Automatic production line based on manipulator cooperation

Abstract

The automatic production line comprises a conveying belt, a moving frame, sliding rails and manipulators, the sliding rails are arranged on the two sides of the conveying belt, the moving frame stretches across the conveying belt and is slidably connected to the sliding rails, and the manipulators are fixed to the moving frame. The manipulator is borne through the arranged moving frame, and the moving frame can drive the manipulator to move flexibly. The driving component drives the driving wheel to move, so that the manipulator moves in the horizontal direction. The driving part can transmit power to the sliding sleeve through internal movement, and movement of the mechanical arm in the vertical direction is achieved. And flexible adjustment of the manipulator is achieved through movement in the horizontal direction and the vertical direction, the manipulator can grab workpieces at different positions conveniently, and the flexibility of a production line is improved. And meanwhile, only one driving motor is needed for movement, arrangement of different driving parts is reduced, and the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automated production lines, and more specifically, to an automated production line based on robot collaboration. Background Art

[0002] The conveyor line is an important part of automated production, which can automatically convey products or workpieces to the designated location. Not only is the transmission efficiency high, but it can also save a lot of labor costs. In the automated production line, the manipulator is equally important, which can grasp the workpiece, transfer the position or adjust the direction of the workpiece. However, most of the existing production line manipulators are fixedly installed, with a small displacement space and insufficient flexibility. Summary of the invention

[0003] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to propose an automated production line based on robot collaboration, which can solve the problem that the robots in the automated production line in the prior art are fixed in position, have a small moving space and are not flexible enough.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] The present invention provides an automated production line based on robot collaboration, comprising a conveyor belt, a mobile frame, a slide rail and a robot, wherein slide rails are arranged on both sides of the conveyor belt, the mobile frame spans the conveyor belt, and the mobile frame is slidably connected to the slide rails, and the robot is fixed on the mobile frame.

[0006] In a preferred technical solution of the present invention, the mobile frame includes a first main arm, a second main arm, a transverse support arm and a sliding block; the first main arm is vertically slidably connected to one of the slide rails, the second main arm is vertically slidably connected to the other slide rail, the transverse support arm is horizontally arranged, and both ends of the transverse support arm are fixed with sliding sleeves, one end of the transverse support arm is mounted on the first main arm through the sliding sleeve, and the other end of the transverse support arm is mounted on the second main arm through the sliding sleeve, the sliding block is slidably connected to the transverse support plate, and the manipulator is fixed on the sliding block.

[0007] In a preferred technical solution of the present invention, a driving box is connected to the bottom of the first main arm, a driving wheel is rotatably connected inside the driving box, and the driving wheel is slidably connected to the slide rail; a sliding box is connected to the bottom of the second main arm, a passive wheel is rotatably connected inside the sliding box, and the passive wheel is slidably connected to the slide rail, and the axis of the active wheel is connected to the axis of the passive wheel via a linkage shaft.

[0008] In a preferred technical solution of the present invention, a driving component is also provided in the driving box, and the driving component includes a driving rotating part, an adjusting part and a power part; the driving rotating part includes a driving rotating rod and a first locking block, the driving rotating rod is fixed on the axis center of the side of the driving wheel, the first locking block is sleeved on the driving rotating rod, the end of the driving rotating rod is fixed with a first clamping block, and the side of the first clamping block is provided with a first pressure groove; the power part includes a driving motor, a skateboard, a driving shaft, a bearing, a conveyor belt, and a telescopic arm, a slide groove is provided on the inner bottom wall of the driving box, the skateboard is slidably connected in the slide groove, one end of the telescopic arm is fixed in the slide groove, and the other end of the telescopic arm is fixed to the other end of the skateboard, the driving motor is fixed on the skateboard, the bearing is fixed to the skateboard through a bracket, the driving shaft is rotatably connected to the inner ring of the bearing, the power output shaft of the driving motor and the driving shaft are connected through a transmission belt transmission, and one end of the driving shaft is plug-fitted with the first pressure groove.

