Composite mattress discharging system based on industrial robot

Abstract

The invention provides a composite mattress discharging system based on an industrial robot, and relates to the field of mattress production transfer mechanical arm terminals. The composite mattress discharging system based on the industrial robot comprises a manipulator terminal connecting piece, a cross-shaped connecting frame, two sets of long telescopic rods and two sets of short telescopic rods, the cross-shaped connecting frame is installed at the bottom of the manipulator terminal connecting piece, any set of long telescopic rods are oppositely installed on the cross-shaped connecting frame, and any set of short telescopic rods are oppositely installed on the cross-shaped connecting frame. Any group of short telescopic rods are oppositely mounted on the cross-shaped connecting frame, and two side face clamping assemblies A and two side face clamping assemblies B are further included. According to the composite mattress discharging system based on the industrial robot, by arranging the side face clamping assembly A, the side face clamping assembly and the automatic bottom supporting assembly, it can be achieved that the edges of mattresses can be kept upwarped, the mattresses cannot be damaged, the mattresses can be firmly clamped, and the effect of supporting the bottoms of the mattresses can be achieved; and the bottom supporting mode is adopted for transferring, so that transferring is safer, and falling is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mattress production transfer robot terminal, specifically to a composite mattress unloading system based on industrial robots. BACKGROUND

[0002] The existing mattress is often stacked in multiple layers during processing, and after processing, each mattress needs to be moved to the workbench one by one. Currently, mechanical equipment has been used to replace manual mattress handling.

[0003] The existing mattress handling robot generally adopts two handling methods of suction cup type or clamping type. However, the suction cup type handling has the following disadvantages: when the mattress is stacked, the direction of the mattress may not be consistent with the direction of the mattress placed on the workbench. When the directions are inconsistent, the mattress needs to be rotated to adapt to the direction of the workbench during the process of being sucked and lifted by the suction cup. Since the mattress is rotated in a suspended state, if the suction cup cannot reliably and stably suck the mattress due to insufficient suction force or other human factors, the mattress is likely to fall accidentally, causing production accidents and personal injuries.

[0004] The clamping type handling method also has certain disadvantages: first, the mattress is heavy and soft, and the mattress with heavy weight and soft texture is prone to bending deformation in the middle during clamping, which has a certain risk of falling. Using a larger clamping force will only make the mattress more severely compressed and bent, increasing the risk of falling. Therefore, most clamping devices adopt a bottom supporting structure, but when facing stacked mattresses, manual assistance is still needed to help the robot hold the bottom of the mattress for safe transportation. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a composite mattress unloading system based on industrial robots, which solves the problems raised in the background art.

[0006] To achieve the above purpose, the present application realizes the following technical scheme: a composite mattress unloading system based on industrial robots, comprising a mechanical hand terminal connecting piece, a cross connecting frame installed at the bottom of the mechanical hand terminal connecting piece, two groups of long telescopic rods and two groups of short telescopic rods, any one group of long telescopic rods being oppositely installed on the cross connecting frame, and any one group of short telescopic rods being oppositely installed on the cross connecting frame; a side clamping assembly A and a side clamping assembly B, the side clamping assembly A being provided with two, respectively installed on one end of the two groups of short telescopic rods away from the cross connecting frame, used for clamping the long side of the mattress and lifting it automatically, the side clamping assembly B being provided with two, respectively installed on one end of the two groups of long telescopic rods away from the cross connecting frame, used for clamping the wide side of the mattress and lifting it automatically; and a self-supporting assembly installed on the side clamping assembly B, used for extending to the bottom of the mattress after the mattress is lifted.

[0007] Preferably, the side clamping assembly A comprises a pressing shell, two sets of vertical telescopic rods A are fixedly installed on the upper end of the pressing shell, the short telescopic rod is fixed at the upper end of the vertical telescopic rod A away from the cross connecting frame, and a limiting plate is fixedly installed on the side of the upper end of the pressing shell facing the cross connecting frame; further comprising two sets of eccentric wheels installed in the pressing shell and rotationally connected therewith; further comprising a transmission component A installed on the pressing shell for driving the eccentric wheels, so that the convex surface of the eccentric wheels rotates out of the pressing shell and clamps the mattress when the limiting plate contacts and clamps the mattress.

