Flexible robot feeding and discharging device

Abstract

The invention belongs to a robot, and particularly relates to a flexible robot feeding and discharging device. A flexible robot feeding and discharging device capable of automatically switching angles when a robot grabs materials comprises a movable frame and the like. The front side of the top of the moving frame is fixedly connected with a conveying seat through bolts, the conveying seat is composed of a mounting conveying belt and a support for mounting the conveying belt, the conveying belt is mounted at the top of the support and used for driving materials to be conveyed in the left-right direction, and conveying discs are evenly arranged on the outer surface of the conveying belt at intervals. When materials are conveyed to the position below the mechanical arm, the angle of the materials can be adjusted through the adjusting mechanism, so that the situation that the materials cannot be grabbed or cannot be grabbed stably due to the position when the mechanical arm grabs the materials is avoided; by means of the discharging assembly, materials can be conveniently placed, and the working efficiency is improved; and through the positioning assembly, the materials can be placed at the optimal position, and follow-up grabbing is facilitated.

Description

Technical Field

[0001] The invention relates to a robot, and in particular to a loading and unloading device of a flexible robot. Background Art

[0002] As the manufacturing industry continues to increase its requirements for automation and production efficiency, flexible robotic loading and unloading devices are increasingly used in industrial automation. Such devices are mainly used to realize automatic material handling, loading and unloading operations, aiming to reduce manual intervention and improve production efficiency and work safety. However, in actual production environments, due to the diversity of material shapes, sizes, and surface features, as well as the possible positional offsets and posture changes that may occur during the material transportation process, existing flexible robotic loading and unloading devices face significant technical challenges.

[0003] Current flexible robotic loading and unloading devices often rely on fixed recognition patterns and pre-set grasping strategies to handle specific types of materials. When faced with materials of varying shapes, sizes, or surface characteristics, the limitations of this fixed pattern become apparent, resulting in reduced accuracy in recognition and positioning. Inaccurate recognition and positioning can not only lead to robot grasping failures, but can also cause materials to fall and be damaged, or even cause collision damage to equipment, seriously affecting the continuity and stability of production.

[0004] Therefore, there is an urgent need to develop a flexible robot loading and unloading device that can automatically switch angles when the robot grabs materials. Summary of the invention

[0005] In order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a flexible robot loading and unloading device which can automatically switch angles when the robot grabs materials.

[0006] The technical scheme of the present invention is: a flexible robot loading and unloading device, including a moving frame, a conveying seat, a rotating seat, a manipulator, a discharge tray, a feed tray and an adjusting mechanism, the front side of the top of the moving frame is fixedly connected with the conveying seat, the conveying seat is composed of a conveyor belt installation and a bracket for installing the conveyor belt, the outer surface of the conveyor belt is evenly spaced with the feed tray, the moving frame on the left side of the rear side of the conveyor belt is fixedly connected with the rotating seat, the manipulator is fixedly connected with the discharge tray above the rotating seat, the moving frame on the right side of the manipulator is fixedly connected with the discharge tray by bolts, the adjusting mechanism is connected between the manipulator and the conveying seat below, the adjusting mechanism includes a guide rod, a motor I, an elastic rope, a magnet I, a pinion, a gear ring and a magnet II, the left side of the rear side of the bracket of the conveying seat is fixedly connected with a guide rod, the guide rod is slidably connected with the motor I, an elastic rope is connected between the motor I and the guide rod, the rear side of the motor I is fixedly connected with the magnet I, the lower front side of the lower part of the manipulator is fixedly connected with the magnet II, the output shaft at the top of the motor I is keyed with a pinion, the outer surface of the feed tray is keyed with a gear ring, and the gear ring can mesh with the pinion.

[0007] Furthermore, it also includes a discharge component, which is fixedly connected to the upper right side of the conveying seat, and the discharge component includes a track, a slider, an elastic connecting rod, a charging barrel, a motor II and a discharge barrel. The front and rear sides of the right side of the conveying seat are fixedly connected to the track, and sliders are slidably connected to the track. The sliders are fixedly connected with elastic connecting rods, and the middle part of the elastic connecting rod is fixedly connected to the charging barrel. The middle part of the front side of the charging barrel is fixedly connected to motor II, and the output shaft of motor II extends into the charging barrel. The output shaft of motor II is connected to the discharge barrel, and the upper and lower parts of the discharge barrel are provided with loading grooves.