[0009] In a preferred technical solution of the present invention, the adjusting member includes a worm, a second locking block, a second clamping block, a first adjusting screw and a worm wheel. The worm is rotatably connected in the drive box, the second clamping block is fixed to one end of the worm, a second pressure groove is opened on the side of the second clamping block, the second locking block is sleeved on the worm, the other end of the drive shaft is plugged into the second pressure groove, the first adjusting screw is vertically arranged, the worm wheel is sleeved on the first adjusting screw, the worm wheel is meshed with the worm, and a drive plate is connected to one side of the sliding sleeve, the worm passes through the drive plate and is threadedly engaged with the drive plate.

[0010] In a preferred technical solution of the present invention, the skateboard is also provided with a locking part, and the locking parts are fixed on both sides of the skateboard. The locking part includes a push rod and a pressure block, the pressure block is fixed on the push rod, the push rod is fixed on the upper surface of the skateboard, the pressure block is adapted to the first locking block, and the pressure block is adapted to the second locking block.

[0011] In a preferred technical solution of the present invention, it also includes a second adjusting screw, one end of which is rotatably connected to a side wall of the sliding sleeve, and the other end of the second adjusting screw extends into another sliding sleeve, and the second adjusting screw passes through the sliding block and cooperates with the sliding block thread.

[0012] In a preferred technical solution of the present invention, an adjusting motor is arranged in the sliding sleeve, and the adjusting motor is fixedly connected to the second adjusting screw.

[0013] The beneficial effects of the present invention are:

[0014] The present invention provides an automated production line based on robot collaboration, which receives the robot through a mobile frame and can flexibly move the robot. The driving wheel is driven by a driving component to move, thereby realizing horizontal movement of the robot. The driving component can also transmit power to the sleeve through internal movement to realize vertical movement of the robot. The robot can be flexibly adjusted through horizontal and vertical movement, which makes it convenient to grab workpieces in different positions and improve the flexibility of the production line. At the same time, the movement only requires one driving motor, which reduces the setting of different driving components and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of an automated production line based on robot collaboration provided by a specific embodiment of the present invention;

[0016] Figure 2 yes Figure 1 A schematic diagram of the top view of the structure of the middle worm gear and the first adjusting screw;

[0017] Figure 3 yes Figure 1 A schematic diagram of the structure of the middle slide from a top view;

[0018] Figure 4 yes Figure 1 Enlarged structural diagram at A in the middle.

[0019] In the figure:

[0020] 1- conveyor belt, 2- slide rail, 31- first main arm, 32- second main arm, 33- horizontal support arm, 34- sliding block, 35- sliding sleeve, 36- adjusting motor, 37- second adjusting screw, 38- manipulator, 39- driving plate, 41- driving box, 42- driving wheel, 43- sliding box, 44- driven wheel, 45- driving rod, 46- first clamping block, 47- first locking block, 48- linkage shaft, 51- worm, 52- second clamping block, 53- second locking block, 54- first adjusting screw, 55- worm wheel, 61- slide plate, 62- telescopic arm, 63- bearing, 64- driving motor, 65- transmission belt, 66- pressing block, 67- driving shaft. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0022] like Figure 1-Figure 4 As shown, an automated production line based on robot collaboration is provided in the embodiment, including a conveyor belt 1, a mobile frame, a slide rail 2 and a robot 38. Slide rails 2 are provided on both sides of the conveyor belt 1. The mobile frame spans the conveyor belt 1, and the mobile frame is slidably connected to the slide rail 2. The robot 38 is fixed on the mobile frame.

[0023] The conveyor belt 1 transmits the workpiece. When the manipulator 38 is needed to grasp the workpiece, the mobile frame moves along the slide rail 2 and moves the manipulator 38 to a suitable position. The manipulator 38 grasps the workpiece and moves. The setting of the mobile frame and the slide rail 2 makes the manipulator 38 more flexible, convenient for clamping and moving the workpiece, and improves the flexibility of the production line.

