Transfer robot for plastic bucket production

Abstract

The invention provides a carrying robot for plastic bucket production. The carrying robot for plastic bucket production comprises a driving base, a first electric telescopic rod, a rotating plate, a supporting table, a visual recognition module, an attaching mechanism, a shovel and other structures, and the attaching mechanism is composed of seven hinged connection blocks, a third electric telescopic rod and a pressure sensor and is matched with a gear and rack transmission structure and multiple sets of driving motors and electric telescopic rods. Through linkage of the visual identification module and the control device, the base is driven to achieve automatic positioning, the attaching mechanism is attached to plastic buckets of different specifications in a self-adaptive mode, a telescopic guide rod and a balancing weight guarantee the structural stability, all transmission components cooperate to complete actions such as grabbing, inclining and lifting, and the robot achieves full-process automation of plastic bucket carrying and improves the working efficiency. The manipulator has the advantages of being accurate in positioning, high in grabbing adaptability and stable in operation, and the production efficiency and safety are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plastic bucket handling, in particular to a plastic bucket production handling robot. BACKGROUND

[0002] In the field of plastic bucket production, the traditional plastic bucket handling method mainly relies on manual or simple mechanical assistance, which has many drawbacks. Manual handling is not only inefficient, but also prone to safety accidents due to worker fatigue. It is also difficult to meet the production needs of large-scale and high-intensity. Some existing handling equipment, such as fixed mechanical arms or conveyor belt devices, has poor flexibility and adaptability, and cannot accurately handle plastic buckets of different specifications and shapes. In the grabbing process, the bucket body may slip and collide, causing damage. In addition, the structure of some automated handling equipment is not stable enough, and when handling heavy plastic buckets, the center of gravity may shift, causing the equipment to sway or even tip over, posing a significant safety hazard. As the plastic bucket production industry continues to upgrade its automation and intelligence, developing a plastic bucket handling device that is efficient, accurate, adaptable, and safe and stable has become a key to solving industry pain points and improving production efficiency and quality. SUMMARY

[0003] (I) Technical problems solved

[0004] To overcome the shortcomings of the prior art, the present application provides a plastic bucket production handling robot, which solves the problems of low efficiency, poor adaptability, insufficient stability and inaccurate operation in the traditional plastic bucket handling process.

[0005] (II) Technical solutions

[0006] To achieve the above purpose, the present application is implemented by the following technical solutions: a plastic bucket production handling robot, comprising: a driving base, a counterweight is installed inside the driving base, a first electric telescopic rod is vertically arranged at the top center of the driving base, a first support frame is fixedly connected to the top of the first electric telescopic rod, and the upper end of the first support frame is rotationally and slidingly connected with a rotating plate;

[0007] The top center of the rotating plate is fixedly connected with a support table, the top of the support table is provided with a visual identification module, the rear end of the support table is provided with a mounting groove, the bottom of the mounting groove is provided with a control device, the left side and the right side of the support table are both slidably connected with second sliders, the front end of the rotating plate is provided with a groove, the two sides of the groove are both provided with sliding grooves, the inner walls of the two sliding grooves are both slidably connected with first sliders, the two first sliders are fixedly connected with a connecting rod, the bottom of the connecting rod is fixedly connected with a shovel through a vertical rod, the front ends of the two second sliders are both fixedly connected with fixed rods, the inner wall of the fixed rod is rotatably connected with a rotating rod through a second rotating shaft, the inner side of the rotating rod is provided with a sticking mechanism, and the outer side of the connecting rod is provided with an angle adjusting mechanism.

[0008] Preferably, the rear end of the connecting rod is fixedly connected with a second electric telescopic rod, the rear end of the second electric telescopic rod is fixedly connected with the bottom of the groove, the rear end of the connecting rod is fixedly connected with a fixed guide rod, and the rear end of the fixed guide rod is slidably connected with the inner wall of the rotating plate.

