A water pipe reel loading and unloading robot

Abstract

The present invention provides a water pipe reel loading and unloading robot, which relates to the technical field of robots, and includes: a clamping mechanism, a robot arm connecting mechanism, an auxiliary anti-rotation mechanism and a drive control mechanism; the robot arm connecting mechanism is installed on the front side of the clamping mechanism; the auxiliary anti-rotation mechanism is installed on the clamping mechanism and the robot arm connecting mechanism; the drive control mechanism is installed on the clamping mechanism; there are two groups of linear sliders, and the two groups of linear sliders are slidably installed on two linear slide rails; there are two L-shaped mounting plates, and the two L-shaped mounting plates are fixedly installed on the rear sides of the two groups of linear sliders; the present invention can remind staff to inspect and repair the equipment, ensure the normal service life of the cylinder, and avoid severe wear of the output shaft of the cylinder when extending and retracting; it solves the problem that when the output shaft of the cylinder is excessively worn, the staff cannot be informed in the first time, which affects the service life of the cylinder.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and more specifically, relates to a manipulator for loading and unloading a water pipe reel. Background Art

[0002] The use of robots in the loading and unloading process of water pipe reels is mainly based on the three requirements of efficiency, precision and safety. The robots can achieve 24-hour continuous operation through programmed control, greatly improving production efficiency, and are especially suitable for batch production scenarios. The accuracy can reach millimeter level, ensuring the accuracy of the docking between the reel and the equipment, avoiding deviation or damage caused by manual operation; at the same time, it can replace manual handling of heavy reels, reducing the risk of muscle strain or extrusion.

[0003] The loading and unloading robots currently in use still have the following problems: 1. When the output shaft of the cylinder is excessively worn, the staff cannot be informed immediately, which affects the service life of the cylinder; 2. After the materials in the production equipment are taken out, the staff nearby cannot be prompted to stay away. When the materials fall under special circumstances, it is easy to injure nearby staff; 3. There is generally a lack of auxiliary positioning structure, which makes it easy for the clamping claws to move automatically, and the accurate movement of the materials cannot be guaranteed. Summary of the Invention

[0004] The disclosed embodiment relates to a water pipe reel loading and unloading robot, which has a clamping mechanism, a robot arm connecting mechanism, an auxiliary anti-rotation mechanism and a drive control mechanism; it can remind staff to inspect and repair the equipment, ensure the normal service life of the cylinder, and avoid severe wear of the output shaft of the cylinder when extending and retracting; when the bottom of the robot arm connecting frame contacts the limit baffle, the robot arm connecting frame can automatically press the detection switch A. At this time, the buzzer A works, which can remind nearby staff to stay away from the clamping mechanism, and avoid the full roll of materials on the clamping mechanism from accidentally injuring the staff; when the movable anti-rotation rod slides backward, the rear end of the movable anti-rotation rod can be inserted into the storage circular hole, which plays a limiting role on the gear, ensuring that the two L-shaped mounting plates will not move during the movement of the full roll of materials; it solves the problems that the staff cannot know in the first time when the cylinder output shaft is excessively worn, the material is easy to injure nearby staff after falling, and the clamp is easy to move automatically.

[0005] The present invention provides a water pipe reel loading and unloading robot, comprising: a clamping mechanism, a robotic arm connecting mechanism, an auxiliary anti-rotation mechanism and a drive control mechanism; the robotic arm connecting mechanism is installed on the front side of the clamping mechanism; the auxiliary anti-rotation mechanism is installed on the clamping mechanism and the robotic arm connecting mechanism, and the auxiliary anti-rotation mechanism is used to limit the clamping mechanism; the drive control mechanism is installed on the clamping mechanism, and the drive control mechanism is used to control the movement of the clamping mechanism; the clamping mechanism comprises: a mounting plate, a linear slide rail, a linear slider and an L-shaped mounting plate; there are two linear slide rails, and the two linear slide rails are fixedly mounted on the rear side of the mounting plate; there are two groups of linear sliders, and the two groups of linear sliders are slidably mounted on the two linear slide rails; there are two L-shaped mounting plates, and the two L-shaped mounting plates are fixedly mounted on the rear side of the two groups of linear sliders.

[0006] In at least some embodiments, the clamping mechanism further includes: a clamping mounting seat, an inclined clamping block and an elastic plastic; there are two clamping mounting seats, and the two clamping mounting seats are fixedly mounted on the rear sides of the two L-shaped mounting plates; there are two groups of inclined clamping blocks, and the two groups of inclined clamping blocks are fixedly mounted on the two clamping mounting seats; there are two groups of elastic plastics, and the two groups of elastic plastics are fixedly mounted on the two groups of inclined clamping blocks.