[0008] Preferably, the outer ring of the eccentric wheel is covered with a rubber sleeve A, and the outer wall of the rubber sleeve A is provided with a strip-shaped protrusion A.

[0009] Preferably, the side clamping assembly B comprises a right-angle frame and a wheel frame, two sets of vertical telescopic rods B are fixedly installed on the upper end of the right-angle frame, the long telescopic rod is fixed at the upper end of the vertical telescopic rod B away from the cross connecting frame, the wheel frame is located on the side of the right-angle frame facing the cross connecting frame, the middle part of the wheel frame is hingedly connected with the right-angle frame, a hydraulic cylinder is hingedly connected to the right-angle frame, the other end of the hydraulic cylinder is hingedly connected to the side wall of the wheel frame, and the hydraulic cylinder is telescopic for changing the included angle between the wheel frame and the right-angle frame, and the wheel frame is vertically arranged by default, a plurality of rotating wheels are installed in the wheel frame, and the rotating wheels can rotate relative to the wheel frame.

[0010] Preferably, a hub motor is installed in the rotating wheel for driving the rotating wheel to rotate, the outer ring of the rotating wheel is covered with a rubber sleeve B, and the outer wall of the rubber sleeve B is provided with a strip-shaped protrusion B.

[0011] Preferably, the self-supporting bottom supporting assembly comprises two sets of transversely arranged sliding rods and a transmission component B, the transmission component B is fixedly installed at the bottom of the right-angle frame, the two sets of sliding rods are installed on the output terminal of the transmission component B, the transmission component B can move the sliding rods transversely and change the angle of the sliding rods, a balance hook is fixedly installed at the end of each sliding rod away from the cross connecting frame, a pin column is fixedly installed at the corresponding position of the right-angle frame, the balance hook is hooked on the pin column when the sliding rods move to the farthest end in the direction of the cross connecting frame, so as to keep the sliding rods horizontal; rubber wheels are installed on the side of each sliding rod away from each other, the end of each sliding rod facing the cross connecting frame is in a circular arc structure, and a rubber wheel is also installed on the inner side of the end of each sliding rod facing the cross connecting frame, the outer ring of the rubber wheel protrudes from the upper surface of the sliding rod, and a cable is also installed at the end of each sliding rod away from the cross connecting frame, and an electric winch is installed at the upper end of the right-angle frame for tightening the cable when the sliding rods move.

[0012] Preferably, the transmission component B includes a servo motor A, the servo motor A is provided with double output shafts, the double output shafts are fixedly installed with clamping blocks, the inner surface of the slide rod is clamped in the clamping blocks and is in sliding connection with the clamping blocks; further includes a servo motor B, the servo motor B is fixedly installed on the clamping blocks, the output shaft of the servo motor B is installed with a gear, and the gear is used for meshing the inner surface of the slide rod to enable the slide rod to move relative to the clamping blocks.

[0013] Preferably, the transmission component A includes a servo motor C, the servo motor C is fixedly installed on the pressing shell; further includes a worm and a worm wheel, the worm wheel is fixedly installed between the two groups of eccentric wheels and is connected with the eccentric wheel shafts, the worm is connected with the output end of the servo motor C, and the worm is in meshing connection with the worm wheel.

[0014] Preferably, the long telescopic rod and the short telescopic rod away from the cross connecting frame are all provided with hydraulic telescopic rods.

[0015] Compared with the prior art, the present application has the following beneficial effects: 1、The composite mattress unloading system based on an industrial robot, through the setting of the side clamping assembly A, when the short telescopic rod end is retracted, the limiting plate on the pressing shell and the eccentric wheel are in contact with the mattress, the transmission component A can be controlled to gradually increase the contact force of the eccentric wheel with the mattress, and the edge of the mattress can be kept upturned without damaging the mattress and can be firmly clamped.

[0016] 2、The composite mattress unloading system based on an industrial robot, through the setting of the side clamping assembly B, when the long telescopic rod end is retracted, the rotating wheel in the wheel frame is in contact with the side of the mattress, and the end of the mattress can be lifted up with the rotating wheel, so that the edges of the stacked mattresses are upturned and gaps are formed, and since the other two sides of the mattress have been clamped, the rotation of the rotating wheel can increase the contact force of the mattress with the eccentric wheel on the basis of deformation, thereby preventing the mattress from falling during hoisting.

