Semi-finished product dispatching robot on production line

Abstract

The invention discloses a semi-finished product dispatching robot on a production line, and relates to the technical field of dispatching robots, the semi-finished product dispatching robot on the production line comprises a base and a manipulator arranged on the base, a relative clamping mechanism which moves synchronously with semi-finished parts on the production line and grabs the semi-finished parts is arranged on the set of arm rods away from the base, the relative clamping mechanism comprises a triangular plate fixedly connected between the set of arm rods away from the base, an electric sliding rail is fixedly connected to the triangular plate, and the electric sliding rail comprises an integrally-formed sliding base. And a positioning frame is arranged below the sliding seat. By arranging the relative clamping mechanism, the horizontal movement speed of the sliding seat can be matched with the conveying speed of a part, the sliding seat and the part can be kept in a relatively static state, meanwhile, the shaft grabbing assembly and the conveying belt can be driven to move synchronously, impact and errors in the clamping process are effectively reduced, and the clamping efficiency is improved. Therefore, the parts can be positioned and clamped more accurately.

Description

Technical Field

[0001] The invention relates to the technical field of scheduling robots, in particular to a semi-finished product scheduling robot on a production line. Background Art

[0002] In modern manufacturing, efficient operation of production lines is crucial to improving production efficiency, reducing costs and ensuring product quality. However, the imbalance in the number of parts on different production lines has always been a difficult problem that plagues production management. This imbalance may be caused by many factors, such as differences in equipment operating speeds on each production line, instability in raw material supply, complexity of the process flow and sudden failures.

[0003] Chinese patent (Announcement No.: CN119238594A), the scheme specifically includes: a fixed seat; two material picking mechanisms, the two material picking mechanisms are arranged oppositely, the material picking mechanism includes a bracket and a suction cup, the suction cup is arranged on the bracket, and is used to adsorb the carrier; and a transverse movement module, including a mobile seat and a linear guide rail, the linear guide rail is arranged on the fixed seat, the mobile seat is provided with two, and is respectively connected to the linear guide rail, the two brackets are respectively connected to the corresponding mobile seats, and the transverse movement module is used to drive the two material picking mechanisms to move toward or away from each other. The suction cup manipulator proposed in the technical solution of the present invention can adapt to and carry circuit boards of different sizes to meet diversified needs.

[0004] In the collaborative production scenarios of multiple production lines in modern manufacturing, there are significant differences in production efficiency among production lines due to the combined influence of multiple factors such as equipment performance, process flow, and operator proficiency. This difference directly leads to the uneven delivery volume of parts on each production line. In the actual production process, in order to meet different production needs, the number of parts on each production line must be adjusted in real time to ensure a smooth and efficient production process.

[0005] Taking the robot in the above patent as an example, in the process of conveying semi-finished parts on the production line through the conveyor belt, it is difficult for the robot to adaptively complete the transfer operation of the parts according to the product conveying speed on the production line. Specifically, when clamping the parts, it is difficult for the robot to accurately grasp the parts on the fast-running conveyor belt, which not only reduces the efficiency of part transfer, but also may cause damage or fall of the parts, affecting the production quality. When releasing the parts, due to the fast operation of the conveyor belt, the released parts are prone to collide with the subsequent parts, which in turn causes problems such as deformation and damage of the parts, seriously affecting the stability and continuity of production. Therefore, a semi-finished product scheduling robot on a production line is proposed. Summary of the invention

[0006] The object of the present invention is to provide a semi-finished product scheduling robot on a production line, which has the advantages of effectively reducing the impact and error during the clamping process, so as to be able to more accurately position and clamp parts, and solves the problem that it is difficult for a manipulator to accurately grasp or release parts on a conveyor belt running at high speed.

[0007] To achieve the above object, the present invention provides the following technical solution: A semi-finished product scheduling robot on a production line, including a base and a manipulator arranged thereon. The manipulator is composed of multiple groups of arm rods that can rotate freely. A relative clamping mechanism that moves synchronously with the semi-finished product parts on the production line and grabs them is arranged on a group of arm rods far from the base.

[0008] The relative clamping mechanism includes a triangular plate fixedly connected to a group of arm rods far from the base. An electric slide rail is fixedly connected to the triangular plate. The electric slide rail includes a slide seat integrally formed and moving freely in the horizontal direction. A coaxial frame is arranged below the slide seat, and multiple groups of fin-shaped rubber clamping jaws for grabbing parts are arranged on the coaxial frame.