[0007] In at least some embodiments, the clamping mechanism further includes: a rack, a circular mounting rod and a gear; there are two racks in total, and the two racks are fixedly mounted on two L-shaped mounting plates; the circular mounting rod is fixedly mounted on the rear side of the mounting plate; the gear is mounted on the circular mounting rod through a bearing, and a receiving circular hole is provided on the gear, and the gear is also meshed with the two racks.

[0008] In at least some embodiments, the robotic arm connection mechanism includes: a rectangular mounting block, a circular guide rod and a robotic arm connection frame; there are two rectangular mounting blocks, and the two rectangular mounting blocks are fixedly mounted on the front side of the mounting plate; there are four circular guide rods, and the four circular guide rods are slidably mounted on the two rectangular mounting blocks; the robotic arm connection frame is fixedly mounted on the inner side of the four circular guide rods.

[0009] In at least some embodiments, the robotic arm connection mechanism also includes: a support spring, a limit baffle and a lithium battery; there are two support springs in total, and the two support springs are mounted on the two upper circular guide rods, and the two support springs are located between the upper rectangular mounting block and the robotic arm connection frame; the limit baffle is fixedly mounted on the two lower circular guide rods; the lithium battery is fixedly mounted on the bottom of the robotic arm connection frame.

[0010] In at least some embodiments, the robotic arm connection mechanism also includes: a buzzer A and a detection switch A; the buzzer A is fixedly mounted on the top of the robotic arm connection frame, and the buzzer A is electrically connected to the lithium battery; the detection switch A is fixedly mounted on the limit baffle, and the detection switch A is electrically connected to the lithium battery and the buzzer A; when the bottom of the robotic arm connection frame contacts the limit baffle, the robotic arm connection frame can automatically press the detection switch A.

[0011] In at least some embodiments, the auxiliary anti-rotation mechanism includes: a rectangular strip and a movable anti-rotation rod; the rectangular strip is fixedly mounted on the robotic arm connecting frame; the movable anti-rotation rod is slidably mounted on the mounting plate, and the front end of the movable anti-rotation rod is a hemispherical structure; the movable anti-rotation rod is concentrically arranged with the receiving circular hole, and the diameter of the movable anti-rotation rod is smaller than the diameter of the receiving circular hole; when the rear side of the rectangular strip contacts the front end of the movable anti-rotation rod, the rear end of the movable anti-rotation rod can be inserted into the receiving circular hole.

[0012] In at least some embodiments, the auxiliary anti-rotation mechanism also includes: a mounting ring and a reset spring; the mounting ring is fixedly mounted on the outside of the movable anti-rotation rod; the reset spring is sleeved on the outside of the movable anti-rotation rod, and the front end of the reset spring is fixedly connected to the mounting plate, and the rear end of the reset spring is fixedly connected to the mounting ring.

[0013] In at least some embodiments, the drive control mechanism includes: a drive connecting seat, a cylinder and a limit snap ring; the drive connecting seat is fixedly mounted on the L-shaped mounting plate below; the cylinder is fixedly mounted on the front side of the mounting plate, and the outer end of the cylinder output shaft is inserted into the drive connecting seat; the limit snap ring is fixedly mounted on the output shaft of the cylinder, and the limit snap ring is slidably connected to the drive connecting seat.

[0014] In at least some embodiments, the drive control mechanism also includes: a buzzer B and a detection switch B; the buzzer B is fixedly mounted on the top of the robotic arm connecting frame, and the buzzer B is electrically connected to the lithium battery; the detection switch B is provided with a circle, and a circle of detection switches B is fixedly mounted inside the drive connecting seat; one circle of the detection switch B is in contact with the limit clamp, and one circle of detection switches B is also electrically connected to the buzzer B and the lithium battery.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The arrangement of two sets of elastic plastics in the present invention avoids damage to the clamped material and increases the friction of the clamping force; the arrangement of two racks and gears enables the two L-shaped mounting plates to move in opposite directions simultaneously under the action of the two racks and gears, thus achieving centering clamping;