[0009] Preferably, the top of the driving base is provided with six telescopic guide rods which are annularly distributed around the first electric telescopic rod.

[0010] Preferably, the bottom center of the rotating plate is fixedly connected with a first rotating shaft, the bottom of the first rotating shaft penetrates through the upper surface of the first support frame and extends to the inside of the first support frame, and is fixedly connected with a first large gear, the inside of the first support frame is provided with a first drive motor, the output end of the first drive motor is fixedly connected with a first small gear, and the outer surface of the first small gear is meshedly connected with the first large gear.

[0011] Preferably, the rear end of each of the two second sliders is fixedly connected with a rack, the two racks are symmetrically distributed above and below, the inner wall of the mounting groove is fixedly connected with a fixed plate, the rear end of the fixed plate is fixedly connected with a second drive motor, the output end of the second drive motor penetrates through the fixed plate and is fixedly connected with a second small gear, and the second small gear is located between the two racks and is meshedly connected.

[0012] Preferably, the angle adjusting mechanism comprises a second support frame and a third drive motor, the second support frame is fixedly connected with the outer side of the fixed rod, the outer side of the second support frame is fixedly connected with the third drive motor, the output end of the third drive motor penetrates through the outer surface of the second support frame and extends to the inside of the second support frame, and is fixedly connected with a third small gear, the rear end of the second rotating shaft is fixedly connected with a second large gear, and the outer surface of the third small gear is meshedly connected with the second large gear.

[0013] Preferably, the attaching mechanism comprises:

[0014] The connecting blocks are located on the inner side of the rotating rod, the number of the connecting blocks is seven, and the outer side of the middle connecting block is fixedly connected with the rotating rod;

[0015] The anti-skid rubber blocks are located on the inner side of the connecting blocks, the number of the anti-skid rubber blocks is seven and corresponds to the connecting blocks one by one;

[0016] The third electric telescopic rods are located at the two ends of the outermost connecting blocks, and the two ends of the outermost connecting blocks are hingedly connected with the third electric telescopic rods.

[0017] Preferably, the inside of the anti-skid rubber block is provided with a pressure sensor, the number of the pressure sensor is seven and corresponds to the anti-skid rubber block one by one.

[0018] Preferably, the bottom end of the two third electric telescopic rods is hingedly connected with a connecting piece, and the rear end of the connecting piece is fixedly connected with the rotating rod.

[0019] (III) Beneficial effects

[0020] The application provides a carrying robot for plastic bucket production.

[0021] The carrying robot for plastic bucket production collects and analyzes plastic bucket image information through the visual recognition module, so that the control device drives the base and each electric telescopic rod and drive motor, thereby realizing the efficiency and accuracy of loading and feeding. The seven hingedly connected connecting blocks in the attaching mechanism cooperate with the third electric telescopic rods, and under the monitoring of the pressure sensor, the middle connecting block is fixedly connected with the rotating rod, so that self-adaptation to different specifications of plastic buckets is realized, the firmness of grabbing is ensured, and the damage to the bucket body is avoided, and the application range is expanded.

[0022] The counterweight in the drive base lowers the center of gravity, the six annularly distributed telescopic guide rods cooperate with the first electric telescopic rod to stably support the first support frame and the upper structure during lifting, prevent the center of gravity from deviating or shaking during carrying, and ensure the safety of operation. The gear and rack transmission structure is stable and efficient in transmission, the second drive motor controls the movement of the fixed rod through gear and rack transmission, and the third drive motor adjusts the angle of the rotating rod through gear transmission, cooperates with the control of the second electric telescopic rod on the shovel, and effectively reduces the downward pulling force of the attaching mechanism through the lifting of the shovel. Not only the stability during turnover is effectively improved, but also the service life of the attaching mechanism is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the application;

[0024] Figure 2 It is a rear view of the application;

[0025] Figure 3 It is the schematic diagram of the whole rotating mechanism structure of the application;

[0026] Figure 4 It is the schematic diagram of the lifting mechanism of the application;

[0027] Figure 5 It is the schematic diagram of the internal structure of the support table of the application;

[0028] Figure 6 It is the schematic diagram of the rotating clamping mechanism structure of the application;

[0029] Figure 7 It is the schematic diagram of the connecting block structure of the application;

[0030] Figure 8 It is Figure 7 The enlarged schematic diagram at A in the figure.