[0024] Furthermore, the mobile frame includes a first main arm 31, a second main arm 32, a transverse support arm 33 and a sliding block 34; the first main arm 31 is vertically slidably connected to one of the slide rails 2, the second main arm 32 is vertically slidably connected to another of the slide rails 2, the transverse support arm 33 is horizontally arranged, and both ends of the transverse support arm 33 are fixed with sliding sleeves 35, one end of the transverse support arm 33 is sleeved on the first main arm 31 through the sliding sleeve 35, and the other end of the transverse support arm 33 is sleeved on the second main arm 32 through the sliding sleeve 35, the sliding block 34 is slidably connected to the transverse support plate, and the manipulator 38 is fixed on the sliding block 34.

[0025] By sliding the first main arm 31 and the second main arm 32 on the slide rail 2, the cross support arm 33 and the manipulator 38 are driven to move horizontally as a whole. The cross support arm 33 moves up and down on the first main arm 31 and the second main arm 32 through the sliding sleeve 35 to realize the up and down movement of the manipulator 38. The sliding block 34 slides on the cross support arm 33 to realize the lateral movement of the manipulator 38. The above structure allows the manipulator 38 to move in multiple directions and flexibly adjust its position to grab workpieces at different positions, thereby improving the flexibility of the production line.

[0026] Further, the bottom of the first main arm 31 is connected to a driving box 41, in which a driving wheel 42 is rotatably connected, and the driving wheel 42 is slidably connected to the slide rail 2. The bottom of the second main arm 32 is connected to a sliding box 43, in which a passive wheel 44 is rotatably connected, and the passive wheel 44 is slidably connected to the slide rail 2. The axis of the driving wheel 42 is connected to the axis of the passive wheel 44 through a linkage shaft 48. The driving wheel 42 is driven to rotate, and the linkage shaft 48 drives the passive wheel 44 to rotate, so as to realize the horizontal movement of the mobile frame, and then drive the manipulator 38 to move.

[0027] Furthermore, a driving component is also provided in the driving box 41, and the driving component includes a driving rotating component, an adjusting component and a power component; the driving rotating component includes a driving rotating rod 45 and a first locking block 47, the driving rotating rod 45 is fixed on the axis of the side of the driving wheel 42, the first locking block 47 is sleeved on the driving rotating rod 45, and a first clamping block 46 is fixed to the end of the driving rotating rod 45, and a first pressing groove is opened on the side of the first clamping block 46; the power component includes a driving motor 64, a slide plate 61, a driving shaft 67, a bearing 63, a conveyor belt 1, an extension The retractable arm 62, the inner bottom wall of the driving box 41 is provided with a sliding groove, the slide plate 61 is slidably connected in the sliding groove, one end of the telescopic arm 62 is fixed in the sliding groove, the other end of the telescopic arm 62 is fixed to the other end of the slide plate 61, the driving motor 64 is fixed on the slide plate 61, the bearing 63 is fixed on the slide plate 61 through a bracket, the driving shaft 67 is rotatably connected to the inner ring of the bearing 63, the power output shaft of the driving motor 64 and the driving shaft 67 are connected by a transmission belt 65, and one end of the driving shaft 67 is plugged into the first pressing groove.

[0028] When the driving manipulator 38 moves horizontally, the telescopic arm 62 extends, the right end of the driving shaft 67 is inserted into the first pressing groove, and the driving motor 64 drives the driving shaft 67 to rotate through the transmission belt 65. The rotating driving shaft 67 drives the first clamping block 46 to rotate and then drives the driving rod 45 to rotate. The rotating driving rod 45 drives the driving wheel 42 to rotate, thereby realizing the horizontal movement of the mobile frame.