[0017] 3、The composite mattress unloading system based on an industrial robot, through the setting of the self-supporting bottom assembly, after the edge of the mattress is lifted up by the rotating wheel, the slide rod can advance and be inserted at the bottom of the mattress under the action of the transmission component B, and the rubber wheel can reduce the friction between the slide rod and the mattress, and after the insertion is completed, the mattress is hoisted, and the slide rod can support the bottom of the mattress, and when the mattress is deformed, the form of supporting the bottom is adopted for safer transfer without falling. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the present application; Figure 2 It is a structural front view of the present application; Figure 3 It is a structural top view of the present application; Figure 4 It is a structural side view of the present application; Figure 5 Structure diagram of side clamping assembly A of the present application; Figure 6 Structure sectional view of side clamping assembly A of the present application; Figure 7 Structure diagram of side clamping assembly B and autonomous supporting assembly of the present application; Figure 8 Another structure diagram of side clamping assembly B and autonomous supporting assembly of the present application; Figure 9 Structure diagram of side clamping assembly B of the present application; Figure 8 Enlarged structure diagram of A of the present application; Figure 10 Structure diagram of side clamping assembly B of the present application.

[0019] In the figure: 1, mechanical hand terminal connecting piece; 2, cross connecting frame; 3, long telescopic rod; 4, short telescopic rod; 5, hydraulic telescopic rod; 6, side clamping assembly A; 601, compression housing; 602, vertical telescopic rod A; 603, limiting plate; 604, eccentric wheel; 605, transmission component A; 6051, servo motor C; 6052, worm; 6053, worm gear; 606, rubber sleeve A; 607, strip-shaped protrusion A; 7, side clamping assembly B; 701, right-angle frame; 702, wheel frame; 703, vertical telescopic rod B; 704, hydraulic cylinder; 705, rotating wheel; 706, rubber sleeve B; 707, strip-shaped protrusion B; 8, autonomous supporting assembly; 801, sliding rod; 802, transmission component B; 8021, servo motor A; 8022, clamping block; 8023, servo motor B; 8024, gear; 803, balance hook; 804, pin column; 805, rubber wheel; 806, cable; 807, electric winch. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement condition and the like between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0022] In the present application, unless otherwise clearly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium, can be internal connection of two elements or interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0023] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0024] As shown in the composite mattress unloading system based on industrial robot, Figures 1-10 The composite mattress unloading system based on industrial robot includes a mechanical hand terminal connecting piece 1, a cross connecting frame 2 installed at the bottom of the mechanical hand terminal connecting piece 1, two groups of long telescopic rods 3 and two groups of short telescopic rods 4, any one group of long telescopic rods 3 is oppositely installed on the cross connecting frame 2, and any one group of short telescopic rods 4 is oppositely installed on the cross connecting frame 2; It also includes side clamping assembly A6 and side clamping assembly B7, the side clamping assembly A6 is provided with two, which are respectively installed on the one end of the two groups of short telescopic rods 4 away from the cross connecting frame 2, used for clamping the long side of the mattress and lifting it automatically, the side clamping assembly B7 is provided with two, which are respectively installed on the one end of the two groups of long telescopic rods 3 away from the cross connecting frame 2, used for clamping the wide side of the mattress and lifting it automatically; It also includes a self-supporting bottom assembly 8 installed on the side clamping assembly B7, used for extending to the bottom of the mattress after the mattress is lifted.

[0025] The mechanical hand terminal connecting piece 1 is the end effector, which is the part directly contacting the mattress, and is installed on the output end of the robot body. The robot is most commonly a six-axis articulated robot, which has high flexibility and can complete complex spatial pose adjustment. For scenes that perform translational carrying on a fixed path, a Cartesian robot or a gantry robot can also be used, and the load needs to meet the luxury mattress use of hundreds of kilograms. The robot body also includes a 2D / 3D vision system, which is partially installed on the cross connecting frame 2, and is used to identify the position, angle and size of the mattress, and guide the mechanical hand to accurately grasp. It is essential especially in the scene where the mattress is randomly stacked or the position of the conveyor belt is not fixed. Force control sensor: used to realize soft control, which can be "gentle" when placing the mattress, or stop when encountering unexpected resistance, protecting the equipment and products. The entire device also includes the controller of the robot, PLC, etc., which is responsible for processing sensor signals, executing preset programs, and communicating with other devices on the production line (such as conveyors, roller lines).