[0031] Among them, 1, drive base; 2, counterweight; 3, first electric telescopic rod; 4, telescopic guide rod; 5, first support frame; 6, rotating plate; 7, support table; 8, visual identification module; 9, first drive motor; 10, first pinion; 11, first gear; 12, first rotating shaft; 13, second electric telescopic rod; 14, sliding groove; 15, first sliding block; 16, connecting rod; 17, vertical rod; 18, shovel; 19, fixed guide rod; 20, second sliding block; 21, fixed rod; 22, control device; 23, rack; 24, second pinion; 25, second drive motor; 26, fixed plate; 27, mounting groove; 28, second support frame; 29, third drive motor; 30, third pinion; 31, second gear; 32, second rotating shaft; 33, rotating rod; 34, connecting block; 35, anti-skid rubber block; 36, pressure sensor; 37, connecting piece; 38, third electric telescopic rod; 39, groove. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0033] As Figures 1-8 shown, the embodiment of the application provides a carrying robot for plastic bucket production, which comprises a drive base 1, a counterweight 2 is installed in the drive base 1, a first electric telescopic rod 3 is vertically arranged at the top center of the drive base 1, a first support frame 5 is fixedly connected to the top of the first electric telescopic rod 3, and the upper end of the first support frame 5 is rotationally and slidingly connected with a rotating plate 6.

[0034] The top center of the rotating plate 6 is fixedly connected with a support table 7, the top of the support table 7 is provided with a visual identification module 8, the rear end of the support table 7 is provided with a mounting groove 27, the bottom of the mounting groove 27 is provided with a control device 22, the visual identification module 8 collects images of the plastic barrels in the working area, and transmits data to the control device 22, the control device 22 analyzes the position, size and attitude information of the plastic barrels based on an algorithm, generates a driving instruction, controls the driving base 1 to move to the target position, the left and right sides of the support table 7 are both slidingly connected with a second sliding block 20, the front end of the rotating plate 6 is provided with a groove 39, both sides of the groove 39 are provided with a sliding groove 14, the inner walls of the two sliding grooves 14 are both slidingly connected with a first sliding block 15, the two first sliding blocks 15 are fixedly connected with a connecting rod 16, the bottom of the connecting rod 16 is fixedly connected with a shovel 18 through a vertical rod 17, the front ends of the two second sliding blocks 20 are both fixedly connected with a fixed rod 21, the inner wall of the fixed rod 21 is rotatably connected with a rotating rod 33 through a second rotating shaft 32, the inner side of the rotating rod 33 is provided with a sticking mechanism, and the outer side of the connecting rod 16 is provided with an angle adjusting mechanism.

[0035] The rear end of the connecting rod 16 is fixedly connected with a second electric telescopic rod 13, the rear end of the second electric telescopic rod 13 is fixedly connected with the bottom of the groove 39, the rear end of the connecting rod 16 is fixedly connected with a fixed guide rod 19, the rear end of the fixed guide rod 19 is slidingly connected with the inner wall of the rotating plate 6, the top of the driving base 1 is provided with a telescopic guide rod 4, the top of the telescopic guide rod 4 is fixedly connected with the bottom of the first support frame 5, the number of the telescopic guide rods 4 is six and they are annularly distributed around the first electric telescopic rod 3, the bottom center of the rotating plate 6 is fixedly connected with a first rotating shaft 12, the bottom of the first rotating shaft 12 penetrates through the upper surface of the first support frame 5 and extends into the first support frame 5, and is fixedly connected with a first large gear 11, the inside of the first support frame 5 is provided with a first driving motor 9, the output end of the first driving motor 9 is fixedly connected with a first small gear 10, and the outer surface of the first small gear 10 is meshingly connected with the first large gear 11.