[0029] Furthermore, the adjusting member includes a worm 51, a second locking block 53, a second clamping block 52, a first adjusting screw 54 and a worm wheel 55. The worm 51 is rotatably connected to the drive box 41. The second clamping block 52 is fixed to one end of the worm 51. A second pressure groove is opened on the side of the second clamping block 52. The second locking block 53 is sleeved on the worm 51. The other end of the drive shaft 67 is plugged into the second pressure groove. The first adjusting screw 54 is vertically arranged with the worm 51. The worm wheel 55 is sleeved on the first adjusting screw 54. The worm wheel 55 is meshed with the worm 51. A drive plate 39 is connected to one side of the sliding sleeve 35. The worm 51 passes through the drive plate 39 and is threadedly engaged with the drive plate 39.

[0030] When the driving sleeve 35 moves up and down, the telescopic arm 62 retracts, and the left end of the driving shaft 67 is inserted into the second pressure groove of the second clamping block 52. At this time, the driving motor 64 drives the driving shaft 67 to rotate through the transmission belt 65. The transmitted driving shaft 67 drives the second clamping block 52 to rotate and then drives the worm 51 to rotate. The rotating worm 51 drives the worm wheel 55 to rotate. The rotating worm wheel 55 drives the first adjusting screw 54 to rotate and then drives the driving plate 39 to drive the sleeve 35 to move, thereby realizing the up and down movement of the manipulator 38.

[0031] Furthermore, there is a locking piece on the slide plate 61, and the locking pieces are fixed on both sides of the slide plate 61. The locking piece includes a push rod and a pressure block 66. The pressure block 66 is fixed on the push rod, and the push rod is fixed on the upper surface of the slide plate 61. The pressure block 66 is adapted to the first locking block 47, and the pressure block 66 is adapted to the second locking block 53.

[0032] When the telescopic arm 62 is extended and the drive shaft 67 is inserted into the first clamping block 46, the left pressure block 66 is pressed against the second locking block 53 to prevent the worm 51 from rotating. When the telescopic arm 62 is retracted and the drive shaft 67 is inserted into the second clamping block 52, the right pressure block 66 is pressed against the first locking block 47 to prevent the driving rod 45 from rotating.

[0033] Furthermore, a second adjusting screw 37 is included, one end of which is rotatably connected to a side wall of the sliding sleeve 35, and the other end of the second adjusting screw 37 extends into another sliding sleeve 35, and the second adjusting screw 37 passes through the sliding block 34 and is threadedly engaged with the sliding block 34. The second adjusting screw 37 rotates to drive the sliding block 34 to move, thereby realizing the lateral movement of the robot arm.

[0034] Furthermore, an adjusting motor 36 is disposed in the sliding sleeve 35 , and the adjusting motor 36 is fixedly connected to the second adjusting screw 37 .

[0035] Other technologies of this embodiment adopt existing technologies.

[0036] The present invention is described by preferred embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. The present invention is not limited to the specific embodiments disclosed herein, and other embodiments falling within the claims of this application are within the scope of protection of the present invention.

Claims

1. An automated production line based on robot collaboration, characterized in that: The invention comprises a conveyor belt (1), a movable frame, a slide rail (2) and a manipulator (38), wherein the slide rails (2) are arranged on both sides of the conveyor belt (1), the movable frame straddles the conveyor belt (1), and the movable frame is slidably connected to the slide rails (2), and the manipulator (38) is fixed on the movable frame.

2. The automated production line based on robot collaboration according to claim 1, characterized in that: The mobile frame comprises a first main arm (31), a second main arm (32), a transverse support arm (33) and a sliding block (34); The first main arm (31) is vertically slidably connected to one of the slide rails (2), the second main arm (32) is vertically slidably connected to the other of the slide rails (2), the transverse support arm (33) is horizontally arranged, both ends of the transverse support arm (33) are fixed with sliding sleeves (35), one end of the transverse support arm (33) is sleeved on the first main arm (31) through the sliding sleeve (35), the other end of the transverse support arm (33) is sleeved on the second main arm (32) through the sliding sleeve (35), the sliding block (34) is slidably connected to the transverse support plate, and the manipulator (38) is fixed on the sliding block (34).