[0026] The long telescopic rod 3 and the short telescopic rod 4 are combined to adapt to a rectangular mattress. The vision system of the cross connecting frame 2 can observe the position of the mattress, and is used to roughly place the mechanical arm to the center of the mattress in the early stage.

[0027] In an optional embodiment, the side clamping assembly A6 includes a pressing shell 601, two groups of vertical telescopic rods A602 are fixedly installed at the upper end of the pressing shell 601, the end of the short telescopic rod 4 away from the cross connecting frame 2 is fixed with the upper end of the vertical telescopic rod A602, and the upper end of the pressing shell 601 is fixedly installed with a limiting plate 603 facing the cross connecting frame 2; two groups of eccentric wheels 604 are installed in the pressing shell 601 and are rotationally connected with the pressing shell 601; and a transmission component A605 is installed on the pressing shell 601 and is used to drive the eccentric wheel 604, so that the convex surface of the eccentric wheel 604 rotates out of the pressing shell 601 and presses the mattress when the limiting plate 603 contacts and clamps the mattress.

[0028] In this embodiment, the pressing shell 601 bears the transverse contraction force of the short telescopic rod 4 and the longitudinal contraction force of the vertical telescopic rod A602, and the limiting plate 603 protrudes from the pressing shell 601. When the pressing shell 601 approaches the side of the mattress, the limiting plate 603 first contacts the fabric of the mattress, which can prevent the mattress from being scratched. Especially after the eccentric wheel 604 is pressed against the mattress, the mattress that is pressed and extruded is limited by the limiting plate 603, and a variable clamping force is formed between the eccentric wheel 604 and the limiting plate 603, thereby enabling the single side to have a certain ability to grasp the mattress on the basis of protecting the mattress.

[0029] In an optional embodiment, the outer circle of the eccentric wheel 604 is covered with a rubber sleeve A606, and the outer wall of the rubber sleeve A606 is provided with a strip-shaped protrusion A607.

[0030] In this embodiment, the rubber sleeve A606 and the strip-shaped protrusion A607 can increase the friction with the mattress, and can also cope with the latex mattress, so as to increase the friction while avoiding scratching the mattress.

[0031] In an alternative embodiment, the side clamping assembly B7 includes a right-angle frame 701 and a wheel frame 702. Two groups of vertical telescopic rods B703 are fixedly installed at the upper end of the right-angle frame 701. The long telescopic rod 3 is fixed at the upper end of the vertical telescopic rod B703 away from the cross connecting frame 2. The wheel frame 702 is located at the side of the right-angle frame 701 facing the cross connecting frame 2. The middle part of the wheel frame 702 is hinged to the right-angle frame 701. A hydraulic cylinder 704 is hinged to the right-angle frame 701. The other end of the hydraulic cylinder 704 is hinged to the side wall of the wheel frame 702. The hydraulic cylinder 704 is telescopic for changing the included angle between the wheel frame 702 and the right-angle frame 701. By default, the wheel frame 702 is vertically arranged. A plurality of rotating wheels 705 are installed in the wheel frame 702. The rotating wheels 705 can rotate relative to the wheel frame 702.

[0032] In this embodiment, the internal wiring of the wheel frame 702 is connected to the rotating wheels 705. After being energized, the rotating wheels 705 can rotate autonomously. The rotating wheels 705 are internally provided with a speed reducer. After contacting the mattress, the rotating wheels 705 can only rotate with a large torque. The hydraulic cylinder 704 is obliquely arranged. When the hydraulic cylinder 704 is in the telescopic state, the wheel frame 702 remains vertical. The vertical wheel frame 702 can better fit the side of the mattress. When the mattress is deformed under stress, the side of the mattress deviates. The hydraulic cylinder 704 also changes the state and changes the vertical angle of the wheel frame 702.

[0033] In an alternative embodiment, a hub motor is installed in the rotating wheel 705 for driving the rotating wheel 705 to rotate. The outer ring of the rotating wheel 705 is covered with a rubber sleeve B706. The outer wall of the rubber sleeve B706 is provided with a strip-shaped protrusion B707.

[0034] In this embodiment, the rubber sleeve B706 and the strip-shaped protrusion B707 have the same effect as the rubber sleeve A606, which increases the friction with the mattress and prevents the mattress from being scratched.