[0017] In addition, when the output shaft of the cylinder extends outward, the two L-shaped mounting plates move outward at the same time; when the output shaft of the cylinder retracts inward, the two L-shaped mounting plates move inward at the same time; when one or more screws on the two linear guide rails, the two L-shaped mounting plates, the drive connector and the cylinder become loose, the output shaft of the cylinder will be out of center with the drive connector. At this time, when the cylinder is working, the limit clamping ring can slide in the drive connector, causing the limit clamping ring to automatically press one or more detection switches B, causing the buzzer B to automatically work, which can prompt the staff to inspect the equipment, thereby ensuring the normal service life of the cylinder and avoiding severe wear of the output shaft of the cylinder when extending and retracting;

[0018] In addition, when the screws on the two linear slide rails, two L-shaped mounting plates, drive connector and cylinder are not loose, the output shaft of the cylinder is always concentric with the drive connector. At this time, the limit clamp will not slide in the drive connector, indicating that the output shaft of the cylinder is not severely worn.

[0019] 2. In the present invention, when the clamping mechanism is moved out of the production equipment and the material on the clamping mechanism is in a full roll state, the clamping mechanism can automatically slide downward for a distance under the weight of the full roll of material, causing the two supporting springs to be compressed; when the bottom of the robotic arm connecting frame contacts the limit baffle, the robotic arm connecting frame can automatically press the detection switch A. At this time, the buzzer A works, which can remind nearby staff to stay away from the clamping mechanism to avoid accidental injury to the staff by the full roll of material on the clamping mechanism.

[0020] 3. When the clamping mechanism of the present invention slides downward under the weight of a full roll of material, the rectangular strip remains stationary, and the movable anti-rotation rod slides downward simultaneously with the mounting plate. When the mounting plate slides downward, the rectangular strip pushes the movable anti-rotation rod to slide backward. When the movable anti-rotation rod slides backward, the rear end of the movable anti-rotation rod can be inserted into the storage circular hole, which acts as a limit for the gear and ensures that the two L-shaped mounting plates will not move during the movement of the full roll of material.

[0021] In addition, when a full roll of material is placed on the external storage tooling and the robotic arm drives the robotic arm connecting mechanism to move downward, the weight of the full roll of material is concentrated on the external storage tooling, so that the mounting plate can automatically reset under the action of the two supporting springs; when the mounting plate resets upward, the movable anti-rotation rod can also reset under the action of the reset spring; at this time, the staff can extend the output shaft of the cylinder a certain distance so that the four elastic plastics can be separated from the full roll of material. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments are briefly introduced below.

[0023] The drawings described below only relate to some embodiments of the present invention, rather than limiting the present invention.

[0024] In the attached figure:

[0025] Figure 1 Shows a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 Shows a schematic structural diagram of the clamping mechanism of the present invention;

[0027] Figure 3 The present invention is shown Figure 2 Schematic diagram of the local enlarged structure of area A in the middle;

[0028] Figure 4 It shows a schematic structural diagram of the mechanical arm connection mechanism of the present invention;

[0029] Figure 5 The present invention is shown Figure 1 Schematic diagram of the central cross-section structure;

[0030] Figure 6 The present invention is shown Figure 5 Schematic diagram of the local enlarged structure of area B in the middle;

[0031] Figure 7 The present invention is shown Figure 1 Schematic diagram of the local enlarged structure of the middle C area;

[0032] Figure 8 Shows a schematic structural diagram of the drive control mechanism of the present invention;

[0033] Figure 9 The present invention is shown Figure 5 Schematic diagram of the local enlarged structure of the D area in the middle;

[0034] Figure 10 The present invention is shown Figure 5 Schematic diagram of the cross-section structure in the EE direction;

[0035] Figure 11 The present invention is shown Figure 10 Schematic diagram of the locally enlarged structure of the F area in the middle.

[0036] List of reference numerals:

[0037] 100. Clamping mechanism; 101. Mounting plate; 102. Linear guide rail; 103. Linear slider; 104. L-shaped mounting plate; 105. Clamping mounting base; 106. Tilt clamping block; 107. Elastic plastic; 108. Rack; 109. Circular mounting rod; 110. Gear; 1101. Storage hole;

[0038] 200, robotic arm connection mechanism; 201, rectangular mounting block; 202, circular guide rod; 203, robotic arm connection frame; 204, support spring; 205, limit baffle; 206, lithium battery; 207, buzzer A; 208, detection switch A;

[0039] 300, auxiliary anti-rotation mechanism; 301, rectangular strip; 302, movable anti-rotation rod; 303, mounting ring; 304, reset spring;

[0040] 400, drive control mechanism; 401, drive connector; 402, cylinder; 403, limit clamp; 404, buzzer B; 405, detection switch B. DETAILED DESCRIPTION

[0041] In order to make the purpose, scheme and advantages of the technical solution of the present invention more clear, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of specific embodiments of the present invention. Unless otherwise specified, the terms used herein have the common meanings in the art. The same reference numerals in the drawings represent the same components.