[0008] Furthermore, it also includes a stabilizing component, which is fixedly arranged in the middle of the gripping part of the manipulator. The stabilizing component includes an electric suction cup, which is fixedly connected in the middle of the gripping part of the manipulator.

[0009] Furthermore, the stabilizing component also includes a positioning magnetic block, and the claws of the manipulator are all connected to the positioning magnetic block.

[0010] Furthermore, it also includes a material shaking assembly, which is connected between the conveying seat and the discharge assembly. The material shaking assembly includes a protrusion and a protruding rod. A protrusion is provided on both the front and rear sides of the conveying belt of the conveying seat, and a protruding rod is provided on both the front and rear sides of the loading barrel.

[0011] Furthermore, it also includes a positioning component, which is fixedly connected to the conveying seat on the left side of the discharge component by bolts. The positioning component includes a mounting frame and a positioning plate. The mounting frame is installed above the conveying seat on the left side of the discharge component. Positioning plates are arranged on the front and rear sides of the mounting frame, and the right part of the positioning plate extends outward.

[0012] Furthermore, the positioning assembly also includes a flip plate, and the flip plate is obliquely installed on the upper part of the mounting frame, and the angle of the flip plate can be adjusted.

[0013] Furthermore, it also includes a lifting hydraulic cylinder. The mobile frame is divided into two layers, and the upper and lower layers are slidably connected. The upper layer of the mobile frame is fixedly connected with the lifting hydraulic cylinder, and the lower part of the lifting hydraulic cylinder passes through the lower layer of the mobile frame.

[0014] Compared with the prior art, the present invention has the following advantages: when the material is conveyed to the bottom of the manipulator, the present invention can adjust the angle of the material through the adjustment mechanism, so that when the manipulator grabs the material, the material will not be unable to be grabbed or cannot be grabbed steadily due to position reasons; the material placement is facilitated by the material discharge component, and the work efficiency is improved; the material can be placed in the best position by the positioning component, which facilitates subsequent grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0016] Figure 2 This is a three-dimensional structural schematic diagram of the manipulator, the feeding tray and the material conveying tray of the present invention.

[0017] Figure 3 This is a position diagram of the adjusting mechanism of the present invention.

[0018] Figure 4 This is the present invention Figure 3 An enlarged view of A in.

[0019] Figure 5 This is a three-dimensional structural schematic diagram of the feeding assembly of the present invention.

[0020] Figure 6 This is a three-dimensional structural schematic diagram of the stabilizing assembly of the present invention.

[0021] Figure 7 This is a three-dimensional structural schematic diagram of the lifting hydraulic cylinder of the present invention.

[0022] Figure 8 This is a three-dimensional structural schematic diagram of the vibrating material assembly of the present invention.

[0023] Fig. 9 This is a three-dimensional structural schematic diagram of the positioning assembly of the present invention.

[0024] Explanation of reference numerals: 1. Moving frame, 2. Conveying seat, 3. Rotating seat, 4. Manipulator, 5. Feeding tray, 6. Material conveying tray, 7. Adjusting mechanism, 71. Guide rod, 72. Motor I, 73. Elastic rope, 74. Magnet I, 75. Small gear, 76. Tooth ring, 77. Magnet II, 8. Feeding assembly, 81. Track, 82. Slide block, 83. Elastic connecting rod, 84. Loading bucket, 85. Motor II, 86. Feeding tube, 9. Stabilizing assembly, 91. Electric suction cup, 92. Positioning magnet, 10. Vibrating material assembly, 101. Convex block, 102. Convex rod, 11. Positioning assembly, 111. Mounting frame, 112. Positioning plate, 113. Flipping plate, 12. Lifting hydraulic cylinder. Detailed implementation manners

[0025] The present invention will be specifically described below with reference to the accompanying drawings.