[0035] In an alternative embodiment, the autonomous bottoming assembly 8 comprises two sets of transversely arranged slide rods 801 and transmission components B 802, the transmission components B 802 are fixedly installed at the bottom of the right-angle frame 701, the two sets of slide rods 801 are installed at the output terminals of the transmission components B 802, the transmission components B 802 can move the slide rods 801 transversely and change the angle of the slide rods 801, the ends of the slide rods 801 away from the cross connecting frame 2 are each fixedly installed with a balance hook 803, the corresponding positions on the right-angle frame 701 are fixedly installed with pin columns 804, when the slide rods 801 move to the farthest end in the direction of the cross connecting frame 2, the balance hooks 803 are hooked on the pin columns 804, for keeping the slide rods 801 horizontal; the sides of the two sets of slide rods 801 away from each other are each installed with a rubber wheel 805, the end of the slide rods 801 toward the cross connecting frame 2 is in a circular arc structure, and the inner side of the end of the slide rods 801 toward the cross connecting frame 2 is also installed with a rubber wheel 805, the outer ring of the rubber wheel 805 protrudes from the upper surface of the slide rods 801, the ends of the two sets of slide rods 801 away from the cross connecting frame 2 are also installed with a cable 806, the upper end of the right-angle frame 701 is installed with an electric winch 807, for tightening the cable 806 when the slide rods 801 move.

[0036] In this embodiment, the slide rods 801 can remain vertical or horizontal with the action of the transmission components B 802, when remaining vertical, the occupied volume during movement can be reduced when the mechanical arm is not lifting the mattress, when remaining transverse, the slide rods 801 can be inserted into the bottom of the mattress, when the slide rods 801 are inserted, the rubber wheels 805 can move along the bottom of the mattress, for reducing the resistance, the circular arc structure can prevent scratching the mattress, the cable 806 is for keeping the balance of the slide rods 801, for reducing the pressure of the transmission components B 802, when the slide rods 801 are completely inserted, the balance hooks 803 cooperate with the pin columns 804 to form a stable state, when the slide rods 801 are forced, the balance hooks 803 are blocked by the pin columns 804, to form a stable right angle, for reducing the pressure on the transmission components B 802.

[0037] In an alternative embodiment, the transmission components B 802 comprise a servo motor A 8021, the servo motor A 8021 is provided with double output shafts, the double output shafts are each fixedly installed with a clamping block 8022, the inner side of the slide rods 801 is clamped in the clamping block 8022 and is in sliding connection therewith; further comprising a servo motor B 8023, fixedly installed on the clamping block 8022, the output shaft of the servo motor B 8023 is installed with a gear 8024, for engaging the inner side of the slide rods 801, to make it move relative to the clamping block 8022.

[0038] In this embodiment, the inner side of the slide rods 801 is provided with a tooth groove, the tooth groove cooperates with the gear 8024, the servo motor B 8023 can quickly move the slide rods 801 when in operation.

[0039] In an alternative embodiment, the transmission component A605 comprises a servo motor C6051 fixedly installed on the pressing shell 601, a worm 6052 and a worm wheel 6053, the worm wheel 6053 is fixedly installed between the two sets of eccentric wheels 604 and connected with the eccentric wheel 604 main shaft, the worm 6052 is connected with the output end of the servo motor C6051, and the worm 6052 is engaged with the worm wheel 6053.

[0040] In the embodiment, the servo motor C6051 and the worm 6052 and the worm wheel 6053 can realize large torque driving of the eccentric wheel 604, and can quickly squeeze the mattress itself after clamping the mattress.

[0041] In an alternative embodiment, the long telescopic rod 3 and the short telescopic rod 4 away from the cross connecting frame 2 are provided with hydraulic telescopic rods 5.

[0042] In the embodiment, the hydraulic telescopic rod 5 provided at the end can provide a certain contraction degree for positioning the mattress and then clamping the mattress.

[0043] In use, the terminal connecting mechanical hand terminal connecting piece 1 of the mattress transfer mechanical arm is connected, then the cross connecting frame 2 is controlled to be aligned with the center position of the mattress, the length of the long telescopic rod 3 and the short telescopic rod 4 is adjusted to make the side clamping assembly A6 and the side clamping assembly B7 be buckled on the outside of the mattress. Then the long telescopic rod 3 and the short telescopic rod 4 are contracted to make the side clamping assembly A6 and the side clamping assembly B7 contact with the side of the mattress.