[0042] Example: Please refer to Figures 1 to 11 As shown: The present invention provides a water hose reel loading and unloading robot, including: a clamping mechanism 100, a robotic arm connecting mechanism 200, an auxiliary anti-rotation mechanism 300 and a drive control mechanism 400; the robotic arm connecting mechanism 200 is installed on the front side of the clamping mechanism 100; the auxiliary anti-rotation mechanism 300 is installed on the clamping mechanism 100 and the robotic arm connecting mechanism 200, and the auxiliary anti-rotation mechanism 300 is used to limit the clamping mechanism 100; the drive control mechanism 400 is installed on the clamping mechanism 100, and the drive control mechanism 400 is used to control the movement of the clamping mechanism 100.

[0043] In the embodiment of the present disclosure, Figures 1 to 3 , Figures 8 to 11As shown, the clamping mechanism 100 includes: a mounting plate 101, a linear slide 102, a linear slider 103 and an L-shaped mounting plate 104; there are two linear slides 102, and the two linear slides 102 are fixedly mounted on the rear side of the mounting plate 101; there are two groups of linear sliders 103, and the two groups of linear sliders 103 are slidably mounted on the two linear slides 102; there are two L-shaped mounting plates 104, and the two L-shaped mounting plates 104 are fixedly mounted on the rear sides of the two groups of linear sliders 103; the clamping mechanism 100 also includes: a clamping mounting seat 105, an inclined clamping block 106 and an elastic plastic 107; there are two clamping mounting seats 105, and the two clamping mounting seats 105 are fixedly mounted on the two L-shaped mounting plates 104; there are two groups of inclined clamping blocks 106, and the two groups of inclined clamping blocks 106 are fixedly mounted on the two clamping mounting seats 105; there are two groups of elastic plastics 107, and the two groups of elastic plastics 107 are fixedly mounted on the two groups of inclined clamping blocks 106; the clamping mechanism 100 also includes: a rack 108, a circular mounting rod 109 and a gear 110; there are two racks 108, and the two racks 108 are fixedly mounted on the two L-shaped mounting plates 104; the circular mounting rod 109 is fixedly mounted on the rear side of the mounting plate 101; the gear 110 is mounted on the circular mounting rod 109 through a bearing, and a receiving circular hole 1101 is opened on the gear 110, and the gear 110 is also meshed with the two racks 108;

[0044] The drive control mechanism 400 includes: a drive connection seat 401, a cylinder 402 and a limit snap ring 403; the drive connection seat 401 is fixedly mounted on the L-shaped mounting plate 104 below; the cylinder 402 is fixedly mounted on the front side of the mounting plate 101, and the outer end of the output shaft of the cylinder 402 is inserted into the drive connection seat 401; the limit snap ring 403 is fixedly mounted on the output shaft of the cylinder 402, and the limit snap ring 403 is slidably connected to the drive connection seat 401; the drive control mechanism 400 The device further includes: a buzzer B404 and a detection switch B405; the buzzer B404 is fixedly mounted on the top of the robot arm connecting frame 203, and the buzzer B404 is electrically connected to the lithium battery 206; the detection switch B405 is provided in a circle, and the circle of detection switches B405 is fixedly mounted inside the drive connecting seat 401; the circle of detection switches B405 is in contact with the limit clamp 403, and the circle of detection switches B405 is also electrically connected to the buzzer B404 and the lithium battery 206;

[0045] Its specific function is as follows: because the two sets of inclined clamping blocks 106 are fixedly mounted on the two clamping mounting seats 105, and the two sets of elastic plastics 107 are fixedly mounted on the two sets of inclined clamping blocks 106, damage to the clamped material is avoided and the friction of the clamping is increased; because the two racks 108 are fixedly mounted on the two L-shaped mounting plates 104, and the gear 110 is mounted on the circular mounting rod 109 through a bearing, and the gear 110 is also meshed with the two racks 108, the two L-shaped mounting plates 104 can move in opposite directions at the same time under the action of the two racks 108 and the gear 110, thereby achieving centering clamping;