[0026] Example: A flexible robot loading and unloading device, as Figure 1-Figure 4As shown, it includes a mobile frame 1, a conveying seat 2, a rotating seat 3, a manipulator 4, a discharge tray 5, a feed tray 6 and an adjusting mechanism 7. The front side of the top of the mobile frame 1 is fixedly connected to the conveying seat 2 by bolts. The conveying seat 2 is composed of a bracket for installing a conveyor belt and a bracket for installing the conveyor belt. The conveyor belt is installed on the top of the bracket to drive the material to be transported in the left and right directions. The feed tray 6 is evenly spaced on the outer surface of the conveyor belt. The mobile frame 1 on the left rear side of the conveyor belt is fixedly connected to the rotating seat 3 by bolts. The manipulator 4 is fixedly connected to the top of the rotating seat 3 by bolts. The rotating seat 3 can drive the manipulator 4 to rotate automatically. The discharge tray 5 is fixedly connected to the mobile frame 1 on the right side of the manipulator 4 by bolts. An adjusting mechanism 7 is connected between the manipulator 4 and the conveying seat 2 below. The adjusting mechanism 7 is fixedly connected to the conveyor The material in the discharge tray 5 is rotated and adjusted in a dynamic manner. The adjustment mechanism 7 includes a guide rod 71, a motor I 72, an elastic rope 73, a magnet I 74, a pinion 75, a ring gear 76 and a magnet II 77. The left part of the rear side of the bracket of the conveying seat 2 is fixedly connected with the guide rod 71 by bolts. The guide rod 71 is slidably connected with the motor I 72 with the output shaft facing upward. An elastic rope 73 is connected between the motor I 72 and the guide rod 71. The rear side of the motor I 72 is fixedly connected with the magnet I 74 by bolts. The lower front side of the lower part of the manipulator 4 is fixedly connected with the magnet II 77 by bolts. The magnet II 77 and the magnet I 74 are in a mutually exclusive state. The pinion 75 is keyed on the output shaft at the top of the motor I 72, and the outer surface of the feed tray 6 is keyed with a ring gear 76, which can mesh with the pinion 75.

[0027] When the device is used to transport materials, the materials are first placed in the feed tray 6, and then the conveying seat 2 is controlled to start working to transport the materials to the left. When the materials are transported to the bottom of the manipulator 4, the manipulator 4 is first driven to rotate forward to the top of the materials through the rotating seat 3. At this time, the magnet II 77 rotates to the rear side of the magnet I 74. Under the action of the magnet II 77, the magnet I 74 moves forward, thereby driving the motor I 72 to move forward, the elastic rope 73 is stretched, and the motor I 72 drives the pinion 75 to move forward and mesh with the gear ring 76. At this time, the motor I 72 is controlled to rotate, driving the pinion 75 to rotate, thereby The movable ring gear 76 rotates, causing the feed tray 6 to rotate. The feed tray 6 rotates to adjust the angle of the material inside it so that the material can be clamped in the best position. The motor I72 is then controlled to stop working, and the manipulator 4 is controlled to grab the material. The manipulator 4 is then rotated to the discharge position through the rotating seat 3 to discharge the material. The rotation of the manipulator 4 drives the magnet II 77 to rotate away from the rear side of the magnet I 74, and the elastic rope 73 is reset to drive the motor I 72 to move to the rear side and reset. The motor I72 stops working, and the pinion 75 separates from the ring gear 76. At this time, the conveying seat 2 continues to convey the material, and this is repeated until the material is conveyed.

[0028] like Figure 5As shown in the figure, it further includes a feeding component 8. The upper right side of the conveying seat 2 is fixedly connected with the feeding component 8 by bolts. The feeding component 8 includes a track 81, a slider 82, an elastic connecting rod 83, a loading bucket 84, a motor II 85 and a blanking cylinder 86. Both the front and rear sides of the right part of the conveying seat 2 are fixedly connected with the track 81 by bolts. The track 81 is slidably connected with the slider 82. The slider 82 is fixedly connected with the elastic connecting rod 83 by bolts. The middle part of the elastic connecting rod 83 is fixedly connected with the loading bucket 84 by bolts. When the conveyed material is greater than the blanking port of the loading bucket 84, the loading bucket 84 is removed through the slider 82, and then the material is directly placed on the conveying tray 6 for conveying. The middle part of the front side of the loading bucket 84 is fixedly connected with the motor II 85 by bolts. The output shaft of the motor II 85 extends into the loading bucket 84, and the output shaft of the motor II 85 is connected with the blanking cylinder 86. Both the upper and lower parts of the blanking cylinder 86 are provided with loading grooves. When conveying materials smaller than the outlet of the loading bucket 84, the materials are placed in the loading bucket 84. When feeding is required, the motor II 85 is controlled to rotate forward and backward by 180° continuously, so that the upper loading groove rotates to the lower part and falls into the conveying tray 6. After the feeding is completed, the motor II 85 is controlled to stop working.

