeved with a transmission belt 55, the inner wall of the transmission belt 55 is transmission-connected to a driven roller 56, and the driven roller 56 is arranged on the side of the frame 2 away from the driving roller 54, the inner wall of the driven roller 56 is fixedly connected to a driven shaft 57, and the two ends of the driven shaft 57 are respectively rotatably connected to the frame 2, the outer surface of the transmission belt 55 is provided with a V-shaped groove 510, and a plurality of V-shaped grooves 510 are evenly provided on the surface of the transmission belt 55, and the direction of the V-shaped grooves 510 is consistent with the transmission belt 55. The movement direction of the conveyor belt 55 is opposite. The mechanical claw 49 grabs the part, flips the direction and places it in the middle of the surface of the conveyor belt 55. The conveyor belt 55 drives the part to move until it reaches the subsequent processing. By opening the V-shaped groove 510, the friction on the surface of the conveyor belt 55 is increased, thereby preventing the parts from sliding on the surface of the conveyor belt 55 due to inertia, avoiding affecting the intervals between multiple parts, and even collisions between parts, thereby avoiding scrap caused by collisions between parts. At the same time, the direction of the V-shaped groove 510 is opposite to the movement direction of the conveyor belt 55. Therefore, when the parts are placed in the middle of the conveyor belt 55, the parts abut against the two sides of the V-shaped groove 510 and are subjected to the pressure of the parts. Therefore, the symmetrical sides of the V-shaped groove 510 can provide symmetrical reaction forces to the parts, thereby maintaining the position of the parts and avoiding deflection of the parts, thereby ensuring the stability of the position of the parts on the conveyor belt 55.

[0030] An H-frame 58 is fixedly connected to one side of the bottom plate 1 close to the frame body 2, and a baffle 59 is fixedly connected to one side of the H-frame 58 away from the bottom plate 1, and a plurality of H-frames 58 are arranged at the interval between the bottom plate 1 and the baffle 59. Both sides of the baffle 59 are inclined to the side away from each other, and the baffle 59 does not contact the conveyor belt 55. By setting the baffle 59, when the parts are placed incorrectly, the parts can be shielded to prevent the parts from detaching from the conveyor belt 55, causing the parts to fall and cause waste. Both sides of the baffle 59 are inclined to the side away from each other, which can increase the protection range and further prevent the parts from falling and causing waste. At the same time, the baffle 59 does not contact the conveyor belt 55, thereby preventing the inner wall of the conveyor belt 55 from rubbing against the baffle 59, thereby reducing power loss and achieving the purpose of saving energy.

[0031] When in use, the control panel 7 controls the unloading mechanism 4 to grab, flip and place the parts. At the same time, the first telescopic rod 410 follows the grabbing, flipping and placement of a part, and performs shooting detection before the time node of the next operation, records the final situation of the part being grabbed, flipped and placed, and transmits the detected three sets of position information to the signal receiving module in the control panel 7. The signal receiving module transmits the received three sets of position information to the signal processing module for conversion processing, and then controls the processed signal to be compared with the three sets of position information set in the storage module through the control module. When the processed signal matches the position information set in the storage module, the control module controls the unloading mechanism 4 to stop adjusting the grabbing position, stop flipping, and stop adjusting the placement position; Flip unloading, the telescopic table 42 is extended and retracted, driving the slide plate 41 to rise and fall, thereby adjusting the height between the parts and the conveying mechanism 5, and the two different transverse mechanical arms 46 rotate to adjust the spacing between the two mechanical claws 49 to the same spacing as the parts, and a second telescopic rod 411 is extended and retracted to drive the sleeve plate 412 to move, thereby driving the other second telescopic rod 411 to move synchronously, and the second telescopic rod 411 moves, driving the connecting arm 44 to move, driving the longitudinal mechanical arm 45 to move, driving the transverse mechanical arm 46 to move, driving the circumferential rotating seat 47 to move, driving the ball 48 to move, and driving the mechanical claw 49 to move, and the two mechanical claws 49 synchronously reach the predetermined optimal clamping position, and then drive the two mechanical claws 49 to clamp the parts, and at the same time, the first telescopic rod 410 is extended and retracted following the parts, so that the CCD detector 6 always keeps a relatively static movement with the clamped parts, and then under the control of the control panel 7, the ball 48 rotates inside the circumferential rotating seat 47, and the mechanical claw 49 also rotates, completing the flipping process, and finally under the control of the control panel 7, the parts are stably placed on the surface of the conveyor belt 55; During part transmission, the mechanical claw 49 grabs the part, flips it and places it in the middle of the surface of the conveyor belt 55. The conveyor belt 55 drives the part to move until it reaches the subsequent processing.