[0009] An axial clamping component for driving multiple groups of fin-shaped rubber clamping jaws to move synchronously towards or away from each other is arranged on the coaxial frame. A base cylinder is fixedly connected to the slide seat. A sinking and rising component for adjusting the horizontal height of the coaxial frame according to the horizontal position change of the slide seat is arranged on the base cylinder.

[0010] Preferably, the horizontal height of the coaxial frame first decreases and then increases during the horizontal movement process of the slide seat.

[0011] Preferably, the sinking and rising component includes a central column slidably penetrating through the base cylinder. The central column moves freely in the vertical direction and rotates freely at the end of the stroke. A spline shaft is coaxially fixed on the central column, and a shaft convex block is fixedly connected to one end of the central column facing the spline shaft. Two groups of blocking grooves for the horizontal sliding connection of the shaft convex block are opened on the base cylinder, and a guiding groove for the vertical sliding connection of the shaft convex block is also opened on the base cylinder.

[0012] The spline shaft rotates fixedly on the coaxial frame. A plug rod is fixedly connected to one end of the coaxial frame facing the base cylinder. A rectangular groove for the sliding connection of the plug rod is opened on the base cylinder.

[0013] Preferably, both ends of the guiding groove communicate with a group of blocking grooves respectively.

[0014] Preferably, the sinking and rising component further includes a hollow column sleeved on the central column. An adjusting pin is fixedly connected to the inner wall of the hollow column. A spiral adjusting groove for the sliding connection of the adjusting pin is opened on the central column.

[0015] A circular hole for the hollow column to slide through is opened on the slide seat. A V-shaped turning rod is fixedly connected to the triangular plate. The V-shaped turning rod includes two groups of inclined parts integrally formed and symmetrically arranged.

[0016] One end of the hollow column facing the V-shaped turning rod is rotatably fixed with an end position seat. A torsion seat is arranged inside the end position seat, and an incomplete cavity groove for supporting the torsion seat and allowing it to be slidably connected is provided. The torsion seat is slidably sleeved on the V-shaped turning rod.

[0017] Preferably, the shaft gripping assembly includes an upper mounting plate and a lower mounting plate fixedly connected to the same-position frame. A triangular shaft position plate that moves freely in the vertical direction is provided between the upper mounting plate and the lower mounting plate. Below the lower mounting plate, there are a plurality of clamping blocks fixedly connected corresponding to a plurality of fin-shaped rubber clamping jaws one by one;

[0018] The clamping block is rotatably fixed on the lower mounting plate, and a connecting rod is also rotatably fixed on the clamping block. One end of the connecting rod away from the clamping block is rotatably fixed on the triangular shaft position plate;

[0019] A plurality of guide columns are slidably penetrated through the triangular shaft position plate, and both ends of the guide columns are fixedly connected to the upper mounting plate and the lower mounting plate respectively.

[0020] Preferably, a worm gear that rotates freely in the vertical direction is rotatably fixed on the same-position frame. A swing rod is rotatably fixed on the worm gear. An extension rod is provided on the upper mounting plate, and a first groove body for the extension rod to slidably penetrate through is provided. One end of the swing rod away from the worm gear is rotatably fixed on the extension rod;

[0021] The worm gear is meshed and connected with a worm. The worm is rotatably fixed on the same-position frame, and a directional assembly for restricting the rotation direction of the worm is provided on the same-position frame.

[0022] Preferably, the directional assembly includes a driving gear arranged inside the same-position frame and slidably sleeved on a spline shaft. The driving gear is meshed and connected with a driven gear, and a ratchet wheel coaxial with the driven gear is provided on the driven gear. The ratchet wheel is coaxially fixed with the worm;

[0023] Both the driven gear and the ratchet wheel are rotatably fixed on the same-position frame. A plurality of pawls are rotatably fixed inside the inner ring of the driven gear, and the plurality of pawls are arranged in an annular array. A relief groove for accommodating the pawls is provided on the driven gear, and the plurality of pawls are meshed and connected with the ratchet wheel.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. By setting the relative clamping mechanism, the present invention can make the horizontal movement speed of the sliding seat match the conveying speed of the parts, so that the sliding seat can maintain a relatively static state with the parts. At the same time, it can drive the shaft gripping assembly to move synchronously with the conveyor belt, effectively reducing the impact and error during the clamping process, and thus being able to more accurately position and clamp the parts.