[0029] As Figure 6 shown in the figure, it further includes a stabilizing component 9. The stabilizing component 9 is fixedly arranged in the middle of the material-grabbing part of the manipulator 4 by bolts. The stabilizing component 9 includes an electric suction cup 91 and a positioning magnet 92. The electric suction cup 91 is fixedly connected to the middle of the material-grabbing part of the manipulator 4 by bolts. The claw parts of the manipulator 4 are all connected with the positioning magnet 92. When the manipulator 4 grabs materials, the materials can be sucked tightly through the electric suction cup 91, so that the materials can be more stable during the conveying process. The positioning magnet 92 on the mechanical claw of the manipulator 4 can make the mechanical claw grab the materials more firmly.

[0030] As Figure 8 shown in the figure, it further includes a vibrating component 10. A vibrating component 10 is connected between the conveying seat 2 and the feeding component 8. The vibrating component 10 includes a convex block 101 and a convex rod 102. A convex block 101 is arranged on both the front and rear sides of the conveyor belt of the conveying seat 2, and a convex rod 102 is arranged on both the front and rear sides of the loading bucket 84. When the conveyor belt rotates for feeding, the convex block 101 is driven to rotate. During the rotation of the convex block 101, it can push the convex rod 102 to move upward, so that the loading bucket 84 moves upward. When the convex block 101 leaves the convex rod 102, the loading bucket 84 moves downward and returns to its original position under the action of gravity. Repeating like this, the materials in the lower loading part can be vibrated, and the materials can fall better.

[0031] As Fig. 9As shown, it also includes a positioning component 11, and the positioning component 11 is fixedly connected to the conveying seat 2 on the left side of the discharge component 8 by bolts. The positioning component 11 includes a mounting frame 111, a positioning plate 112 and a flip plate 113. The mounting frame 111 is installed above the conveying seat 2 on the left side of the discharge component 8. Positioning plates 112 are arranged on the front and rear sides of the mounting frame 111. The right part of the positioning plate 112 extends outward. A flip plate 113 is obliquely installed on the upper part of the mounting frame 111. The angle of the flip plate 113 can be adjusted. When the material in the discharge tray 5 passes through the positioning plate 112, the positioning plate 112 brings the material to the middle. When the angle of the material placement is incorrect, the height of the material is higher than the bottom end of the flip plate 113, and the flip plate 113 flips the material over for adjustment.

[0032] like Figure 7 As shown, it also includes a lifting hydraulic cylinder 12. The mobile frame 1 is divided into two layers, and the upper and lower layers are slidably connected. The upper layer of the mobile frame 1 is fixedly connected to the lifting hydraulic cylinder 12 by bolts. The lower part of the lifting hydraulic cylinder 12 passes through the lower layer of the mobile frame 1. When the lifting hydraulic cylinder 12 is extended, it can drive the upper layer of the mobile frame 1 and the device thereon to move upward.