[0036] The rear end of each of the two second sliding blocks 20 is fixedly connected with a rack 23, the two racks 23 are symmetrically distributed above and below, the inner wall of the mounting groove 27 is fixedly connected with a fixed plate 26, the rear end of the fixed plate 26 is fixedly connected with a second driving motor 25, the output end of the second driving motor 25 penetrates through the fixed plate 26 and is fixedly connected with a second small gear 24, and the second small gear 24 is located between the two racks 23 and is meshingly connected.

[0037] The angle adjusting mechanism comprises a second support frame 28 and a third driving motor 29, the second support frame 28 is fixedly connected with the outer side of the fixed rod 21, the outer side of the second support frame 28 is fixedly connected with the third driving motor 29, the output end of the third driving motor 29 penetrates through the outer surface of the second support frame 28 and extends to the inside of the second support frame 28, and a third pinion 30 is fixedly connected, the rear end of the second rotating shaft 32 is fixedly connected with a second gear 31, and the outer surface of the third pinion 30 is meshingly connected with the second gear 31.

[0038] The second pinion 24 at the output end of the motor rotates and is meshingly connected with the rack 23 symmetrically distributed upward and downward to drive the second sliding block 20 and the fixed rod 21 at both ends to move towards each other, so that the attaching mechanism on the inner side of the rotating rod 33 approaches the plastic bucket.

[0039] The attaching mechanism comprises:

[0040] The connecting block 34 is located on the inner side of the rotating rod 33, the number of the connecting block 34 is seven, and the outer side of the connecting block 34 located in the middle is fixedly connected with the rotating rod 33.

[0041] The anti-skid rubber block 35 is located on the inner side of the connecting block 34, the number of the anti-skid rubber block 35 is seven and corresponds to the connecting block 34 one by one.

[0042] The third electric telescopic rod 38 is located at the two ends of the outermost layer of the connecting block 34, and the two ends of the outermost layer of the connecting block 34 are hingedly connected with the third electric telescopic rod 38.

[0043] The inside of the anti-skid rubber block 35 is provided with a pressure sensor 36, the number of the pressure sensor 36 is seven and corresponds to the anti-skid rubber block 35 one by one, the bottom end of the two third electric telescopic rods 38 is hingedly connected with a connecting piece 37, and the rear end of the connecting piece 37 is fixedly connected with the rotating rod 33.

[0044] The control device 22 starts the third driving motor 29, the motor drives the third pinion 30 to mesh with the second gear 31, drives the second rotating shaft 32 and the rotating rod 33 to rotate, so that the plastic bucket is inclined by a certain angle, and the upturned end of the bucket body faces the shovel 18, at this time, the control device 22 starts the second electric telescopic rod 13, pushes the connecting rod 16 and the shovel 18 to move forward, so that the bottom of the shovel 18 is smoothly embedded into the upturned end of the plastic bucket, after the embedding is completed, the control device 22 reversely drives the third driving motor 29 to drive the rotating rod 33 to rotate, so that the plastic bucket returns to the vertical state.

[0045] The control device 22 starts the first electric telescopic rod 3, and the telescopic rod is elongated to push the first support frame 5 and the whole grabbing mechanism to rise, and the shovel 18 stably holds the plastic bucket, at this time, the robot moves to the designated unloading position through the driving base 1, and the above-mentioned reverse process is repeated to complete unloading, so as to realize the full-automatic operation of the plastic bucket from positioning, grabbing, carrying to unloading

[0046] Working principle: The plastic bucket production carrying robot takes visual recognition and intelligent control as the core, realizes automatic carrying of the plastic bucket through the cooperation of multiple mechanisms, first, the visual recognition module 8 collects images of the plastic bucket in the working area, and transmits data to the control device 22, the control device 22 analyzes the position, size and attitude information of the plastic bucket based on the algorithm, generates driving instructions, controls the driving base 1 to move to the target position, accurately adjusts the position of the robot, and makes the plastic bucket between the two rotating rods 33.