[0026] 2. The present invention can adjust the horizontal height of the same-position frame according to the change of the horizontal position of the slide by setting a sinking and lifting component, so that the same-position frame first descends and then rises during the horizontal movement of the slide, so that when grabbing the parts, the parts are first lifted off the conveyor belt, and the stability of the parts is maintained during the transportation process. When the parts are released, the parts are placed on the target conveyor belt, thereby effectively avoiding the problems of parts colliding with subsequent parts due to the rapid operation of the conveyor belt during the transportation process or falling due to unstable grabbing, thereby ensuring the stability of the parts in the entire transportation process, improving production efficiency, and reducing the increase in production costs caused by damage or loss of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the components where the slide seat of the present invention is located;

[0029] Figure 3 This is a schematic diagram of the components where the center column of the present invention is located;

[0030] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0031] Figure 5 For the present invention Figure 3 Enlarged view of point B in the middle;

[0032] Figure 6 This is a schematic diagram of the components where the base tube of the present invention is located;

[0033] Figure 7 This is a schematic diagram of the components where the end seat of the present invention is located;

[0034] Figure 8 This is a schematic diagram of the components where the fin-shaped rubber clamp of the present invention is located;

[0035] Figure 9 It is a schematic diagram of the components where the ratchet wheel of the present invention is located;

[0036] Figure 10 For the present invention Figure 9 Enlarged view of point C in the middle;

[0037] Figure 11 This is a schematic diagram of the use status of the semi-finished product scheduling robot in the present invention.

[0038] In the figure: 1. arm; 2. triangle plate; 3. electric slide rail; 4. V-shaped turning rod; 5. slide seat; 6. hollow column; 7. torsion seat; 8. end seat; 9. adjustment pin; 10. spiral adjustment groove; 11. center column; 12. shaft protrusion; 13. base cylinder; 14. blocking groove; 15. guide groove; 16. same position frame; 17. plug rod; 18. spline shaft; 19. driving gear; 20. driven gear; 21. pawl; 22. clearance groove; 23. ratchet; 24. worm; 25. worm wheel; 26. rocker; 27. extension rod; 28. upper mounting plate; 29. ​​lower mounting plate; 30. guide column; 31. triangular shaft plate; 32. clamping block; 33. connecting rod; 34. fin-shaped rubber clamp. DETAILED DESCRIPTION

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

[0040] See also Figures 1 to 11 The present invention provides a technical solution: a semi-finished product dispatching robot on a production line, comprising a base and a manipulator arranged thereon, the manipulator comprising a plurality of groups of freely rotatable arm rods 1, a group of arm rods 1 away from the base being provided with a relative clamping mechanism for synchronously moving with the semi-finished product parts on the production line and grasping the semi-finished product parts;

[0041] The relative clamping mechanism comprises a triangular plate 2 fixedly connected to a group of arm rods 1 away from the base, an electric slide rail 3 is fixedly connected to the triangular plate 2, and the electric slide rail 3 comprises a slide seat 5 which is integrally formed and freely movable in the horizontal direction, a homonymous frame 16 is arranged below the slide seat 5, and a plurality of fin-shaped rubber clamping claws 34 for grasping parts are arranged on the homonymous frame 16;

[0042] The same position frame 16 is provided with an axis grasping assembly that drives multiple groups of fin-shaped rubber clamps 34 to move synchronously toward or away from each other. The slide 5 is fixedly connected to a base cylinder 13, and the base cylinder 13 is provided with a sinking and lifting assembly that adjusts the horizontal height of the same position frame 16 according to the change of the horizontal position of the slide 5.

[0043] The horizontal height of the alignment frame 16 first decreases and then increases during the horizontal movement of the slide 5 .