[0046] In addition, since the drive connecting seat 401 is fixedly mounted on the L-shaped mounting plate 104 below, and the cylinder 402 is fixedly mounted on the front side of the mounting plate 101, and the limit snap ring 403 is slidably connected to the drive connecting seat 401, when the output shaft of the cylinder 402 extends outward, the two L-shaped mounting plates 104 move outward at the same time; when the output shaft of the cylinder 402 contracts inward, the two L-shaped mounting plates 104 move inward at the same time; and since a circle of detection switch B405 is fixedly mounted inside the drive connecting seat 401, and a circle of detection switch B405 is in contact with the limit snap ring 403, and a circle of detection switch B405 is also in contact with the buzzer B404 and the lithium battery 2 06 Electrical connection. When one or more screws on the two linear guide rails 102, the two L-shaped mounting plates 104, the drive connector 401 and the cylinder 402 become loose, the output shaft of the cylinder 402 will be out of center with the drive connector 401. At this time, when the cylinder 402 is working, the limit snap ring 403 can slide in the drive connector 401, causing the limit snap ring 403 to automatically press one or more detection switches B405, causing the buzzer B404 to automatically work, which can prompt the staff to inspect the equipment, thereby ensuring the normal service life of the cylinder 402 and avoiding severe wear of the output shaft of the cylinder 402 when extending and retracting;

[0047] In addition, when the screws on the two linear slide rails 102, the two L-shaped mounting plates 104, the drive connecting seat 401 and the cylinder 402 are not loose, the output shaft of the cylinder 402 is always concentric with the drive connecting seat 401. At this time, the limit clamping ring 403 will not slide in the drive connecting seat 401, indicating that the output shaft of the cylinder 402 is not severely worn.

[0048] In the embodiment of the present disclosure, Figure 4As shown, the robot arm connection mechanism 200 includes: a rectangular mounting block 201, a circular guide rod 202 and a robot arm connection frame 203; there are two rectangular mounting blocks 201, and the two rectangular mounting blocks 201 are fixedly mounted on the front side of the mounting plate 101; there are four circular guide rods 202, and the four circular guide rods 202 are slidably mounted on the two rectangular mounting blocks 201; the robot arm connection frame 203 is fixedly mounted on the inner side of the four circular guide rods 202; the robot arm connection mechanism 200 also includes: a support spring 204, a limit baffle 205 and a lithium battery 206; there are two support springs 204, and the two support springs 204 are sleeved on the two upper circular guide rods 202, and the two support springs 204 are located above The rectangular mounting block 201 and the robot arm connecting frame 203 are fixedly mounted on the two circular guide rods 202 below; the lithium battery 206 is fixedly mounted on the bottom of the robot arm connecting frame 203; the robot arm connecting mechanism 200 also includes: a buzzer A207 and a detection switch A208; the buzzer A207 is fixedly mounted on the top of the robot arm connecting frame 203, and the buzzer A207 is electrically connected to the lithium battery 206; the detection switch A208 is fixedly mounted on the limit baffle 205, and the detection switch A208 is electrically connected to the lithium battery 206 and the buzzer A207; when the bottom of the robot arm connecting frame 203 contacts the limit baffle 205, the robot arm connecting frame 203 can automatically press the detection switch A208;

[0049] Its specific function is as follows: because the four circular guide rods 202 are slidably mounted on the two rectangular mounting blocks 201, and the robot arm connecting frame 203 is fixedly mounted on the inner side of the four circular guide rods 202, and the two supporting springs 204 are located between the upper rectangular mounting block 201 and the robot arm connecting frame 203, when the clamping mechanism 100 is moved out of the production equipment and the material on the clamping mechanism 100 is in a full roll state, the clamping mechanism 100 can automatically slide downward for a distance under the weight of the full roll of material, causing the two supporting springs 204 to be compressed; and because the limiting The position baffle 205 is fixedly mounted on the two circular guide rods 202 below, and the detection switch A208 is fixedly mounted on the position limit baffle 205, and the detection switch A208 is electrically connected to the lithium battery 206 and the buzzer A207. When the bottom of the robot arm connecting frame 203 contacts the position limit baffle 205, the robot arm connecting frame 203 can automatically press the detection switch A208. At this time, the buzzer A207 works, which can remind nearby staff to stay away from the clamping mechanism 100 to avoid accidental injury to staff by the full roll of materials on the clamping mechanism 100.

[0050] Among them, the alarm sound of buzzer A207 is different from the alarm sound of buzzer B404, which makes it easy for staff to know that the output shaft of cylinder 402 is excessively worn or the full roll of material is removed from the production equipment.