[0044] When the side clamping assembly A6 contacts with the mattress, the limiting plate 603 and the eccentric wheel 604 on the pressing shell 601 contact with the mattress due to the action of the hydraulic telescopic rod 5, the eccentric wheel 604 is controlled to rotate by the transmission component A605 after the contact, the convex surface of the eccentric wheel 604 increases the contact force between the eccentric wheel 604 and the mattress during the gradual rotation of the eccentric wheel 604, and the eccentric wheel 604 has an upward force to make the edge of the mattress be raised, so that the mattress is not easy to fall off during hoisting and transferring.

[0045] When the side clamping assembly B7 contacts the mattress, the rotating wheel 705 on the wheel frame 702 contacts the side of the mattress due to the action of the hydraulic telescopic rod 5, the wheel frame 702 is electrified to make the rotating wheel 705 rotate, the rotating wheel 705 rubs to gradually lift the edge of the mattress upwards, at the same time, the mechanical arm slightly moves upwards, the mechanical hand terminal connector 1 makes the long telescopic rod 3 and the short telescopic rod 4 move upwards by a distance with the cross connecting frame 2, the distance and the gap in which the rotating wheel 705 lifts the mattress can make the slide rod 801 be inserted, when the slide rod 801 is inserted, the rubber wheel 805 can make the slide rod 801 move along the mattress until the slide rod 801 moves to the innermost end, the balance hook 803 on the slide rod 801 hooks on the pin column 804, at this time, the mechanical arm starts to hoist, due to the action of the slide rod 801 supporting the bottom, the deformation of the mattress is small and the mattress is not easy to fall off, and due to the action of the balance hook 803 and the pin column 804, the slide rod 801 will remain horizontal.

[0046] When the mechanical arm is in the empty state, the transmission component B802 can make the slide rod 801 remain vertical, due to the length of the slide rod 801, the cable 806 and the electric winch 807 are used to stabilize the slide rod 801, when the slide rod 801 is slowly inserted, the transmission component B802 slowly changes the angle of the slide rod 801, keeps the slide rod 801 vertical, facilitates the transfer of the entire empty mechanical arm, and reduces the occupied space.

[0047] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0048] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0049] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A composite mattress blanking system based on industrial robot, comprising a robot end effector (1), characterized in that: It also includes a cross connecting frame (2) installed at the bottom of the mechanical hand terminal connecting piece (1), and two groups of long telescopic rods (3) and two groups of short telescopic rods (4), any one group of long telescopic rods (3) is oppositely installed on the cross connecting frame (2), and any one group of short telescopic rods (4) is oppositely installed on the cross connecting frame (2); It also includes side clamping assembly A (6) and side clamping assembly B (7), the side clamping assembly A (6) is provided with two, which are respectively installed on one end of the two groups of short telescopic rods (4) away from the cross connecting frame (2), used for clamping the long side of the mattress and lifting it automatically, and the side clamping assembly B (7) is provided with two, which are respectively installed on one end of the two groups of long telescopic rods (3) away from the cross connecting frame (2), used for clamping the wide side of the mattress and lifting it automatically; It also includes a self-supporting assembly (8) installed on the side clamping assembly B (7), used for extending to the bottom of the mattress after the mattress is lifted.

2. The industrial robot-based composite mattress lay-up system of claim 1, wherein: The side clamping assembly A (6) includes a compression housing (601), two groups of vertical telescopic rods A (602) are fixedly installed at the upper end of the compression housing (601), the short telescopic rod (4) is fixed at the upper end of the vertical telescopic rod A (602) away from the cross connecting frame (2), and a limiting plate (603) is fixedly installed on one side of the upper end of the compression housing (601) facing the cross connecting frame (2); It also includes two groups of eccentric wheels (604) installed in the compression housing (601) and rotatably connected therewith; It also includes a transmission component A (605) installed on the compression housing (601) for driving the eccentric wheel (604), so that the convex surface of the eccentric wheel (604) is rotated out of the compression housing (601) and contacts and clamps the mattress when the limiting plate (603) contacts and clamps the mattress.