[0032] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A powder metallurgy parts turning and unloading robot, comprising a bottom plate (1), a frame (2) fixedly connected to the top of the bottom plate (1), and a top plate (3) fixedly connected to the top of the frame (2), characterized in that: A material discharge mechanism (4) is disposed inside the frame (2), and a conveying mechanism (5) is disposed at a distance between the material discharge mechanism (4) and the bottom plate (1); A material unloading mechanism (4), the material unloading mechanism (4) being arranged inside the frame (2), the material unloading mechanism (4) comprising a slide plate (41), both ends of the slide plate (41) being slidably connected to the inner wall of the frame (2), a side of the slide plate (41) away from the top plate (3) being fixedly connected to a box (43), a connecting arm (44) being arranged through the inner wall of the box (43), an outer surface of the connecting arm (44) being slidably connected to the inner wall of the box (43), two connecting arms (44) being symmetrically arranged, a first telescopic rod (410) being arranged at a distance between the two connecting arms (44), and the first telescopic rod (410) being fixedly connected to the outer surface of the box (43); Also includes: A CCD detector (6), the CCD detector (6) being arranged at a distance between the two connecting arms (44), and the CCD detector (6) being fixedly connected to an end of the first telescopic rod (410) away from the box (43), the CCD detector (6) being used to detect the grasping, flipping angle and placement of the parts; A control panel (7) is fixedly connected to one side of the frame (2); an output end of the control panel (7) is electrically connected to the material discharge mechanism (4); the control panel (7) controls the flipping and material discharge operation of the material discharge mechanism (4); and an input end of the control panel (7) is electrically connected to the CCD detector (6).

2. A powder metallurgy parts turning and unloading robot according to claim 1, characterized in that: The control panel (7) comprises a signal receiving module, a signal processing module, a storage module and a control module. The output end of the signal receiving module is electrically connected to the input end of the signal processing module, the output end of the signal processing module is electrically connected to the input end of the control module, and the storage module is electrically connected to the control module. The signal receiving module is used to receive an electrical signal transmitted from the CCD detector (6) to the inside of the control panel (7). The signal processing module is used to convert and process the electrical signal received inside the signal receiving module. The control module is used to compare the signal inside the signal processing module with the signal inside the storage module, and to control the flipping and unloading operation of the unloading mechanism (4). The storage module is used to store position information of multiple groups of parts grabbing, flipping and placing, and provide it to the control module for comparison. The control module can control the signal inside the signal processing module to compare with any group of position information.

3. A powder metallurgy parts turning and unloading robot according to claim 2, characterized in that: The unloading mechanism (4) further comprises a longitudinal mechanical arm (45), wherein the longitudinal mechanical arm (45) is rotatably connected to an end of the connecting arm (44) away from the box body (43) via a rotating rod, and the end of the longitudinal mechanical arm (45) away from the connecting arm (44) is rotatably connected to a transverse mechanical arm (46) via a rotating rod, and the end of the transverse mechanical arm (46) away from the longitudinal mechanical arm (45) is fixedly connected to a circumferential rotating seat (47), and a ball (48) is rotationally limited on the inner wall of the circumferential rotating seat (47), and a side of the ball (48) away from the circumferential rotating seat (47) is rotatably connected to a mechanical claw (49) via a rotating rod, and the longitudinal mechanical arm (45), the transverse mechanical arm (46), the circumferential rotating seat (47) and the mechanical claw (49) are all driven by a driver.

4. A powder metallurgy parts turning and unloading robot according to claim 3, characterized in that: A side of the slide plate (41) away from the box body (43) is fixedly connected to a telescopic platform (42), and a side of the telescopic platform (42) away from the slide plate (41) is fixedly connected to a side of the top plate (3) close to the frame body (2).