[0044] like Figure 1 , Figure 2 , Figure 3 and Figure 6As shown, when transferring semi-finished parts on the production line, the image acquisition module collects the image information on the conveyor belt in real time, and the image processing module performs preprocessing operations on the collected image information, such as grayscale conversion, filtering, edge detection, etc. The purpose is to enhance the feature information of the image for subsequent object recognition and positioning. When the parts correspond to the positions of multiple groups of fin-shaped rubber grippers 34, the electric slide rail 3 operates at this time to drive the slide seat 5 slidably arranged thereon to move horizontally, and further drive the coaxial frame 16 arranged below the slide seat 5 and the shaft gripper assembly arranged on the coaxial frame 16 to move synchronously with the semi-finished parts on the conveyor belt. Moreover, the horizontal movement speed of the slide seat 5 is adapted to the conveying speed of the parts to drive the slide seat 5 to maintain a relatively static state with respect to the parts.

[0045] Meanwhile, when the slide seat 5 and the parts are in a relatively static state, driven by the sinking and rising assembly, the coaxial frame 16 can first descend along with the horizontal movement process of the slide seat 5, and further drive multiple groups of fin-shaped rubber grippers 34 to be in the position for gripping the parts. At the same time, when the coaxial frame 16 is at the lowest horizontal position, it can drive the shaft gripper assembly to operate, and further drive multiple groups of fin-shaped rubber grippers 34 to move towards each other synchronously, thereby completing the gripping action of the parts.

[0046] Among them, as the slide seat 5 continues to move horizontally from the starting end towards the ending end, the coaxial frame 16 can move upward and drive the gripped parts to move upward synchronously. Subsequently, through the swinging and orientation adjustment of multiple groups of arm rods 1, the gripped parts can be made to correspond to the conveyor belt on the adjacent production line, and the gripped parts are released onto the conveyor belt of this production line.

[0047] As Figure 11 shown, when transferring the semi-finished parts on production line M to production line N and production line M and production line N are parallel and have the same conveying direction, the coaxial frame 16 moves gradually from the front end of the conveyor on production line M towards its rear end of the conveyor, that is, during the process of the slide seat 5 moving from the starting end to the ending end of the electric slide rail 3, multiple groups of fin-shaped rubber grippers 34 move downward following the coaxial frame 16 and complete the gripping action when the coaxial frame 16 is at the lowest horizontal position. After gripping the parts at production line M, the coaxial frame 16 moves upward to drive the gripped parts away from production line M.

[0048] Meanwhile, by driving multiple groups of arm rods 1 to swing to change the orientation of the triangular plate 2, the clamped parts are made to correspond to production line N. At this time, the slide seat 5 is at the ending end position of the electric slide rail 3. The image acquisition module and the image processing module collect and process the image information on production line N to analyze the position information where the gripped parts need to be placed.

[0049] When placing parts on the production line N, by driving the slide 5 to move from the end position to the starting position, the same-position frame 16 can move downward in the vertical direction while following the relative static movement of the conveyor belt on the production line, and when the same-position frame 16 is at the lowest horizontal point, the grasped parts can be placed on the conveyor belt on the production line N, and can drive multiple groups of fin-shaped rubber clamps 34 to move synchronously in opposite directions to complete the purpose of releasing the parts.

[0050] At the same time, as the slide 5 gradually moves toward the starting end of the electric slide rail 3, the horizontal heights of the isotropic frame 16 and the multiple sets of fin-shaped rubber clamps 34 are gradually increased, and are restored to the initial heights when the slide 5 reaches the starting end. Subsequently, the multiple sets of arm rods 1 are driven to swing so that the triangular plate 2 and the shaft gripping assembly are directed toward the side of the production line M again to complete the resetting process.

[0051] It should be noted that, in actual use, the initial state of the slide 5 at the starting end and the terminal end can be changed, that is, the slide 5 can be driven to be at the terminal end of the electric slide rail 3 in the initial state, and the multiple sets of fin-shaped rubber clamps 34 can be in an open state, and the fin-shaped rubber clamps 34 can be driven to correspond to the production line N initially, so as to complete the purpose of transferring parts from the production line N to the production line M through the operation of the relative clamping mechanism and the deflection of the multiple sets of arm rods 1.

[0052] At the same time, two groups of scheduling robots can be set up on production line M and production line N. When the production demands are different, the two groups of scheduling robots can complete the transfer of semi-finished parts in both directions, thereby balancing the number of semi-finished parts on the two production lines.