[0047] After positioning, the control device 22 starts the second driving motor 25, the second pinion 24 at the output end of the motor rotates, meshes with the symmetrical rack 23, drives the second sliding block 20 and the fixed rod 21 at both ends to move towards each other, and makes the plastic bucket close to the plastic bucket. When the middle connecting block 34 contacts the outer wall of the plastic bucket, the pressure sensor 36 in the anti-skid rubber block 35 on the inner side of the connecting block 34 monitors the pressure in real time and feeds back the data to the control device 22. When the pressure reaches the preset threshold, the control device 22 immediately sends a signal to stop the second driving motor 25 from running, so as to ensure that the plastic bucket is preliminarily attached to the plastic bucket.

[0048] Subsequently, the control device 22 activates the third electric telescopic rod 38 at both ends. Since the middle connecting block 34 is fixedly connected with the rotating rod 33, when the telescopic rod is telescoped, the remaining six connecting blocks 34 are driven to expand in an arc shape through the hinged structure, and the anti-skid rubber block 35 is tightly attached to the barrel wall. During this process, the pressure sensor 36 continuously monitors the contact pressure and feeds back to the control device 22, and when the pressure distribution of each rubber block is uniform and meets the attachment standard, the control device 22 determines that the attachment is completed.

[0049] Then, the control device 22 starts the third driving motor 29, the motor drives the third pinion 30 to mesh with the second gear 31, drives the second rotating shaft 32 and the rotating rod 33 to rotate, and makes the plastic bucket tilt forward by a certain angle, and the upturned end of the barrel body faces the shovel 18. At this time, the control device 22 starts the second electric telescopic rod 13, pushes the connecting rod 16 and the shovel 18 to move forward, so that the bottom of the shovel 18 is smoothly embedded in the upturned end of the plastic bucket. After embedding is completed, the control device 22 reversely drives the third driving motor 29 to drive the rotating rod 33 to rotate, so that the plastic bucket returns to the vertical state.

[0050] Finally, the control device 22 starts the first electric telescopic rod 3, the telescopic rod extends to push the first support frame 5 and the whole grabbing mechanism to rise, the shovel 18 stably holds the plastic bucket, at this time, the robot moves to the designated unloading position through the driving base 1, and the reverse process is repeated to complete unloading, so that the full-automatic operation of the plastic bucket from positioning, grabbing, carrying to unloading is realized.

[0051] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely divergences of the principles and spirit of the application and that numerous modifications, changes, replacements, and variations can be made thereto by those skilled in the art without departing from the principles and spirit of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A carrying robot for plastic drum production, characterized by, Include: Drive base (1), the inside of drive base (1) is installed counterweight (2), the top center of drive base (1) is vertically provided with first electric telescopic rod (3), the top of first electric telescopic rod (3) is fixedly connected with first support frame (5), the upper end of first support frame (5) is rotatably and slidably connected with rotating plate (6); The top center of rotating plate (6) is fixedly connected with support table (7), the top of support table (7) is provided with visual identification module (8), the rear end of support table (7) is provided with mounting groove (27), the bottom of mounting groove (27) is provided with control device (22), the left side and the right side of support table (7) are slidably connected with second sliding block (20), the front end of rotating plate (6) is provided with recess (39), both sides of recess (39) are provided with sliding groove (14), the inner wall of two sliding grooves (14) is slidably connected with first sliding block (15), two first sliding blocks (15) are fixedly connected with connecting rod (16), the bottom of connecting rod (16) is fixedly connected with spade (18) through vertical rod (17), the front end of two second sliding blocks (20) is fixedly connected with fixed rod (21), the inner wall of fixed rod (21) is rotatably connected with rotating rod (33) through second rotating shaft (32), the inner side of rotating rod (33) is provided with attaching mechanism, the outer side of connecting rod (16) is provided with angle adjusting mechanism.