5. A powder metallurgy parts turning and unloading robot according to claim 4, characterized in that: Slide rods (420) are symmetrically arranged at the corners of the slide plate (41), the slide rods (420) are fixedly connected to a side of the slide plate (41) close to the telescopic platform (42), and an end of the slide rod (420) away from the slide plate (41) passes through the top plate (3), and the outer surface of the slide rod (420) is slidably connected to the inner wall of the top plate (3), the outer sleeve of the slide rod (420) is provided with a shock absorbing spring (421), and the two ends of the shock absorbing spring (421) are respectively fixedly connected to a side where the top plate (3) and the slide plate (41) are close to each other, and the frame body (2) is symmetrically arranged with a limit plate (422), and the limit plate (422) is fixedly connected to the inner wall of the frame body (2), and the limit plate (422) is arranged on a side of the slide plate (41) away from the top plate (3).

6. A powder metallurgy parts turning and unloading robot according to claim 5, characterized in that: A rubber block (417) is symmetrically arranged on one side of the mechanical claws (49) close to each other, and the rubber block (417) is arranged on the side of the mechanical claws (49) away from the ball (48), the rubber block (417) is fixedly connected to the outer surface of the end of the mechanical claw (49), and the rubber block (417) is arranged in a semi-cylindrical shape.

7. A powder metallurgy parts turning and unloading robot according to claim 6, characterized in that: An arc-shaped plate (418) is provided inside the mechanical claw (49), two ends of the arc-shaped plate (418) are respectively fixedly connected to the sides of the two claws of the mechanical claw (49) that are close to each other, and an arc-shaped groove (419) is provided on the outer surface of the arc-shaped plate (418).

8. The powder metallurgy parts turning and unloading robot according to claim 7 is characterized in that: One end of the two connecting arms (44) located inside the box (43) is fixedly connected to a second telescopic rod (411), and only one of the second telescopic rods (411) is driven by an active force; one end of the second telescopic rod (411) away from the connecting arm (44) is fixedly connected to the inner wall of the box (43); a sleeve plate (412) is provided on a side of the second telescopic rod (411) close to the connecting arm (44), and the inner wall of the sleeve plate (412) is fixedly connected to the outer surfaces of the two second telescopic rods (411), and a mounting seat (413) is fixedly connected to the side of the sleeve plate (412) away from the connecting arm (44). A side of the slide post (413) away from the sleeve (412) is rotatably connected to a slide post (414) via a rotating rod, and a sleeve (415) is provided on a side of the slide post (414) away from the mounting seat (413). A side of the sleeve (415) away from the slide post (414) is fixedly connected to the inner wall of the box body (43), and an outer surface of the slide post (414) is slidably connected to the inner wall of the sleeve (415). A buffer spring (416) is provided inside the sleeve (415), and two ends of the buffer spring (416) are respectively fixedly connected to the bottom of the inner wall of the sleeve (415) and one end of the slide post (414) located inside the sleeve (415).

9. A powder metallurgy parts turning and unloading robot according to claim 8, characterized in that: The conveying mechanism (5) comprises a motor (51), the outer surface of the motor (51) is fixedly connected to a fixing frame (52), and the side of the fixing frame (52) away from the motor (51) is fixedly connected to the outer surface of the frame (2), the end of the motor (51) is fixedly connected to a driving shaft (53), and the end of the driving shaft (53) away from the motor (51) is rotatably connected to the frame (2), the outer surface of the driving shaft (53) is fixedly connected to a driving roller (54), the outer surface of the driving roller (54) is sleeved with a conveyor belt (55), and the conveyor belt (55) is fixedly connected to the outer surface of the driving roller (54). The inner wall of the conveyor belt (55) is transmission-connected to a driven roller (56), and the driven roller (56) is arranged on a side of the frame (2) away from the driving roller (54). The inner wall of the driven roller (56) is fixedly connected to a driven rotating shaft (57), and both ends of the driven rotating shaft (57) are respectively rotationally connected to the frame (2). The outer surface of the conveyor belt (55) is provided with a V-shaped groove (510), and a plurality of the V-shaped grooves (510) are evenly provided on the surface of the conveyor belt (55), and the direction of the V-shaped grooves (510) is opposite to the movement direction of the conveyor belt (55).

10. A powder metallurgy parts turning and unloading robot according to claim 9, characterized in that: An H-frame (58) is fixedly connected to a side of the bottom plate (1) close to the frame body (2), and a baffle (59) is fixedly connected to a side of the H-frame (58) away from the bottom plate (1). A plurality of H-frames (58) are arranged at a distance between the bottom plate (1) and the baffle (59), and both sides of the baffle (59) are arranged to be inclined toward a side away from each other, and the baffle (59) does not contact the conveyor belt (55).

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