[0053] In one of the more preferred embodiments, the sinking and lifting assembly includes a center column 11 that slides through a base cylinder 13, the center column 11 is free to move in the vertical direction and freely rotate at the end of the stroke, a spline shaft 18 is coaxially fixed to the center column 11, and a shaft protrusion 12 is fixedly connected to one end of the center column 11 facing the spline shaft 18, two groups of blocking grooves 14 for horizontal sliding connection of the shaft protrusion 12 are provided on the base cylinder 13, and a guide groove 15 for vertical sliding connection of the shaft protrusion 12 is also provided on the base cylinder 13;

[0054] The spline shaft 18 is fixedly rotated on the alignment frame 16, and the alignment frame 16 is fixedly connected with an insertion rod 17 at one end facing the base cylinder 13. A rectangular groove for the insertion rod 17 to slide and connect is opened on the base cylinder 13, and the two ends of the guide groove 15 are respectively connected to a group of blocking grooves 14.

[0055] The sinking and lifting assembly also includes a hollow column 6 sleeved on the central column 11, the inner wall of the hollow column 6 is fixedly connected with an adjustment pin 9, and the central column 11 is provided with a spiral adjustment groove 10 for the adjustment pin 9 to be slidably connected;

[0056] A circular hole through which the hollow column 6 slides through is formed in the sliding seat 5. A V-shaped crank lever 4 is fixedly connected to the triangular plate 2. The V-shaped crank lever 4 includes two sets of inclined portions that are integrally formed and symmetrically arranged. One end of the hollow column 6 facing the V-shaped crank lever 4 is rotatably fixed with an end position seat 8. A torsion seat 7 is provided in the end position seat 8, and an incomplete cavity groove for supporting and slidably connecting the torsion seat 7 is formed. The torsion seat 7 is slidably sleeved on the V-shaped crank lever 4.

[0057] As Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7 shown, the electric slide rail 3 includes a screw rod that drives the sliding seat 5 to move horizontally. When the sliding seat 5 moves horizontally from the starting end towards the ending end, the hollow column 6 that slides through the sliding seat 5 and the coaxial frame 16 provided at its bottom can move horizontally synchronously. And the hollow column 6 is rotatably fixed with an end position seat 8, and the torsion seat 7 slidably provided in the end position seat 8 is sleeved on the V-shaped crank lever 4. And the V-shaped crank lever 4 includes two sets of inclined portions that are integrally formed and symmetrically arranged. Therefore, while the hollow column 6 follows the horizontal movement of the sliding seat 5, the end position seat 8 provided at the top of the hollow column 6 moves along with the slope of the V-shaped crank lever 4. Furthermore, the hollow column 6 can move downward first and then upward to restore its initial height.

[0058] Meanwhile, when the hollow column 6 moves downward on the sliding seat 5 along with the horizontal movement of the sliding seat 5, it can drive the adjusting pin 9 fixedly provided thereon to move downward synchronously. Among them, in the initial state, the shaft convex block 12 is at the connecting position of the upper blocking groove 14 and the guiding groove 15. At this time, as the adjusting pin 9 moves downward, since the shaft convex block 12 is not restricted, the adjusting pin 9 will not slide on the spiral adjusting groove 10 at this time. Instead, as the hollow column 6 and the adjusting pin 9 move downward, it drives the central column 11 and the spline shaft 18 to move downward synchronously. At this time, the shaft convex block 12 slides on the guiding groove 15 and finally moves to the connecting position of the lower blocking groove 14 and the guiding groove 15.

[0059] Among them, when the shaft convex block 12 moves to the position of the lower blocking groove 14, the central column 11, the spline shaft 18 and the coaxial frame 16 are at the lowest horizontal position, and multiple groups of fin-shaped rubber clamping jaws 34 correspond to the parts to be grabbed. Subsequently, as the hollow column 6 and the adjusting pin 9 continue to move downward, the shaft convex block 12 cannot continue to move downward following the hollow column 6 and the adjusting pin 9 under the restriction of the lower blocking groove 14. Furthermore, the downward movement of the hollow column 6 at this time can drive the adjusting pin 9 to slide on the spiral adjusting groove 10, and then drive the central column 11 and the spline shaft 18 coaxially arranged with the central column 11 to rotate horizontally. Through the rotation process of the spline shaft 18, multiple groups of ratchets 23 are driven to complete the purpose of fixing the parts.