2. The carrying robot for plastic bucket production according to claim 1, characterized in that: The rear end of connecting rod (16) is fixedly connected with second electric telescopic rod (13), the rear end of second electric telescopic rod (13) is fixedly connected with recess (39) bottom, the rear end of connecting rod (16) is fixedly connected with fixed guide rod (19), the rear end of fixed guide rod (19) is slidably connected with the inner wall of rotating plate (6).

3. The carrying robot for plastic bucket production according to claim 1, characterized in that: The top of drive base (1) is provided with telescopic guide rod (4), the top of telescopic guide rod (4) is fixedly connected with the bottom of first support frame (5), the number of telescopic guide rod (4) is six and is annularly distributed around first electric telescopic rod (3).

4. The carrying robot for plastic bucket production according to claim 1, characterized in that: The bottom center of rotating plate (6) is fixedly connected with first rotating shaft (12), the bottom of first rotating shaft (12) penetrates the upper surface of first support frame (5) and extends to the inside of first support frame (5), and is fixedly connected with first large gear (11), the inside of first support frame (5) is provided with first drive motor (9), the output end of first drive motor (9) is fixedly connected with first small gear (10), and the outer surface of first small gear (10) is meshingly connected with first large gear (11).

5. The carrying robot for plastic bucket production according to claim 1, characterized in that: The rear end of each of the two second sliders (20) is fixedly connected with a rack (23), the two racks (23) are symmetrically distributed upward and downward, the inner wall of the mounting groove (27) is fixedly connected with a fixed plate (26), the rear end of the fixed plate (26) is fixedly connected with a second driving motor (25), the output end of the second driving motor (25) penetrates through the fixed plate (26) and is fixedly connected with a second pinion (24), and the second pinion (24) is located between the two racks (23) and is in meshing connection.

6. The carrying robot for plastic bucket production according to claim 1, characterized in that: The angle adjusting mechanism comprises a second support frame (28) and a third driving motor (29), the second support frame (28) is fixedly connected with the outer side of the fixed rod (21), the outer side of the second support frame (28) is fixedly connected with the third driving motor (29), the output end of the third driving motor (29) penetrates through the outer surface of the second support frame (28) and extends to the inside of the second support frame (28), and is fixedly connected with a third pinion (30), the rear end of the second rotating shaft (32) is fixedly connected with a second gear (31), and the outer surface of the third pinion (30) is in meshing connection with the second gear (31).

7. The carrying robot for plastic bucket production according to claim 1, characterized in that: The attaching mechanism comprises: A connecting block (34) is located on the inner side of the rotating rod (33), the number of the connecting block (34) is seven, and the outer side of the connecting block (34) located in the middle is fixedly connected with the rotating rod (33); A non-slip rubber block (35) is located on the inner side of the connecting block (34), the number of the non-slip rubber block (35) is seven and corresponds to the connecting block (34) one by one; A third electric telescopic rod (38) is located at the two ends of the outermost layer of the connecting block (34), and the two ends of the outermost layer of the connecting block (34) are hingedly connected with the third electric telescopic rod (38).

8. The carrying robot for plastic bucket production according to claim 7, characterized in that: The inside of the non-slip rubber block (35) is provided with a pressure sensor (36), the number of the pressure sensor (36) is seven and corresponds to the non-slip rubber block (35) one by one.

9. The carrying robot for plastic bucket production according to claim 7, characterized in that: The bottom end of each of the two third electric telescopic rods (38) is hingedly connected with a connecting piece (37), and the rear end of the connecting piece (37) is fixedly connected with the rotating rod (33).

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