3. The automated production line based on robot collaboration according to claim 2, characterized in that: The bottom of the first main arm (31) is connected to a driving box (41), a driving wheel (42) is rotatably connected in the driving box (41), and the driving wheel (42) is slidably connected to the slide rail (2); the bottom of the second main arm (32) is connected to a sliding box (43), a driven wheel (44) is rotatably connected in the sliding box (43), and the driven wheel (44) is slidably connected to the slide rail (2); the axis of the driving wheel (42) and the axis of the driven wheel (44) are connected via a linkage shaft (48).

4. The automated production line based on robot collaboration according to claim 3 is characterized in that: The driving box (41) is also provided with a driving component, which includes a driving rotating part, an adjusting part and a power part; The driving member comprises a driving rod (45) and a first locking block (47). The driving rod (45) is fixed on the axis of the side of the driving wheel (42). The first locking block (47) is sleeved on the driving rod (45). A first clamping block (46) is fixed at the end of the driving rod (45). A first pressing groove is formed on the side of the first clamping block (46). The power part comprises a driving motor (64), a slide plate (61), a driving shaft (67), a bearing (63), a conveyor belt (1), and a telescopic arm (62). The inner bottom wall of the driving box (41) is provided with a slide groove, the slide plate (61) is slidably connected in the slide groove, one end of the telescopic arm (62) is fixed in the slide groove, the other end of the telescopic arm (62) is fixed to the other end of the slide plate (61), the driving motor (64) is fixed on the slide plate (61), the bearing (63) is fixed on the slide plate (61) through a bracket, the driving shaft (67) is rotatably connected to the inner ring of the bearing (63), the power output shaft of the driving motor (64) and the driving shaft (67) are connected by a transmission belt (65), and one end of the driving shaft (67) is plugged into and matched with the first pressing groove.

5. The automated production line based on robot collaboration according to claim 4, characterized in that: The adjusting member comprises a worm (51), a second locking block (53), a second clamping block (52), a first adjusting screw (54) and a worm wheel (55); The worm (51) is rotatably connected to the driving box (41), the second clamping block (52) is fixed to one end of the worm (51), the second clamping block (52) is provided with a second pressing groove on the side, the second locking block (53) is sleeved on the worm (51), the other end of the driving shaft (67) is plugged into the second pressing groove, the first adjusting screw (54) is vertically arranged with the worm (51), the worm wheel (55) is sleeved on the first adjusting screw (54), the worm wheel (55) is meshed with the worm (51), one side of the sliding sleeve (35) is connected with a driving plate (39), the worm (51) passes through the driving plate (39) and is threadedly engaged with the driving plate (39).

6. The automated production line based on robot collaboration according to claim 5, characterized in that: The slide plate (61) also has a locking member, and the slide plate (61) has locking members fixed on both the left and right sides. The locking member comprises a push rod and a pressure block (66), wherein the pressure block (66) is fixed on the push rod, the push rod is fixed on the upper surface of the slide plate (61), the pressure block (66) is matched with the first locking block (47), and the pressure block (66) is matched with the second locking block (53).

7. The automated production line based on robot collaboration according to claim 6, characterized in that: It also includes a second adjusting screw (37), one end of which is rotatably connected to a side wall of the sliding sleeve (35), and the other end of which extends into another sliding sleeve (35). The second adjusting screw (37) passes through the sliding block (34) and is threadedly engaged with the sliding block (34).

8. The automated production line based on robot collaboration according to claim 7, characterized in that: An adjusting motor (36) is arranged inside the sliding sleeve (35), and the adjusting motor (36) is fixedly connected to the second adjusting screw rod (37).

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