[0051] In the embodiment of the present disclosure, Figure 6 and Figure 7 As shown, the auxiliary anti-rotation mechanism 300 includes: a rectangular strip 301 and a movable anti-rotation rod 302; the rectangular strip 301 is fixedly mounted on the robot arm connecting frame 203; the movable anti-rotation rod 302 is slidably mounted on the mounting plate 101, and the front end of the movable anti-rotation rod 302 is a hemispherical structure; the movable anti-rotation rod 302 is concentrically arranged with the receiving circular hole 1101, and the diameter of the movable anti-rotation rod 302 is smaller than the diameter of the receiving circular hole 1101; when the rear side of the rectangular strip 301 is aligned with the movable anti-rotation rod 302, the movable anti-rotation rod 302 is in a hemispherical shape. When the front end of the rod 302 contacts the movable anti-rotation rod 302, the rear end of the movable anti-rotation rod 302 can be inserted into the receiving circular hole 1101. The auxiliary anti-rotation mechanism 300 also includes: a mounting ring 303 and a return spring 304. The mounting ring 303 is fixedly mounted on the outside of the movable anti-rotation rod 302. The return spring 304 is sleeved on the outside of the movable anti-rotation rod 302, and the front end of the return spring 304 is fixedly connected to the mounting plate 101, and the rear end of the return spring 304 is fixedly connected to the mounting ring 303.

[0052] The specific function is as follows: since the movable anti-rotation rod 302 is slidably mounted on the mounting plate 101, and the front end of the movable anti-rotation rod 302 is a hemispherical structure, and the rectangular strip 301 is fixedly mounted on the robot arm connecting frame 203, when the clamping mechanism 100 slides downward under the weight of the full roll of material, the rectangular strip 301 remains stationary, and the movable anti-rotation rod 302 slides downward at the same time as the mounting plate 101; when the mounting plate 101 slides downward, the rectangular strip 301 can push the movable anti-rotation rod 302 to slide downward. 2 slides backward; and because the gear 110 is provided with a receiving circular hole 1101, and the movable anti-rotation rod 302 is concentrically arranged with the receiving circular hole 1101, and the diameter of the movable anti-rotation rod 302 is smaller than the diameter of the receiving circular hole 1101, when the movable anti-rotation rod 302 slides backward, the rear end of the movable anti-rotation rod 302 that slides backward can be inserted into the receiving circular hole 1101, which limits the gear 110 and ensures that the two L-shaped mounting plates 104 will not move during the movement of the full roll of material;

[0053] In addition, because the reset spring 304 is sleeved on the outside of the movable anti-rotation rod 302, and the front end of the reset spring 304 is fixedly connected to the mounting plate 101, and the rear end of the reset spring 304 is fixedly connected to the mounting ring 303, when the full roll of material is placed on the external storage tooling, and the robotic arm drives the robotic arm connection mechanism 200 to move downward, the weight of the full roll of material is concentrated on the external storage tooling, so that the mounting plate 101 can automatically reset under the action of the two support springs 204; when the mounting plate 101 resets upward, the movable anti-rotation rod 302 can also reset under the action of the reset spring 304; at this time, the staff can extend the output shaft of the cylinder 402 a distance further so that the four elastic plastics 107 can be separated from the full roll of material.

[0054] The specific usage and function of this embodiment are as follows:

[0055] When the present invention is used, the staff first connects the robot arm connecting frame 203 to the external robot arm, and then installs the external robot arm on the corresponding side of the production equipment. The setting of the two sets of elastic plastics 107 avoids the damage of the clamped material and increases the friction of the clamping; the setting of the two racks 108 and the gear 110 enables the two L-shaped mounting plates 104 to move in opposite directions at the same time under the action of the two racks 108 and the gear 110, thereby achieving centering clamping; when the output shaft of the cylinder 402 extends outward, the two L-shaped mounting plates 104 move outward at the same time; when the output shaft of the cylinder 402 retracts inward, the two L-shaped mounting plates 104 move inward at the same time; when one or more screws on the two linear guide rails 102, the two L-shaped mounting plates 104, the drive connecting seat 401 and the cylinder 402 become loose, the cylinder 402 The output shaft of the cylinder 402 will be out of center with the drive connecting seat 401. At this time, when the cylinder 402 is working, the limit snap ring 403 can slide in the drive connecting seat 401, so that the limit snap ring 403 automatically presses one or more detection switches B405, so that the buzzer B404 automatically works, which can prompt the staff to repair the equipment, thereby ensuring the normal service life of the cylinder 402 and avoiding severe wear of the output shaft of the cylinder 402 when extending and retracting; when the screws on the two linear guide rails 102, the two L-shaped mounting plates 104, the drive connecting seat 401 and the cylinder 402 are not loose, the output shaft of the cylinder 402 is always concentric with the drive connecting seat 401. At this time, the limit snap ring 403 will not slide in the drive connecting seat 401, indicating that the output shaft of the cylinder 402 is not severely worn;