[0060] At the same time, as the slide 5 moves toward the end of the electric slide rail 3, the hollow column 6 can move upward. When the hollow column 6 moves upward, the shaft protrusion 12 first slides on the guide groove 15, and then drives the grasped parts to leave the production line by raising the horizontal height of the same-position frame 16. When the shaft protrusion 12 moves to the position of the upper blocking groove 14, it cannot continue to rise due to the restriction of the upper blocking groove 14. At this time, the adjustment pin 9 slides on the spiral adjustment groove 10 and drives the center column 11 and the spline shaft 18 to rotate in the opposite direction. It should be noted that the reverse rotation of the spline shaft 18 will not drive the shaft grasping assembly to operate, and at this time, the multiple sets of fin-shaped rubber clamps 34 still keep the parts grasped and fixed.

[0061] Subsequently, as the multiple groups of arm rods 1 deflect, the triangular plate 2 and the grasped parts are directed toward the conveyor belt in another production line, and then the slide 5 is driven by the electric slide rail 3 to move from the end end to the starting end. At this time, the descending process of the hollow column 6 can change the horizontal height of the same-position frame 16 and the grasped parts, and when the same-position frame 16 is at the lowest point, it can drive the multiple groups of fin-shaped rubber clamps 34 to complete the release process of the parts, and after the release is completed, the initial height is restored as the slide 5 moves to the starting end.

[0062] Among them, the horizontal height of the same-position frame 16 and the shaft grasping assembly can be changed while driving the same-position frame 16 and the shaft grasping assembly to move relatively statically with the conveyor belt through the sinking and lifting assembly, so as to restore to the initial height after the multiple groups of fin-shaped rubber clamps 34 grasp and fix the parts, thereby making the parts detach from the conveyor belt on the production line. At the same time, when releasing the parts, the horizontal height of the same-position frame 16 and the shaft grasping assembly can be lowered first, and when the grasped and fixed parts are placed on the conveyor belt in another production line, the part release process can be completed, and finally the same-position frame 16 and the shaft grasping assembly are driven to restore to the initial horizontal position and initial height.

[0063] On the basis of the embodiment of the sinking and lifting assembly, the shaft grasping assembly comprises an upper mounting plate 28 and a lower mounting plate 29 fixedly connected to the same position frame 16, a triangular shaft plate 31 freely moving in the vertical direction is provided between the upper mounting plate 28 and the lower mounting plate 29, and a plurality of groups of positioning blocks 32 corresponding to and fixedly connected to the plurality of groups of fin-shaped rubber clamps 34 are provided below the lower mounting plate 29;

[0064] The positioning block 32 is fixedly rotated on the lower mounting plate 29, and a connecting rod 33 is also fixedly rotated on the positioning block 32. One end of the connecting rod 33 away from the positioning block 32 is fixedly rotated on the triangular axis plate 31. Multiple groups of guide columns 30 are slidably passed through the triangular axis plate 31, and the two ends of the guide columns 30 are respectively fixedly connected to the upper mounting plate 28 and the lower mounting plate 29.

[0065] A worm gear 25 that rotates on a fixed axis on the same-position frame 16 and freely rotates in the vertical direction is provided. A swing rod 26 rotates on a fixed axis on the worm gear 25. An extension rod 27 is provided on the upper mounting plate 28, and a first slot through which the extension rod 27 slides through is provided. One end of the swing rod 26 away from the worm gear 25 rotates on a fixed axis on the extension rod 27.

[0066] The worm gear 25 is meshed and connected with a worm 24. The worm 24 rotates on a fixed axis on the same-position frame 16, and a directional component for restricting the rotation direction of the worm 24 is provided on the same-position frame 16. The directional component includes a driving gear 19 provided inside the same-position frame 16 and slidably sleeved on a spline shaft 18. The driving gear 19 is meshed and connected with a driven gear 20, and a ratchet 23 coaxial with the driven gear 20 is provided on the driven gear 20. The ratchet 23 is coaxially fixed with the worm 24.

[0067] Both the driven gear 20 and the ratchet 23 rotate on a fixed axis on the same-position frame 16. A plurality of pawls 21 rotate on a fixed axis inside the inner ring of the driven gear 20, and the plurality of pawls 21 are arranged in an annular array. A relief groove 22 for accommodating the pawls 21 is provided on the driven gear 20. The plurality of pawls 21 are meshed and connected with the ratchet 23.