[0033] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible robot loading and unloading device, comprising a moving frame (1), a conveying seat (2), a rotating seat (3), a manipulator (4), a discharge tray (5), a feeding tray (6) and an adjusting mechanism (7), wherein the front side of the top of the moving frame (1) is fixedly connected to the conveying seat (2), the conveying seat (2) is composed of a conveyor belt and a bracket for installing the conveyor belt, and the outer surface of the conveyor belt is evenly spaced with feeding trays (6), the rotating seat (3) is fixedly connected to the moving frame (1) on the left side of the rear side of the conveyor belt, the manipulator (4) is fixedly connected above the rotating seat (3), the moving frame (1) on the right side of the manipulator (4) is fixedly connected to the discharge tray (5) by bolts, and the adjusting mechanism (7) is connected between the manipulator (4) and the conveying seat (2) below, wherein the characteristics are as follows: The adjusting mechanism (7) comprises a guide rod (71), a motor I (72), an elastic rope (73), a magnet I (74), a pinion (75), a gear ring (76) and a magnet II (77). The left part of the rear side of the bracket of the conveying seat (2) is fixedly connected with the guide rod (71), the motor I (72) is slidably connected to the guide rod (71), an elastic rope (73) is connected between the motor I (72) and the guide rod (71), the rear side of the motor I (72) is fixedly connected with the magnet I (74), the lower front side of the lower part of the manipulator (4) is fixedly connected with the magnet II (77), the output shaft at the top of the motor I (72) is keyed with the pinion (75), the outer surface of the feed tray (6) is keyed with the gear ring (76), and the gear ring (76) can mesh with the pinion (75).

2. A flexible robot loading and unloading device according to claim 1, characterized in that: The utility model also comprises a discharge assembly (8), wherein the upper right side of the conveying seat (2) is fixedly connected with the discharge assembly (8), and the discharge assembly (8) comprises a track (81), a slider (82), an elastic connecting rod (83), a charging barrel (84), a motor II (85) and a discharge barrel (86). The front and rear sides of the right side of the conveying seat (2) are fixedly connected with the track (81), the track (81) is slidably connected with the slider (82), the slider (82) is fixedly connected with the elastic connecting rod (83), the middle part of the elastic connecting rod (83) is fixedly connected with the charging barrel (84), the middle part of the front side of the charging barrel (84) is fixedly connected with the motor II (85), the output shaft of the motor II (85) extends into the charging barrel (84), the output shaft of the motor II (85) is connected with the discharge barrel (86), and the upper and lower parts of the discharge barrel (86) are provided with charging grooves.

3. The flexible robot loading and unloading device according to claim 2 is characterized in that: It also includes a stabilizing component (9), which is fixedly arranged in the middle of the material grabbing part of the manipulator (4), and the stabilizing component (9) includes an electric suction cup (91), which is fixedly connected in the middle of the material grabbing part of the manipulator (4).

4. A flexible robot loading and unloading device according to claim 3, characterized in that: The stabilizing component (9) also includes a positioning magnetic block (92), and the claws of the robot (4) are all connected to the positioning magnetic block (92).

5. The flexible robot loading and unloading device according to claim 4 is characterized in that: The invention also comprises a material shaking assembly (10), wherein the material shaking assembly (10) is connected between the conveying seat (2) and the material discharging assembly (8), and the material shaking assembly (10) comprises a convex block (101) and a convex rod (102), and a convex block (101) is arranged on both the front and rear sides of the conveying belt of the conveying seat (2), and a convex rod (102) is arranged on both the front and rear sides of the loading barrel (84).

6. A flexible robot loading and unloading device according to claim 5, characterized in that: The utility model also comprises a positioning component (11), the positioning component (11) is fixedly connected to the conveying seat (2) on the left side of the material discharging component (8) by bolts, the positioning component (111) comprises a mounting frame (111) and a positioning plate (112), the mounting frame (111) is mounted above the conveying seat (2) on the left side of the material discharging component (8), the positioning plates (112) are arranged on both the front and rear sides of the mounting frame (111), and the right part of the positioning plate (112) extends outward.

7. A flexible robot loading and unloading device according to claim 6, characterized in that: The positioning assembly (11) also includes a flip plate (113). The flip plate (113) is obliquely mounted on the upper part of the mounting frame (111), and the angle of the flip plate (113) can be adjusted.

8. The flexible robot loading and unloading device according to claim 7 is characterized in that: It also includes a lifting hydraulic cylinder (12); the mobile frame (1) is divided into an upper and lower layer, and the upper and lower layers are slidably connected; the upper layer of the mobile frame (1) is fixedly connected to the lifting hydraulic cylinder (12), and the lower part of the lifting hydraulic cylinder (12) passes through the lower layer of the mobile frame (1).

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