[0056] When the clamping mechanism 100 is moved out of the production equipment and the material on the clamping mechanism 100 is in a full roll state, the clamping mechanism 100 can automatically slide downward for a distance under the weight of the full roll of material, causing the two supporting springs 204 to be compressed; when the bottom of the robotic arm connecting frame 203 contacts the limit baffle 205, the robotic arm connecting frame 203 can automatically press the detection switch A208. At this time, the buzzer A207 works, which can remind nearby staff to stay away from the clamping mechanism 100 to avoid accidental injury to the staff by the full roll of material on the clamping mechanism 100; when the clamping mechanism 100 slides downward under the weight of the full roll of material, the rectangular strip 301 remains stationary, and the movable anti-rotation rod 302 slides downward at the same time as the mounting plate 101; when the mounting plate 101 slides downward, the rectangular strip 301 can push the movable anti-rotation rod When the movable anti-rotation rod 302 slides backward, the rear end of the movable anti-rotation rod 302 that slides backward can be inserted into the storage circular hole 1101, which limits the gear 110 and ensures that the two L-shaped mounting plates 104 will not move during the movement of the full roll of material; when the full roll of material is placed on the external storage tooling and the robotic arm drives the robotic arm connecting mechanism 200 to move downward, the weight of the full roll of material is concentrated on the external storage tooling, so that the mounting plate 101 can automatically reset under the action of the two supporting springs 204; when the mounting plate 101 is reset upward, the movable anti-rotation rod 302 can also be reset under the action of the reset tension spring 304; at this time, the staff can extend the output shaft of the cylinder 402 for a distance so that the four elastic plastics 107 can be separated from the full roll of material.

[0057] In this article, there are several points to note:

[0058] 1. The drawings of the embodiments of the present disclosure only relate to the structures related to the embodiments of the present disclosure. Other structures may refer to conventional designs.

[0059] 2. In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to form new embodiments.

[0060] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A hose reel loading and unloading robot, comprising: A clamping mechanism (100), a robotic arm connecting mechanism (200), an auxiliary anti-rotation mechanism (300) and a drive control mechanism (400); characterized in that the robotic arm connecting mechanism (200) is mounted on the front side of the clamping mechanism (100); the auxiliary anti-rotation mechanism (300) is mounted on the clamping mechanism (100) and the robotic arm connecting mechanism (200), and the auxiliary anti-rotation mechanism (300) is used to limit the clamping mechanism (100); the drive control mechanism (400) is mounted on the clamping mechanism (100), and the drive control mechanism (400) is used to control the clamping mechanism (100). Movement; the clamping mechanism (100) comprises: a mounting plate (101), a linear slide rail (102), a linear slider (103) and an L-shaped mounting plate (104); there are two linear slide rails (102), and the two linear slide rails (102) are fixedly mounted on the rear side of the mounting plate (101); there are two groups of linear sliders (103), and the two groups of linear sliders (103) are slidably mounted on the two linear slide rails (102); there are two L-shaped mounting plates (104), and the two L-shaped mounting plates (104) are fixedly mounted on the rear sides of the two groups of linear sliders (103); The robot arm connection mechanism (200) comprises: a robot arm connection frame (203), a limit baffle (205), a lithium battery (206), a buzzer A (207) and a detection switch A (208); the lithium battery (206) is fixedly mounted on the bottom of the robot arm connection frame (203); the buzzer A (207) is fixedly mounted on the top of the robot arm connection frame (203), and the buzzer A (207) is electrically connected to the lithium battery (206); the detection switch A (208) is fixedly mounted on the limit baffle (205), and the detection switch A (208) is electrically connected to the lithium battery (206) and the buzzer A (207); when the bottom of the robot arm connection frame (203) contacts the limit baffle (205), the robot arm connection frame (203) can automatically press the detection switch A (208); the robot arm connection mechanism (200) further comprises: a rectangular mounting block (20 1) and a circular guide rod (202); there are two rectangular mounting blocks (201) in total, and the two rectangular mounting blocks (201) are fixedly mounted on the front side of the mounting plate (101); there are four circular guide rods (202) in total, and the four circular guide rods (202) are slidably mounted on the two rectangular mounting blocks (201); the robot arm connecting frame (203) is fixedly mounted on the inner side of the four circular guide rods (202); the robot arm connecting mechanism (200) further includes: a support spring (204); there are two support springs (204) in total, and the two support springs (204) are sleeved on the two upper circular guide rods (202), and the two support springs (204) are located between the upper rectangular mounting block (201) and the robot arm connecting frame (203); the limit baffle (205) is fixedly mounted on the two lower circular guide rods (202).