[0068] As Figure 2 、 Figure 3 、 Figure 5 、 Figure 6 、 Figure 8 、 Figure 9 and Figure 10 shown, when the hollow column 6 drives the position adjusting pin 9 thereon to move downward and when the position adjusting pin 9 slides on the spiral position adjusting groove 10, it can drive the central column 11 and the spline shaft 18 to rotate forward. At this time, the driving gear 19 sleeved on the spline shaft 18 drives the driven gear 20 to rotate synchronously. At this time, the rotation process of the driven gear 20 can drive the ratchet 23 and the worm 24 to rotate, so as to drive the worm gear 25 meshed and connected with the worm 24 to rotate.

[0069] Among them, when the hollow column 6 moves upward to drive the central column 11 and the spline shaft 18 to rotate in the reverse direction, the plurality of ratchets 23 on the driven gear 20 are not meshed with the ratchet 23. Therefore, at this time, the ratchet 23 does not rotate along with the upward movement of the hollow column 6. Therefore, the ratchet 23, the worm 24, and the worm gear 25 can only rotate in one direction.

[0070] Meanwhile, when the hollow column 6 moves downward from the starting end to the ending end of the electric slide rail 3 to drive the worm gear 25 to rotate, the rotation process of the worm gear 25 can drive the swing rod 26 to deflect, and then drive the extension rod 27 and the triangular shaft position plate 31 to move downward. Among them, when the triangular shaft position plate 31 moves downward, it can drive a plurality of connecting rods 33 to deflect synchronously, so as to drive a plurality of clamping blocks 32 and the fin-shaped rubber clamping jaws 34 fixedly arranged thereon to deflect towards each other synchronously to grasp and fix two pieces.

[0071] Meanwhile, when the hollow column 6 moves downward during the process of moving from the end of the electric slide rail 3 to the starting end to drive the worm wheel 25 to continue rotating, the relative height of the extension rod 27 and the triangular shaft position plate 31 at the guide column 30 can be increased by the continuous rotation of the worm wheel 25, thereby driving multiple groups of fin-shaped rubber jaws 34 to move away from each other synchronously to complete the purpose of releasing the parts.

[0072] It should be noted that a torsion spring for driving the pawl 21 to return to its initial position after deflection is provided on the driven gear 20. This torsion spring is an existing device and a technical means well-known to those skilled in the art, so it is not shown in the figure. Through the setting of the torsion spring, when the rotation direction of the driven gear 20 changes, the multiple groups of pawls 21 on it can drive the ratchet wheel 23 to rotate only in one direction. Therefore, during the upward movement of the hollow column 6, the shaft gripping assembly can be driven to always maintain the gripping and fixing state or the open state.

[0073] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A semi-finished product dispatching robot on a production line, comprising a base and a manipulator arranged thereon, the manipulator comprising a plurality of groups of freely rotatable arm rods (1), characterized in that: A relative clamping mechanism is provided on a group of arm rods (1) away from the base, which moves synchronously with the semi-finished parts on the production line and grabs the semi-finished parts; The relative clamping mechanism comprises a triangular plate (2) fixedly connected to a group of arm rods (1) away from the base, an electric slide rail (3) fixedly connected to the triangular plate (2), the electric slide rail (3) comprising a slide seat (5) integrally formed and freely movable in the horizontal direction, a homonymous frame (16) provided below the slide seat (5), and a plurality of groups of fin-shaped rubber clamping claws (34) for grasping parts provided on the homonymous frame (16); The same position frame (16) is provided with an axis grasping assembly for driving multiple groups of fin-shaped rubber clamping claws (34) to move synchronously toward or away from each other. The slide seat (5) is fixedly connected with a base cylinder (13), and the base cylinder (13) is provided with a sinking and lifting assembly for adjusting the horizontal height of the same position frame (16) according to the change of the horizontal position of the slide seat (5).

2. A semi-finished product dispatching robot on a production line according to claim 1, characterized in that: The horizontal height of the alignment frame (16) first decreases and then increases during the horizontal movement of the slide (5).