3. The industrial robot-based composite mattress lay-up system of claim 2, wherein: The outer ring of the eccentric wheel (604) is covered with a rubber sleeve A (606), and the outer wall of the rubber sleeve A (606) is provided with a strip-shaped protrusion A (607).

4. The industrial robot-based composite mattress lay-up system of claim 3, wherein: The side clamping assembly B (7) includes a right angle frame (701) and a wheel frame (702), two groups of vertical telescopic rods B (703) are fixedly installed at the upper end of the right angle frame (701), the long telescopic rod (3) is fixed at the upper end of the vertical telescopic rod B (703) away from the cross connecting frame (2), the wheel frame (702) is located on one side of the right angle frame (701) facing the cross connecting frame (2), the middle part of the wheel frame (702) is hinged to the right angle frame (701), a hydraulic cylinder (704) is hinged to the right angle frame (701), the other end of the hydraulic cylinder (704) is hinged to the side wall of the wheel frame (702), and the hydraulic cylinder (704) is telescopic for changing the included angle between the wheel frame (702) and the right angle frame (701), the wheel frame (702) is vertically arranged by default, a plurality of rotating wheels (705) are installed in the wheel frame (702), and the rotating wheels (705) can rotate relative to the wheel frame (702).

5. The industrial robot-based composite mattress lay-up system of claim 4, wherein: A hub motor is installed in the rotating wheel (705) for driving the rotating wheel (705) to rotate, the outer ring of the rotating wheel (705) is covered with a rubber sleeve B (706), and the outer wall of the rubber sleeve B (706) is provided with a strip-shaped protrusion B (707).

6. The industrial robot-based composite mattress lay-up system of claim 5, wherein: The autonomous bottoming assembly (8) comprises two groups of transversely arranged slide rods (801) and transmission component B (802), the transmission component B (802) is fixedly installed at the bottom of the right-angle frame (701), the two groups of slide rods (801) are installed on the output terminal of the transmission component B (802), the transmission component B (802) can move the slide rods (801) transversely and change the angle of the slide rods (801), the end of the slide rods (801) away from the cross connecting frame (2) is fixedly installed with a balance hook (803), the corresponding position on the right-angle frame (701) is fixedly installed with a pin column (804), after the slide rods (801) move to the farthest end in the direction of the cross connecting frame (2), the balance hook (803) is hooked on the pin column (804) and used for keeping the slide rods (801) horizontal; the side of the two groups of slide rods (801) away from each other is installed with a rubber wheel (805), the end of the slide rods (801) towards the cross connecting frame (2) is of a circular arc structure, and the inner surface of the end of the slide rods (801) towards the cross connecting frame (2) is also installed with a rubber wheel (805), the outer ring of the rubber wheel (805) protrudes from the upper surface of the slide rods (801), the end of the two groups of slide rods (801) away from the cross connecting frame (2) is also installed with a cable (806), and the upper end of the right-angle frame (701) is installed with an electric winch (807) and used for tightening the cable (806) when the slide rods (801) move.

7. The industrial robot-based composite mattress lay-up system of claim 6, wherein: The transmission component B (802) comprises a servo motor A (8021), the servo motor A (8021) is provided with double output shafts, the double output shafts are fixedly installed with clamping blocks (8022), the inner surface of the slide rods (801) is clamped in the clamping blocks (8022) and is in sliding connection with the clamping blocks (8022); the transmission component B (802) further comprises a servo motor B (8023) fixedly installed on the clamping blocks (8022), the output shaft of the servo motor B (8023) is installed with a gear (8024) and used for meshing with the inner surface of the slide rods (801) and enabling the slide rods (801) to move relative to the clamping blocks (8022).

8. The industrial robot-based composite mattress lay-up system of claim 7, wherein: The transmission component A (605) comprises a servo motor C (6051) fixedly installed on the pressing shell (601); the transmission component A (605) further comprises a worm (6052) and a worm wheel (6053), the worm wheel (6053) is fixedly installed between the two groups of eccentric wheels (604) and is connected with the main shafts of the eccentric wheels (604), the worm (6052) is connected with the output end of the servo motor C (6051), and the worm (6052) is in meshing connection with the worm wheel (6053).

9. The industrial robot-based composite mattress blanking system according to any one of claims 1-8, characterized in that: The end of the long telescopic rod (3) and the short telescopic rod (4) away from the cross connecting frame (2) is provided with a hydraulic telescopic rod (5).

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