2. A hose reel loading and unloading robot according to claim 1, characterized in that: The clamping mechanism (100) further comprises: a clamping mounting seat (105), an inclined clamping block (106) and an elastic plastic (107); two clamping mounting seats (105) are provided, and the two clamping mounting seats (105) are fixedly installed on the rear sides of the two L-shaped mounting plates (104); two groups of inclined clamping blocks (106) are provided, and the two groups of inclined clamping blocks (106) are fixedly installed on the two clamping mounting seats (105); and two groups of elastic plastic (107) are provided, and the two groups of elastic plastic (107) are fixedly installed on the two groups of inclined clamping blocks (106).

3. A hose reel loading and unloading robot according to claim 2, characterized in that: The clamping mechanism (100) further comprises: a rack (108), a circular mounting rod (109) and a gear (110); two racks (108) are provided, and the two racks (108) are fixedly mounted on two L-shaped mounting plates (104); the circular mounting rod (109) is fixedly mounted on the rear side of the mounting plate (101); the gear (110) is mounted on the circular mounting rod (109) via a bearing, and a receiving circular hole (1101) is provided on the gear (110), and the gear (110) is also meshedly connected with the two racks (108).

4. A hose reel loading and unloading robot according to claim 3, characterized in that: The auxiliary anti-rotation mechanism (300) comprises: a rectangular strip (301) and a movable anti-rotation rod (302); the rectangular strip (301) is fixedly mounted on the mechanical arm connecting frame (203); the movable anti-rotation rod (302) is slidably mounted on the mounting plate (101), and the front end of the movable anti-rotation rod (302) is a hemispherical structure; the movable anti-rotation rod (302) is concentrically arranged with the receiving circular hole (1101), and the diameter of the movable anti-rotation rod (302) is smaller than the diameter of the receiving circular hole (1101); when the rear side of the rectangular strip (301) contacts the front end of the movable anti-rotation rod (302), the rear end of the movable anti-rotation rod (302) can be inserted into the receiving circular hole (1101).

5. A hose reel loading and unloading robot according to claim 4, characterized in that: The auxiliary anti-rotation mechanism (300) further comprises: a mounting ring (303) and a reset spring (304); the mounting ring (303) is fixedly mounted on the outside of the movable anti-rotation rod (302); the reset spring (304) is sleeved on the outside of the movable anti-rotation rod (302), and the front end of the reset spring (304) is fixedly connected to the mounting plate (101), and the rear end of the reset spring (304) is fixedly connected to the mounting ring (303).

6. The hose reel loading and unloading robot according to claim 1, characterized in that: The drive control mechanism (400) comprises: a drive connection seat (401), a cylinder (402) and a limit snap ring (403); the drive connection seat (401) is fixedly mounted on the L-shaped mounting plate (104) below; the cylinder (402) is fixedly mounted on the front side of the mounting plate (101), and the outer end of the output shaft of the cylinder (402) is inserted into the drive connection seat (401); the limit snap ring (403) is fixedly mounted on the output shaft of the cylinder (402), and the limit snap ring (403) is slidably connected to the drive connection seat (401).

7. The hose reel loading and unloading robot according to claim 6, characterized in that: The drive control mechanism (400) further comprises: a buzzer B (404) and a detection switch B (405); the buzzer B (404) is fixedly mounted on the top of the mechanical arm connecting frame (203), and the buzzer B (404) is electrically connected to the lithium battery (206); the detection switch B (405) is provided with a circle, and the circle of detection switches B (405) is fixedly mounted inside the drive connecting seat (401); the circle of detection switches B (405) is in contact with the limit clamp (403), and the circle of detection switches B (405) is also electrically connected to the buzzer B (404) and the lithium battery (206).

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