3. The semi-finished product dispatching robot on a production line according to claim 1, characterized in that: The sinking and lifting assembly comprises a center column (11) slidingly penetrating through a base cylinder (13), the center column (11) freely moving in a vertical direction and freely rotating at a stroke end, a spline shaft (18) being coaxially fixed on the center column (11), and a shaft protrusion (12) being fixedly connected to one end of the center column (11) facing the spline shaft (18), two groups of blocking grooves (14) for horizontally sliding connection of the shaft protrusion (12) being provided on the base cylinder (13), and a guide groove (15) for vertically sliding connection of the shaft protrusion (12) being provided on the base cylinder (13); The spline shaft (18) is fixedly rotated on the alignment frame (16), and an insertion rod (17) is fixedly connected to one end of the alignment frame (16) facing the base tube (13). A rectangular groove for sliding connection of the insertion rod (17) is provided on the base tube (13).

4. A semi-finished product dispatching robot on a production line according to claim 3, characterized in that: Both ends of the guide groove (15) are respectively connected to a group of blocking grooves (14).

5. The semi-finished product dispatching robot on a production line according to claim 3, characterized in that: The sinking and lifting assembly also includes a hollow column (6) sleeved on the central column (11), an adjusting pin (9) is fixedly connected to the inner wall of the hollow column (6), and a spiral adjusting groove (10) for the adjusting pin (9) to be slidably connected is provided on the central column (11); The sliding seat (5) is provided with a circular hole for the hollow column (6) to slide through, and the triangular plate (2) is fixedly connected with a V-shaped turning rod (4), and the V-shaped turning rod (4) includes two sets of oblique parts that are integrally formed and symmetrically arranged; The hollow column (6) has an end seat (8) that is rotatable on a fixed axis at one end facing the V-shaped turning rod (4). A twist seat (7) is arranged inside the end seat (8) and an incomplete cavity groove is provided to support the twist seat (7) and provide a sliding connection thereto. The twist seat (7) is slidably sleeved on the V-shaped turning rod (4).

6. A semi-finished product dispatching robot on a production line according to claim 5, characterized in that: The shaft grasping assembly comprises an upper mounting plate (28) and a lower mounting plate (29) fixedly connected to the same-position frame (16); a triangular shaft positioning plate (31) freely movable in the vertical direction is provided between the upper mounting plate (28) and the lower mounting plate (29); and a plurality of groups of positioning blocks (32) corresponding one to one with and fixedly connected to the plurality of groups of fin-shaped rubber clamping claws (34) are provided below the lower mounting plate (29); The positioning block (32) is fixedly rotated on the lower mounting plate (29), and a connecting rod (33) is also fixedly rotated on the positioning block (32), and one end of the connecting rod (33) away from the positioning block (32) is fixedly rotated on the triangular axis plate (31); A plurality of guide columns (30) are slidably passed through the triangular axial plate (31), and two ends of the guide columns (30) are respectively fixedly connected to an upper mounting plate (28) and a lower mounting plate (29).

7. A semi-finished product dispatching robot on a production line according to claim 6, characterized in that: A worm wheel (25) is fixedly rotated on the same position frame (16) and rotates freely in the vertical direction. A swing rod (26) is fixedly rotated on the worm wheel (25). An extension rod (27) is provided on the upper mounting plate (28) and a slot body is provided for the extension rod (27) to slide through. One end of the swing rod (26) away from the worm wheel (25) is fixedly rotated on the extension rod (27). The worm wheel (25) is meshingly connected with a worm (24), the worm (24) is fixedly rotated on a position frame (16), and a directional component for limiting the rotation direction of the worm (24) is provided on the position frame (16).

8. The semi-finished product dispatching robot on a production line according to claim 7, characterized in that: The directional assembly comprises a driving gear (19) arranged inside the same position frame (16) and slidably sleeved on the spline shaft (18), the driving gear (19) is meshingly connected with a driven gear (20), and the driven gear (20) is provided with a ratchet (23) coaxial with the driven gear (20), and the ratchet (23) and the worm (24) are coaxially fixed; The driven gear (20) and the ratchet wheel (23) are both axially rotated on the same position frame (16), and the driven gear (20) has multiple groups of ratchet pawls (21) axially rotated in the inner circle, and the multiple groups of ratchet pawls (21) are arranged in a ring array, and the driven gear (20) is provided with a clearance groove (22) for accommodating the ratchet pawls (21), and the multiple groups of ratchet pawls (21) are meshingly connected with the ratchet wheel (23).

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